private void EstimatePoseChArUcoBoard(Mat rgbMat)
{
// if at least one charuco corner detected
if (charucoIds.total() > 0)
{
bool valid = Aruco.estimatePoseCharucoBoard(charucoCorners, charucoIds, charucoBoard, camMatrix, distCoeffs, rvec, tvec);
// if at least one board marker detected
if (valid)
{
// In this example we are processing with RGB color image, so Axis-color correspondences are X: blue, Y: green, Z: red. (Usually X: red, Y: green, Z: blue)
Aruco.drawAxis(rgbMat, camMatrix, distCoeffs, rvec, tvec, markerLength * 0.5f);
UpdateARObjectTransform(rvec, tvec);
}
}
}