estimatePoseSingleMarkers()解读

ex:网页长截图
1、F12
2、ctrl+shift+p
3、Capture full size screenshot
参考网址

estimatePoseSingleMarkers()
void cv::aruco::estimatePoseSingleMarkers (
InputArrayOfArrays corners,
float markerLength,
InputArray cameraMatrix,
InputArray distCoeffs,
OutputArray rvecs,
OutputArray tvecs,
OutputArray _objPoints = noArray()
)

#include <opencv2/aruco.hpp>

Pose estimation for single markers.

Parameters
corners	vector of already detected markers corners. For each marker, its four corners are provided, (e.g std::vector<std::vector<cv::Point2f> > ). For N detected markers, the dimensions of this array should be Nx4. The order of the corners should be clockwise.
//角向量已经检测到的标记角。对于每个标记，它的四个角被提供，(std::vector<std::vector<cv::Point2f>)。对于N个检测到的标记，这个数组的尺寸应该是Nx4。角的顺序应该是顺时针的。

Parameters
markerLength	the length of the markers' side. The returning translation vectors will be in the same unit. Normally, unit is meters.
//标记的边长。返回的翻译向量将在相同的单位。通常单位是米。
cameraMatrix	input 3x3 floating-point camera matrix A=⎡⎣⎢fx000fy0cxcy1⎤⎦⎥
//摄像机矩阵 输入3x3浮点摄像机矩阵A
distCoeffs	vector of distortion coefficients (k1,k2,p1,p2[,k3[,k4,k5,k6],[s1,s2,s3,s4]]) of 4, 5, 8 or 12 elements
//失真系数矢量
rvecs	array of output rotation vectors (
//输出旋转向量的数组
See also
Rodrigues) (e.g. std::vector<cv::Vec3d>). Each element in rvecs corresponds to the specific marker in imgPoints.
Parameters
tvecs	array of output translation vectors (e.g. std::vector<cv::Vec3d>). Each element in tvecs corresponds to the specific marker in imgPoints.
//输出转换向量的数组(例如:std::vector)。tvec中的每个元素都对应于imgPoints中的特定标记。
_objPoints	array of object points of all the marker corners
//所有标记角的对象点的数组
This function receives the detected markers and returns their pose estimation respect to the camera individually. So for each marker, one rotation and translation vector is returned. The returned transformation is the one that transforms points from each marker coordinate system to the camera coordinate system. The marker corrdinate system is centered on the middle of the marker, with the Z axis perpendicular to the marker plane. The coordinates of the four corners of the marker in its own coordinate system are: (-markerLength/2, markerLength/2, 0), (markerLength/2, markerLength/2, 0), (markerLength/2, -markerLength/2, 0), (-markerLength/2, -markerLength/2, 0)
//该函数接收检测到的标记，并分别返回它们对相机的姿态估计。因此，对于每个标记，返回一个旋转和平移向量。返回的转换是将每个标记坐标系统中的点转换为摄像机坐标系统的转换。标记器坐标系以标记器的中间为中心，Z轴垂直于标记器平面。标记点在其自身坐标系中的四个角坐标为:(-markerLength/2, markerLength/ 2,0)， (markerLength/2, markerLength/ 2,0)， (markerLength/2， -markerLength/ 2,0)， (-markerLength/2， -markerLength/ 2,0)