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How to get pose from ArUco or QR Markers?

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I would like to use the camera to help adding  localization and navigation capabilities to a indoor robot. I am using Markers Combo because I can use a mix of markers.

 Is that possible to obtain camera's angle of incidence on the marker?  Knowing from which side and from what angle is looking at the marker it will help determinate on which direction the robot is moving.

Also about  q1,---q4 quaternions  if D3 serstyle or x1,y1 , ...x4,y4 image corners coordinates for D2 serstyle,  is not clear to me which one is where reported to the image center.  I didn't found any clear explanation in the documentation.

Thank you!
asked 5 days ago in User questions by DT (210 points)

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