1 | initial version |
From the pose, you can project the Line of Sight of any given pixel into the world. Then you project that LOS to z = 0, and that's where it intersects with the "ground" plane. If you are using estimatePoseSingleMarker, that is the same as the plane of the marker.
If your markerLength is correct, then you have that point's location relative to the center of the marker.