I have multiple planar markers in the scene. At any time I see one or two, sometimes three markers. I want to track camera pose on a trajectory which pans and rolls.
Right now I can track the pose with solvepnp for one marker at a time. I need to somehow "stitch" together the tracked poses for the other markers. For example, by calculating the "relative pose" on those frames where multiple markers are visible at the same time.
Do you have suggestions? Is this already supported by openCV? How can I build a smooth stitching?