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Estimate pose of ArUco markers detected in a stereo-setup

Hi, I have detected ArUco Markers on both images of a stereo-camera setup, and calculated their 3d coordinates with triangulatePoints. How can I calculate their pose in 3d? The ArUco library has some functions to calculate the pose of the markers, but obviousely they are slightly different for the two images. How can I calculate the pose relative to the coordinate system that I get in triangulatePoints?