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I am trying to use a single ArUco marker to land an AR drone 2.0. Due to time constraints, the best approach I see is more of a " 2D approach": detecting the marker through the bottom camera, center the drone over the marker, and land. I want to obtain the x and y coordinates of ArUco marker's center (or corners), in reference to the camera's image plane. With the ArUco module, I have been able to detect markers and draw out there axis (x,y, & z)in the world using the cv::aruco::detectMarkers and cv::aruco::estimatePoseSingleMarkers functions. As the documentation indicates, I receive translational and rotational vectors, but I do not know how to use them for centering the drone. I have been told that the solvePNP function can give me the 2D coordinates, but I don't know what argument to pass in for the "objectPoints". I am quite new to OpenCV 3.2 and would appreciate any help.