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I have a ball detection in pixel coordinate and I want to use the ball detection in aruco detection. I tried already but it won't work. So if there algorithm that can convert pixel coordinate to aruco coordinate?

I have a ball detection in pixel coordinate and I want to use the ball detection in aruco detection. I tried already but it won't work. So if there algorithm that can convert pixel coordinate to aruco coordinate?Does coordinate on aruco marker is in pixel coordinate or world coordinate?