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combine six ArUco markers into a cuboid marker

Hi, I want to use six ArUco markers and each one is attached on one side of a small cube. I know the relation between the six coordinate systems. I think I can use this way to estimate the pose of the cuboid marker. Does OpenCV provide an example to do this?

Another question is when I use the ArUco marker, I found it does marker detection for each incoming frame. Is it better to do detection from the first frame and then do the tacking for following frames to make the pose estimation more efficient?