Aruco exact pose detection

Hi everyone,

I was successfully able to estimate the pose of aruco markers on the board, a question that I couldn’t find an answer to is this tvec and rvec thing is from the camera center to which exact point on the aruco marker ? is it the center or one of the corners ??
Thank you.

rvec and tvec parameters that you have define pose from the camera optical center to the center of ArUco marker:

The marker coordinate system that is assumed by this function is placed at the center of the marker with the Z axis pointing out. [Source]

1 Like