How to use SolvePnP correctly with Aruco markers?

Android/Java
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1

I am trying to use SolvePnP to render 3D objects on top of Aruco markers in Android, and this is how I am using it:

solvePnP(marker.getObjPoints(), cornersPoints2f, marker.getCameraMatrix(), (MatOfDouble) marker.getDistortionCoeff(), rvec, tvec);

  • marker.getObjPoints are the object points returned by cv::estimatePoseSingleMarkers()

  • cornersPoints2f is a MatOfPoint2f object (Java equivalent of std::vector)

  • marker.getCameraMatrix() is the Intrinsic/camera matrix obtained at first through calibration but then stored on disk.

  • marker.getDistortionCoeff() is the vector of distortion coefficients.

  • rvec and tvec are the output vectors for SolvePnP.

What my issue is:

SolvePnP fails at run-time because an assert fails. The assert fails because it keeps checking if cornersPoints2f is 3-channel or 4-channel, and it’s neither. I don’t know why, but cornersPoints2f is always 2-Channel. Not something I can change. When the markers are detected, it is just set to 2-Channel and I don’t know what I can do about it.

Here’s the assert in-case you are interested.

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What can I do about this? as far as I know, I can’t render objects at all without the SolvePnP step. And I currently can’t make it work. Any ideas as to what I can do?