如何使用 OpenCV 找到从相机到对象/标记的距离和旋转？

Question

I have done some 6D Pose estimation, and have the Oriented Bounding Box (OBB) of the detected object. So, now I would like to know the ground truth and get the error of the estimated orientation and the position. The detected object is a rectangular box as shown in the image.

How can I know the distance and the rotation of a marker (black box over the red one) to the camera? The red box in the image is the object and the black one is the estimated 6DPose.

So would like to do image postprocessing to get the error of the position and the orientation. So, how can get the error from this image, knowing the real dimensions of the box, camera parameters, and the distance from the camera to the object? So the triangulation formula can give me the distance but then how to get the orientation?

Would be OpenCV to look after? Any help?

Thanks

Answer 1

find the marker correspondings and solvePnp is what you are looking for