#include?
#include?
#include?
#include?
#include?
#include?
#include?
#include?“aruco.h“
using?namespace?std;
using?namespace?cv;



const?Mat??intrinsic_matrix?=?（Mat_（3?3）
???????????????????????????????<??????????????????????????????????0?????????870.4765??252.03741
??????????????????????????????????0?????????0?????????1）;

//k1k2p1p2k3
const?Mat??distCoeffs?=?（Mat_（5?1）?<
//相機畸變參數
const?Mat??arucodistCoeffs?=?（Mat_（1?5）?<
//判斷solvePnPRansac是否完成
bool?PnPRansac;

int?main（int?args?char?*argv[]）
{
	//圖像物理坐標
	//vector?>?projectedPoints;
	vector?imgpoint;

	Point3f?pointimg0?pointimg1?pointimg2?pointimg3;

	pointimg0?=?cv::Point3f（-0.046f?-0.046f?0）;
	pointimg1?=?cv::Point3f（+0.046f?-0.046f?0）;
	pointimg2?=?cv::Point3f（+0.046f?+0.046f?0）;
	pointimg3?=?cv::Point3f（-0.046f?+0.046f?0）;


	imgpoint.push_back（cv::Point3f（-0.046f?-0.046f?0））;
	imgpoint.push_back（cv::Point3f（+0.046f?-0.046f?0））;
	imgpoint.push_back（cv::Point3f（+0.046f?+0.046f?0））;
	imgpoint.push_back（cv::Point3f（-0.046f?+0.046f?0））;


	//獲取相機
	VideoCapture?cap（1）;
????????
	Mat?frameframecopy;
	//設置字典
	cv::aruco::Dictionary?dictionary?=?cv::aruco::getPredefinedDictionary（cv::aruco::DICT_6X6_250）;

	while?（true）
	{
		cap>>frame;
		frame.copyTo（framecopy）;

		vector?ids;
		vector?>?corners;
		vector?>?outArry;
		//檢測markers（待檢測marker的圖像，字典對象，角點列表，marker的id列表）
		cv::aruco::detectMarkers（framecopy?dictionary?corners?ids）;
		if?（ids.size（）?>?0）//檢測到marker
		{
			cout<<“numberr?of?ids:??“<			for（int?i=0;i			{
				//輸出每一個id					
				cout<<“ids:??“<			}
			double?x=?（corners[0][0].x+corners[0][1].x+corner