在aruco标记上绘制正方形失败

Question

我试图在aruco标记上画一个正方形，但我得到的只是一些随机线。但是，当我尝试使用aruco :: drawAxis仅在标记上绘制轴时，这些投影就很好了。

这是我投影正方形的代码：

void drawCube(InputOutputArray image, InputArray cameraMatrix, InputArray distortionCoeff,  InputArray transl,  InputArray rot, float dim){

    float half_l = 0.089/2;
    CV_Assert(
            image.getMat().total() != 0 &&
            (image.getMat().channels() == 1 || image.getMat().channels() == 3)
    );
    CV_Assert(dim > 0);

    // project square points
    std::vector<cv::Point3f> squarePoints;
    squarePoints.push_back(cv::Point3f(half_l, half_l, 0));
    squarePoints.push_back(cv::Point3f(half_l, -half_l, 0));
    squarePoints.push_back(cv::Point3f(-half_l, -half_l, 0));
    squarePoints.push_back(cv::Point3f(-half_l, half_l, 0));



    std::vector<cv::Point2f> imagePoints;
    projectPoints(
            squarePoints, rot, transl, cameraMatrix, distortionCoeff, imagePoints
    );



    cv::line(image, imagePoints[0], imagePoints[1], cv::Scalar(255, 0, 0), 3);
    cv::line(image, imagePoints[1], imagePoints[2], cv::Scalar(255, 0, 0), 3);
    cv::line(image, imagePoints[2], imagePoints[3], cv::Scalar(255, 0, 0), 3);
    cv::line(image, imagePoints[3], imagePoints[0], cv::Scalar(255, 0, 0), 3);
}