Tutorials

Checker board

https://docs.opencv.org/4.x/d6/d55/tutorial_table_of_content_calib3d.html https://docs.opencv.org/4.x/d9/db7/tutorial_py_table_of_contents_calib3d.html

Aruco

https://docs.opencv.org/4.x/d2/d64/tutorial_table_of_content_objdetect.html

Sample code

CPP

https://github.com/opencv/opencv/tree/4.x/samples/cpp/tutorial_code/objectDetection

Python

https://github.com/opencv/opencv_contrib/tree/4.x/modules/aruco

Rotation

https://stackoverflow.com/questions/13823296/converting-opencv-rotation-and-translation-vectors-to-xyz-rotation-and-xyz-posit

Camera pose to object pose

https://answers.opencv.org/question/64315/solvepnp-object-to-camera-pose/