define the locations of the vertices with respect to the world coordinate system

[CLboyrobot]

hello,thank you for your great work,could you plealse tell me the locations of the vertices with respect to the world coordinate system hwo to get? i am looking forward to you

[yorklyb]

The locations of the vertices expressed in the world frame are defined by you. The following book (starting from page 331) should be helpful: http://asrl.utias.utoronto.ca/~tdb/bib/barfoot_ser17.pdf

Suppose that the coordinates of a vertex expressed in the marker frame are p, the world coordinates of it will be p' = T*p. You need to define T yourself.