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Using OpenCV v3.1, I detect an ArUco marker, and with

aruco::estimatePoseSingleMarkers(corners, markerLength, camMatrix, distCoeffs, rvecs,tvecs);

I can get the rotation and translation vector for said marker from the marker coordinate system to the camera coordinate system.

However, I need just the xy-coordinates of the marker in the image plane (in pixels). How would I go about this?

I found this somewhat relevant, but that's, again, in regards to the camera coordinate system.

user9216993
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    Have you seen https://docs.opencv.org/master/d5/dae/tutorial_aruco_detection.html Looks like you need cv::aruco::detectMarkers – jodis Jan 15 '18 at 04:06

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