如何在Unity中从Aruco Pose中获取相机姿势？

using UnityEngine;
using ArucoUnity;

public class ARCameraPose : MonoBehaviour
{
    private Aruco aruco;
    private Camera camera;

    void Start()
    {
        aruco = new Aruco();
        camera = new Camera();

        // 设置相机参数
        camera.SetResolution(Screen.width, Screen.height);
        camera.SetCameraMatrix(intrinsicMatrix);
        // 其他相机参数设置...

        // 初始化ArUco库
        aruco.Initialize();
    }

    void Update()
    {
        // 检测ArUco标记
        aruco.DetectMarkers(image, out corners, out ids);

        if (ids.Length > 0)
        {
            // 估计相机姿势
            camera.EstimatePose(corners, ids, markerLength, out rvecs, out tvecs);

            // 将相机姿势应用到Unity摄像机对象
            transform.position = tvecs[0];
            transform.rotation = Quaternion.FromToRotation(Vector3.up, rvecs[0]);
        }
    }
}