position and orientation of an object relatively to camera

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Hey there, I am trying to determine the exact position and orientation of an object relatively to a camera. The camera shall take a picture of a checkerboard marker and by evaluating it, I want to find out the position. Which packeges do I need to recognize the marker, send the information to a computer, evaluate it and compare it to a CAD-model of the object. Sorry to bother you, I am happy about any help.