Pose estimation for a ChArUco board given some of their corners

[rvec, tvec, valid] = cv.estimatePoseCharucoBoard(charucoCorners, charucoIds, board, cameraMatrix, distCoeffs)
[...] = cv.estimatePoseCharucoBoard(..., 'OptionName',optionValue, ...)

Input

• charucoCorners cell array of detected charuco corners {[x,y], ..}.
• charucoIds vector of identifiers for each corner in charucoCorners (0-based).
• board layout of ChArUco board.
• cameraMatrix input 3x3 floating-point camera matrix A = [fx 0 cx; 0 fy cy; 0 0 1].
• distCoeffs vector of distortion coefficients [k1,k2,p1,p2,k3,k4,k5,k6,s1,s2,s3,s4] of 4, 5, 8 or 12 elements.

Output

• rvec Output vector corresponding to the rotation vector of the board.
• tvec Output vector corresponding to the translation vector of the board.
• valid The function checks if the input corners are enough and valid to perform pose estimation. If pose estimation is valid, returns true, else returns false.

Options

• Rvec, Tvec Initial rvec and tvec. Used as initial guess if not empty. The function uses the provided values as initial approximations of the rotation and translation vectors, respectively, and further optimizes them. Not set by default.
• UseExtrinsicGuess defines whether initial guess for rvec and tvec will be used or not. default false.

This function estimates a ChArUco board pose from some detected corners.