Interpolate position of ChArUco board corners

[charucoCorners, charucoIds, num] = cv.interpolateCornersCharuco(markerCorners, markerIds, img, board)
[...] = cv.interpolateCornersCharuco(..., 'OptionName',optionValue, ...)

Input

• markerCorners cell array of already detected markers corners. For each marker, its four corners are provided, (e.g {{[x,y],..}, ..}). The order of the corners should be clockwise.
• markerIds vector of identifiers for each marker in markerCorners (0-based).
• img input image necesary for corner refinement (8-bit grayscale or color). Note that markers are not detected and should be sent in markerCorners and markerIds parameters.
• board layout of ChArUco board.

Output

• charucoCorners interpolated chessboard corners {[x,y], ..}.
• charucoIds interpolated chessboard corners identifiers (0-based).
• num the number of interpolated corners.

Options

• CameraMatrix optional 3x3 floating-point camera matrix A = [fx 0 cx; 0 fy cy; 0 0 1].
• DistCoeffs optional vector of distortion coefficients [k1,k2,p1,p2,k3,k4,k5,k6,s1,s2,s3,s4] of 4, 5, 8 or 12 elements.
• MinMarkers number of adjacent markers that must be detected to return a charuco corner. default 2

This function receives the detected markers and returns the 2D position of the chessboard corners from a ChArUco board using the detected Aruco markers. If camera parameters are provided, the process is based in an approximated pose estimation, else it is based on local homography. Only visible corners are returned. For each corner, its corresponding identifier is also returned in charucoIds.