The problem was in python bindings invoid matchImagePoints(InputArrayOfArrays detectedCorners, InputArray detectedIds, OutputArray objPoints, OutputArray imgPoints).

detectedCorners may include aruco marker corners asvector<vector<Point2f>> orvector<Mat>. AnyMat invector<Mat> must have 4 rows for 4 corners for one marker (one marker has 4 corners).

detectedCorners may include Charuco corners asvector<Point2f> orMat. Python bindings add extra dimension todetectedCorners and thereforevector<Mat> case is additionally processed for charuco corners.

Until the PR merge, you can using custommatchImagePoints():

def matchImagePoints(charuco_board, charuco_corners, charuco_ids):    objPoints = []    imgPoints = []    for i in range(0, len(charuco_ids)):        index = charuco_ids[i]        objPoints.append(charuco_board.getChessboardCorners()[index])        # objPoints[-1][0][1] = charuco_board.getRightBottomCorner()[1] - objPoints[-1][0][1]  #  set old axis direction        imgPoints.append(charuco_corners[i])    return np.array(objPoints), np.array(imgPoints)

Use sample from#23139 to see problem.

args:
-w=5 -h=7 -sl=0.04 -ml=0.02 -d=10 -v=choriginal.jpg

With fix:

detectedCorners includes charuco corners in this case. Python bindings add extra dimension todetectedCorners and therefore without fixdetectedCorners processed as aruco marker corners andmatchImagePoints returns bad values:

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