I am facing this error when running the camera-projector calibration script

Question

Traceback (most recent call last): File "calibration_ChArucoWithCircles.py", line 255, in distCoeffs=distCoeffs) cv2.error: OpenCV(4.5.3) :-1: error: (-5:Bad argument) in function 'estimatePoseCharucoBoard' Overload resolution failed:

• Required argument 'rvec' (pos 6) not found
• Required argument 'rvec' (pos 6) not found

Does anyone know how to solve this issue, thank you.

Here is the script which cause the error:

pose, rvec, tvec = aruco.estimatePoseCharucoBoard(
                charucoCorners=charuco_corners, 
                charucoIds=charuco_ids, 
                board=CHARUCO_BOARD, 
                cameraMatrix=cameraMatrix, 
                distCoeffs=distCoeffs)

Answer 1

Try adding two empty arrays at the end, one for the rotation matrix and one for the translation matrix:

pose, rvec, tvec = aruco.estimatePoseCharucoBoard(
    charuco_corners, 
    charuco_ids, 
    CHARUCO_BOARD, 
    cameraMatrix, 
    distCoeffs,
    np.empty(1),
    np.empty(1)
)

Documentation

The two np.empty(1) arrays are needed in the case of Pose estimation without calibration data as a first estimation for rvec and tvec.