RefineDetectedMarkers fails if cameraMatrix is given as a param #24127
Description
System Information
OpenCV python version: 4.8.0
Operating System / Platform: Windows 10
Python version: 3.9.16
Detailed description
refineDetectedMarkers method of ArucoDetector fails if optional cameraMatrix param is given.
When running following line,
corners, ids, rejected, _ = aruco_detector.refineDetectedMarkers(
image=grayscale_image,
board=charucoboard,
detectedCorners=aruco_corners,
detectedIds=aruco_ids,
rejectedCorners=aruco_rejected,
cameraMatrix=camera_matrix,
distCoeffs=dist_coeffs,
)
An assertion error is raised:
corners, ids, rejected, _ = aruco_detector.refineDetectedMarkers(
cv2.error: OpenCV(4.8.0) D:\bld\libopencv_1690022693676\work\modules\objdetect\src\aruco\aruco_board.cpp:460: error: (-215:Assertion failed) (int)detectedCharucoVecMat[i].total() * detectedCharucoVecMat[i].channels() == 2 in function 'cv::aruco::CharucoBoardImpl::matchImagePoints'
No error is raised if no cameraMatrix is specified.
Steps to reproduce
import imageio.v3 as iio
import numpy as np
import cv2
grayscale_image = iio.imread( r"C:\Users\jnicks\Documents\repositories\camera-characterization\gray_scale_image.png")
camera_matrix = np.array(
[
[1.08444638e03, 0.00000000e00, 6.99703945e02],
[0.00000000e00, 1.08545749e03, 5.24978509e02],
[0.00000000e00, 0.00000000e00, 1.00000000e00],
]
)
dist_coeffs = np.array([0.01183206, 0.01096358, 0.0, 0.0])
charucoboard = cv2.aruco.CharucoBoard(
(11, 8),
35,
26,
cv2.aruco.getPredefinedDictionary(cv2.aruco.DICT_4X4_50),
)
charucoboard.setLegacyPattern(True)
aruco_detector = cv2.aruco.ArucoDetector(
dictionary=charucoboard.getDictionary(), detectorParams=cv2.aruco.DetectorParameters()
)
aruco_corners, aruco_ids, aruco_rejected = aruco_detector.detectMarkers(image=grayscale_image)
# following line works
# corners, ids, rejected, _ = aruco_detector.refineDetectedMarkers(
# image=grayscale_image,
# board=charucoboard,
# detectedCorners=aruco_corners,
# detectedIds=aruco_ids,
# rejectedCorners=aruco_rejected,
# distCoeffs=dist_coeffs,
# )
# following line fails
corners, ids, rejected, _ = aruco_detector.refineDetectedMarkers(
image=grayscale_image,
board=charucoboard,
detectedCorners=aruco_corners,
detectedIds=aruco_ids,
rejectedCorners=aruco_rejected,
cameraMatrix=camera_matrix,
distCoeffs=dist_coeffs,
)Following image is used as input: 
Issue submission checklist
- I report the issue, it's not a question
- I checked the problem with documentation, FAQ, open issues, forum.opencv.org, Stack Overflow, etc and have not found any solution
- I updated to the latest OpenCV version and the issue is still there
- There is reproducer code and related data files (videos, images, onnx, etc)