import os
import numpy as np
import matplotlib.pyplot as plt
import cv2

# camera params after calibration
mtx = np.array([[3341.0930071 ,    0.        , 2020.04757797],
   [   0.        , 3332.54238818, 1108.10670945],
   [   0.        ,    0.        ,    1.        ]])
   
dist = np.array([-0.10474984,  0.04565679,  0.00948721,  0.        ,  0.        ])

img_rgb = cv2.imread("some img")
img_rgb = cv2.cvtColor(img_rgb, cv2.COLOR_RGB2BGR)
img = cv2.cvtColor(img_rgb, cv2.COLOR_RGB2GRAY)

# board info
dictionary = cv2.aruco.getPredefinedDictionary(cv2.aruco.DICT_4X4_100)
board = cv2.aruco.CharucoBoard((7, 5), 0.055, 0.041, dictionary)

params = cv2.aruco.DetectorParameters()
detector = cv2.aruco.ArucoDetector(dictionary, params)

# detect markers and charuco corners
marker_corners, marker_ids, rejectedCandidates = detector.detectMarkers(img)

ret, charucoCorners, charucoIds = cv2.aruco.interpolateCornersCharuco(marker_corners, marker_ids, img, board)

ret, rvec, tvec = cv2.aruco.estimatePoseCharucoBoard(charucoCorners, charucoIds, board, mtx, dist, None, None)

# start plotting
axis_size = 0.1
result_short = cv2.drawFrameAxes(np.copy(img_rgb), mtx, dist, rvec, tvec, axis_size)

axis_size = 5
result_long = cv2.drawFrameAxes(np.copy(img_rgb), mtx, dist, rvec, tvec, axis_size)

# plot
plt.subplot(1,2,1)
plt.imshow(result_short)
plt.subplot(1,2,2)
plt.imshow(result_long)

plt.show()

result_both = cv2.drawFrameAxes(np.copy(img_rgb), mtx, dist, rvec, tvec, 0.2)
result_both = cv2.drawFrameAxes(result_both, mtx, dist, rvec, tvec, 2)

### Issue submission checklist

- [X] I report the issue, it's not a question
- [X] I checked the problem with documentation, FAQ, open issues, forum.opencv.org, Stack Overflow, etc and have not found any solution
- [X] I updated to the latest OpenCV version and the issue is still there
- [X] There is reproducer code and related data files (videos, images, onnx, etc)