If you have Frame with fewer than 6, PnP will fail.
However, you might want an even higher number than the minimum to get robust estimates.
I suggest adding a filter function (e.g. filter_detections_by_min_corners) after the extract_frames_from_charuco step, or pass the minimal number of corners to that function (e.g. min_chessboard_corners: int = 8, plus some check to ensure it is greater than 5).
If you have
Framewith fewer than 6,PnPwill fail.However, you might want an even higher number than the minimum to get robust estimates.
I suggest adding a filter function (e.g.
filter_detections_by_min_corners) after theextract_frames_from_charucostep, or pass the minimal number of corners to that function (e.g.min_chessboard_corners: int = 8, plus some check to ensure it is greater than 5).