Aruco module, estimatePoseSingleMarkers looks great, estimatePoseBoard does not.

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Hi, as the title says... I have a calibrated camera, the calibration is tested by undistorting a frame, and it looks good. When i run the aruco module and detect a single marker, estimating the pose and drawing the axis, it looks great.

When i do the same thing, but using a charuco board, it finds all the markers, but the axis, and therefore the pose, jump around almost every frame. It is very very noisy.

I am basically using the straight sample code, why would the single markers track well, and the board not? What can i look at to improve the stability of the estimatePoseBoard function?

Thank you!