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My end goal is to perspective transform a Charuco board and track a relatively small object that moves on the board which will cover at most 2 markers (on a size 5 by 5 square board). I would like to calculate the position of that object relative to the center of the board.

When using the Charuco board pose estimation sample from the aruco library, I notice the aruco::drawAxis() function only draws the axis at a corner of the board. My question is how would I get the 2d coordinates of the center of the board (for example, pose for an Aruco board: https://www.youtube.com/watch?v=np6lL...).

Center of Charuco Board My end goal is to perspective transform a Charuco board and track a relatively small object that