Aruco related functions and objects do not work after an update from v4.5 to 4.11

[DigitalGabriele]

Hello,

I have the following lines of code that I used in opencv v4.5 that I rewrote to use opencv 4.11:

cv2.aruco_dict = cv2.aruco.Dictionary_get(aruco_dict_type)

changed to

aruco_dict = cv2.aruco.getPredefinedDictionary(aruco_dict_type)

parameters = cv2.aruco.DetectorParameters_create()

changed to

parameters = cv2.aruco.DetectorParameters()

aruco_board = cv2.aruco.Board_create(pos_board, cv2.aruco_dict, id_board)

changed to

aruco_board = cv2.aruco.Board(pos_board, aruco_dict, id_board)

corners, ids, rejected_img_points = cv2.aruco.detectMarkers(gray, cv2.aruco_dict,parameters=parameters, cameraMatrix=matrix_coefficients, distCoeff=distortion_coefficients)

changed to

aruco_detector = cv2.aruco.ArucoDetector(aruco_dict, parameters)
corners, ids, rejected_img_points = aruco_detector.detectMarkers(gray)

marker_detected, rvec_board, tvec_board = cv2.aruco.estimatePoseBoard(corners, ids, aruco_board, matrix_coefficients, distortion_coefficients, rvec_initial_guess, tvec_initial_guess)

I have no idea what to do with this one.

cv2.aruco.drawDetectedMarkers(frame, corners)
Not changed.

cv2.aruco.drawAxis(frame, matrix_coefficients, distortion_coefficients, rvec_board, tvec_board, length=0.25)
Not changed.

I would appreciate your guidance on two things:

1. If my key changes are correct.
2. How to change the cv2.aruco.estimatePoseBoard() to the new version? Is there an equivalent?