draw detectedMarkers

cam_pose_aruco_board.py

@@ -64,6 +64,9 @@ def process(detector: cv.aruco.ArucoDetector, board, img, mtx, dist):	# Load pre
 
 	detector.refineDetectedMarkers(img, board, corners, ids, rejected, mtx, dist)
 
+	# Draw a square around the markers
+	cv.aruco.drawDetectedMarkers(img, corners)
+
 	if len(corners) > 0:
 		# Estimate pose of each marker and return the values rvec and tvec---(different from those of camera coefficients)
 		pose, rvec, tvec = cv.aruco.estimatePoseBoard(corners, ids, board, mtx, dist, None, None)
@@ -72,8 +75,6 @@ def process(detector: cv.aruco.ArucoDetector, board, img, mtx, dist):	# Load pre
 			# Draw Axis
 			cv.drawFrameAxes(img, mtx, dist, rvec, tvec, 0.02)
 
-			# Draw a square around the markers
-			cv.aruco.drawDetectedMarkers(img, corners)
 
 	cv.imshow('img', img)
 

cam_pose_charuco_board.py

@@ -31,7 +31,7 @@ def main():
 	# load the ArUCo dictionary, grab the ArUCo parameters, and detect
 	# the markers
 	print("[INFO] detecting '{}' tags...".format(args["type"]))
-	detector, board = factory(ARUCO_DICT[args["type"]], (6,7))
+	detector, board = factory(ARUCO_DICT[args["type"]], (3,3))
 
 	# load the input image from disk and resize it
 	print("[INFO] start processing...")
@@ -61,9 +61,13 @@ def process(detector: cv.aruco.CharucoDetector, board, img, mtx, dist):	# Load p
 	gray = cv.cvtColor(img, cv.COLOR_BGR2GRAY)
 	charuco_corners, charuco_ids, marker_corners, marker_ids = detector.detectBoard(gray)
 	if charuco_corners is not None:
+
 		# Draw a square around the markers
 		cv.aruco.drawDetectedCornersCharuco(img, charuco_corners, charuco_ids)
 
+		# Draw a square around the markers
+		cv.aruco.drawDetectedMarkers(img, marker_corners)
+
 		if len(charuco_ids) > 5:
 			obj_points, img_points = board.matchImagePoints(charuco_corners, charuco_ids)
 			pose, rvec, tvec = cv.solvePnP(obj_points, img_points, mtx, dist, None, None)

cam_pose_charuco_diamond.py

@@ -61,6 +61,10 @@ def process_video(detector: cv.aruco.CharucoDetector, board):
 def process(detector: cv.aruco.CharucoDetector, board, img, mtx, dist):	# Load previously saved data
 	gray = cv.cvtColor(img, cv.COLOR_BGR2GRAY)
 	diamond_corners, diamond_ids, marker_corners, marker_ids = detector.detectDiamonds(gray)
+
+	# Draw a square around the markers
+	cv.aruco.drawDetectedMarkers(img, marker_corners)
+
 	if diamond_corners is not None:
 		# Draw a square around the markers
 		cv.aruco.drawDetectedDiamonds(img, diamond_corners, diamond_ids)