draw detectedMarkers

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)