ArUco marks not being detected

[erikx50]

Hi! I am trying to use ArUco marks with the open AR sandbox software but it looks like the software doesnt recognize the marks. Here is a picture when ArUco detection is enabled.

I also get this error when trying to run the sandbox with aruco.
ERROR:tornado.application:Exception in callback functools.partial(<bound method IOLoop._discard_future_result of <tornado.platform.asyncio.AsyncIOMainLoop object at 0x00000198E368E278>>, <Task finished coro=<_needs_document_lock.<locals>._needs_document_lock_wrapper() done, defined at c:\users\sandy\appdata\local\programs\python\python37\lib\site-packages\bokeh\server\session.py:51> exception=AttributeError("'NoneType' object has no attribute 'dpi'")>) Traceback (most recent call last): File "c:\users\sandy\appdata\local\programs\python\python37\lib\site-packages\tornado\ioloop.py", line 741, in _run_callback ret = callback() File "c:\users\sandy\appdata\local\programs\python\python37\lib\site-packages\tornado\ioloop.py", line 765, in _discard_future_result future.result() File "c:\users\sandy\appdata\local\programs\python\python37\lib\site-packages\bokeh\server\session.py", line 67, in _needs_document_lock_wrapper result = func(self, *args, **kwargs) File "c:\users\sandy\appdata\local\programs\python\python37\lib\site-packages\bokeh\server\session.py", line 195, in with_document_locked return func(*args, **kwargs) File "c:\users\sandy\appdata\local\programs\python\python37\lib\site-packages\bokeh\document\document.py", line 1183, in wrapper return doc._with_self_as_curdoc(invoke) File "c:\users\sandy\appdata\local\programs\python\python37\lib\site-packages\bokeh\document\document.py", line 1169, in _with_self_as_curdoc return f() File "c:\users\sandy\appdata\local\programs\python\python37\lib\site-packages\bokeh\document\document.py", line 1182, in invoke return f(*args, **kwargs) File "c:\users\sandy\appdata\local\programs\python\python37\lib\site-packages\bokeh\document\document.py", line 972, in remove_then_invoke return callback(*args, **kwargs) File "c:\users\sandy\appdata\local\programs\python\python37\lib\site-packages\panel\pane\base.py", line 153, in _update_object self._update(ref, old_model) File "c:\users\sandy\appdata\local\programs\python\python37\lib\site-packages\panel\pane\plot.py", line 195, in _update model.update(**self._get_properties()) File "c:\users\sandy\appdata\local\programs\python\python37\lib\site-packages\panel\pane\image.py", line 104, in _get_properties data = self._img() File "c:\users\sandy\appdata\local\programs\python\python37\lib\site-packages\panel\pane\plot.py", line 222, in _img self.object.canvas.print_figure(b, bbox_inches=bbox_inches) File "c:\users\sandy\appdata\local\programs\python\python37\lib\site-packages\matplotlib\backend_bases.py", line 2217, in print_figure **kwargs) File "c:\users\sandy\appdata\local\programs\python\python37\lib\site-packages\matplotlib\backend_bases.py", line 1639, in wrapper return func(*args, **kwargs) File "c:\users\sandy\appdata\local\programs\python\python37\lib\site-packages\matplotlib\backends\backend_agg.py", line 509, in print_png FigureCanvasAgg.draw(self) File "c:\users\sandy\appdata\local\programs\python\python37\lib\site-packages\matplotlib\backends\backend_agg.py", line 407, in draw self.figure.draw(self.renderer) File "c:\users\sandy\appdata\local\programs\python\python37\lib\site-packages\matplotlib\artist.py", line 41, in draw_wrapper return draw(artist, renderer, *args, **kwargs) File "c:\users\sandy\appdata\local\programs\python\python37\lib\site-packages\matplotlib\figure.py", line 1864, in draw renderer, self, artists, self.suppressComposite) File "c:\users\sandy\appdata\local\programs\python\python37\lib\site-packages\matplotlib\image.py", line 131, in _draw_list_compositing_images a.draw(renderer) File "c:\users\sandy\appdata\local\programs\python\python37\lib\site-packages\matplotlib\artist.py", line 41, in draw_wrapper return draw(artist, renderer, *args, **kwargs) File "c:\users\sandy\appdata\local\programs\python\python37\lib\site-packages\matplotlib\cbook\deprecation.py", line 411, in wrapper return func(*inner_args, **inner_kwargs) File "c:\users\sandy\appdata\local\programs\python\python37\lib\site-packages\matplotlib\axes\_base.py", line 2747, in draw mimage._draw_list_compositing_images(renderer, self, artists) File "c:\users\sandy\appdata\local\programs\python\python37\lib\site-packages\matplotlib\image.py", line 131, in _draw_list_compositing_images a.draw(renderer) File "c:\users\sandy\appdata\local\programs\python\python37\lib\site-packages\matplotlib\artist.py", line 41, in draw_wrapper return draw(artist, renderer, *args, **kwargs) File "c:\users\sandy\appdata\local\programs\python\python37\lib\site-packages\matplotlib\text.py", line 681, in draw bbox, info, descent = textobj._get_layout(renderer) File "c:\users\sandy\appdata\local\programs\python\python37\lib\site-packages\matplotlib\text.py", line 274, in _get_layout key = self.get_prop_tup(renderer=renderer) File "c:\users\sandy\appdata\local\programs\python\python37\lib\site-packages\matplotlib\text.py", line 848, in get_prop_tup self.figure.dpi, weakref.ref(renderer), AttributeError: 'NoneType' object has no attribute 'dpi'

[danielsk78]

Hi @erikx50.

The error is described in issue #3.

For the aruco markers, we use the aruco.DICT_4X4_50 to create and detect the arucos. It seems you are using another dictionary, so you will need to specify that when initializing the MarkerDetection class. For example:

aruco = MarkerDetection(sensor=sensor, aruco_dict=cv.aruco.DICT_6X6_100) 

[erikx50]

Thank you @danielsk78. Looks like it works when we changed to aruco.DICT_4X4_50.