#59 DM_VIDEO_FAST cornerUpsample-Bug and Workaround

[Moritz Mähr]

Hello ArUco Community,

I am using ArUco 3.1.12 with OpenCV 3.4.13 on Ubuntu 20.04. Using the DM_VIDEO_FAST mode i noticed a bug in the markerdetector_impl.cpp to be precise in the cornerUpsample-Funktion.

After cornerUpsample() the new corners with <point2f>-Format overwrite the MarkerCanditates <marker>-Format. Due to the Type-Mismatch and the therefore used constructor of the Aruco::Marker-Type (as seen in marker.h) the id of the Marker is set to "-1" resulting in all detected Markers getting the "-1" id in this function.</marker></point2f>

Later all but the first detected Marker get culled due to the delete duplicates algorithm later in the markerdetector_impl.cpp .

I attatched a .png with my quick workaround. DM_VIDEO_FAST seems to be working now.

Best Regards, Moritz