Aruco detector is unable to find good marker

C++
1

Aruco detector is not working for this case. The image seems clear enough to me, it is even able to detect the other markers but I can’t find anything special about the undetected marker (Id 608, third row from the top, kind of in the middle)

faulty_annotated
faulty_annotated827×605 308 KB

This is the code to repro with the image above. Advice will be appreciated.

int main() {
  cv::aruco::Dictionary dictionary =
      cv::aruco::getPredefinedDictionary(cv::aruco::DICT_5X5_1000);
  cv::Mat img = cv::imread("faulty.png", cv::IMREAD_UNCHANGED);
  std::vector<int> markerIds;
  std::vector<std::vector<cv::Point2f>> markerCorners, rejectedMarkers;
  cv::aruco::DetectorParameters detectorParameters =
      cv::aruco::DetectorParameters();
  cv::aruco::ArucoDetector detector(dictionary, detectorParameters);
  detector.detectMarkers(img, markerCorners, markerIds, rejectedMarkers);
  cv::aruco::drawDetectedMarkers(img, markerCorners, markerIds);
  cv::imwrite("faulty_annotated.png", img);
  return 0;
}

The original image can find it here since the forum won’t let me upload two images [LINK]