System Information

OpenCV version: 4.9.0 and later (possibly also earlier versions)

Detailed description

Due to the implementation of normalizeMarkerOrientation here, checkerboard with markers is detected by findChessboardCornersSB only if the central marker is on a white tile, otherwise findChessboardCornersSB returns false.

Steps to reproduce

Just try the detection of this board

with findChessboardCornersSB (cv::CALIB_CB_MARKER flag must be enabled).

Issue submission checklist

• I report the issue, it's not a question
• I checked the problem with documentation, FAQ, open issues, forum.opencv.org, Stack Overflow, etc and have not found any solution
• I updated to the latest OpenCV version and the issue is still there
• There is reproducer code and related data files (videos, images, onnx, etc)