diff --git a/src/recognition.cpp b/src/recognition.cpp
index 691cb2c435cea97f26d26044190c348b149330ad..871851037ac2c3d45c0bbdcf3af66e6873c1b53f 100644
--- a/src/recognition.cpp
+++ b/src/recognition.cpp
@@ -754,10 +754,11 @@ void findMultiColorMarker(Mat &img, QList<TrackPoint> *crossList, Control *contr
// missing frames where Code is not recognized are interpolated in trackerReal.cpp and Marker ID is set to -1
// cropRect has coordinates of rechtangele around color blob with respect to lower left corner (as in the beginning of useBlackDot)
+ int extendRect = myRound(maxExpansion*.3); // scalar to increase area of cropRect for better detection of codemarkers when marker appears to stick out of the colored head because of tilted heads; value of .3 chosen arbitrarily after discussion
cropRect.x = max(1, myRound(box.center.x-box.size.width/2.-border));
cropRect.y = max(1, myRound(box.center.y-box.size.height/2.-border));
- cropRect.width = min(img.cols-cropRect.x-1, 2*border+(myRound(maxExpansion) & -2));
- cropRect.height = min(img.rows-cropRect.y-1, 2*border+(myRound(maxExpansion) & -2));
+ cropRect.width = min(img.cols-cropRect.x-extendRect-1, 2*border+(myRound(maxExpansion)+extendRect & -2));
+ cropRect.height = min(img.rows-cropRect.y-extendRect-1, 2*border+(myRound(maxExpansion)+extendRect & -2));
subImg=img(cropRect); // --> shallow copy (points to original data)
int lengthini = crossList->size(); // initial length of crossList (before findCodeMarker() is called)
diff --git a/tests/regression_test/data/multiColorMarkerWithAruco_dictMip36h12_truth.trc b/tests/regression_test/data/multiColorMarkerWithAruco_dictMip36h12_truth.trc
index a2124617775d857e9e6ef3ed4ecc2a14af78aeba..2bc4cab2fd43cdf39835fff63beb3047155f9966 100644
--- a/tests/regression_test/data/multiColorMarkerWithAruco_dictMip36h12_truth.trc
+++ b/tests/regression_test/data/multiColorMarkerWithAruco_dictMip36h12_truth.trc
@@ -1,6 +1,6 @@
version 3
28
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diff --git a/tests/regression_test/data/multiColorMarkerWithAruco_dictMip36h12_truth.txt b/tests/regression_test/data/multiColorMarkerWithAruco_dictMip36h12_truth.txt
index de1d3c5d01d9a938c4a2545ae884aa6df6d07958..dec8d2ac6774f1ff415caa8d21f3fc1520738eb9 100644
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