Undistort marker points before solving the calibration homography#34
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danielkaijzer wants to merge 1 commit into
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Undistort marker points before solving the calibration homography#34danielkaijzer wants to merge 1 commit into
danielkaijzer wants to merge 1 commit into
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findHomography assumes a pinhole model, but marker corners sit near the frame edges where real lens distortion is largest — biasing the fit exactly where accuracy matters most. When scene_intrinsics.json is present, ArucoHomography now solves in undistorted/normalized space and redistorts projected points back to raw scene-cam pixels before use, so labels.csv, the live overlay, and saved frames all stay in the same pixel-space contract as before. Falls back to the old raw-pixel-space solve unchanged if no intrinsics file exists. Also centralizes the homography homogeneous-divide into ArucoHomography.project_via_homography(), replacing hand-rolled H@[x,y,1] math in routine.py's tick()/_log_aruco_check(), and wires the previously unused screen_to_scene/scene_to_screen interface through the same path.
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findHomography assumes a pinhole model, but marker corners sit near the frame edges where real lens distortion is largest — biasing the fit exactly where accuracy matters most. When scene_intrinsics.json is present, ArucoHomography now solves in undistorted/normalized space and redistorts projected points back to raw scene-cam pixels before use, so labels.csv, the live overlay, and saved frames all stay in the same pixel-space contract as before. Falls back to the old raw-pixel-space solve unchanged if no intrinsics file exists.
Also centralizes the homography homogeneous-divide into ArucoHomography.project_via_homography(), replacing hand-rolled H@[x,y,1] math in routine.py's tick()/_log_aruco_check(), and wires the previously unused screen_to_scene/scene_to_screen interface through the same path.