Apriltag corrupts while sliding the calibration board #183
Description
Hi
I'm trying to get a good calibration result, but failing.
When it's detecting, it's detecting quickly. However...
This is one of my issues: often - but not every time - within 8 poses the rotating apriltags render in a corrupted way (see picture), stalling the calibration seemingly forever until I update projected-tag-slider.
When it is in this state I added some debug and it's returning here.
(Question: When it stalls I thought to add some code to retrigger a Claim the calibration model-to-display homography is $H_modelToDisplay - this worked but the result reloaded the same corrupted apriltags - so I guess the issue must exist in the model ... ? Still learning enough TCL to debug that.)
Also attached is the last successful pose as captured by folk (found in folk-calibration-poses). You might see some marks below the card: those are debugging lines I've added which are the [dict get $tag p] as projected from the what the camera is reporting. They are all off towards the bottom, right.
