- fixed: first undistort, then scale down

ar_tag_pose/calibration.py

@@ -59,6 +59,7 @@ class Calibration:
 		return dst
 
 	def process(self, image: np.ndarray, thresh=3.0):
+		flags = cv.CALIB_RATIONAL_MODEL + 0*cv.CALIB_FIX_PRINCIPAL_POINT
 		criteria = (cv.TERM_CRITERIA_EPS + cv.TERM_CRITERIA_MAX_ITER, 3000, 0.001)
 		success = False
 		error = -1
@@ -66,7 +67,7 @@ class Calibration:
 		ni = len(self.img_points_list)
 		if no == ni and no > 0:
 			ret, mtx, dist, r_vecs, t_vecs = cv.calibrateCamera(self.obj_points_list, self.img_points_list, image.shape, self.mtx, self.dist,
-															  rvecs=None, tvecs=None, flags=cv.CALIB_RATIONAL_MODEL, criteria=criteria)
+															  rvecs=None, tvecs=None, flags=flags, criteria=criteria)
 			error = ret
 			if ret < thresh:
 				success = True

ar_tag_pose/detector_board_main.py

@@ -239,9 +239,16 @@ class Detector(abc.ABC):
 							self.print_angle(img,f"{str(det)}-{rotation_order}", rot, (30, int(y_pos/k_scale)), rotation_order, 1./k_scale)
 							y_pos += 30
 
-			img_scaled = cv.resize(img, dsize=None, fx=k_scale, fy=k_scale)
+			# show scaled version of input image
 			if show_undistorted_image:
-				img_scaled = self.calibration.image_remap(img_scaled)
+				# undistort first
+				img_ud = self.calibration.image_remap(img)
+				# then scale
+				img_scaled = cv.resize(img_ud, dsize=None, fx=k_scale, fy=k_scale)
+			else:
+				# scale only
+				img_scaled = cv.resize(img, dsize=None, fx=k_scale, fy=k_scale)
+
 			cv.imshow('img', img_scaled)
 			if self.out_file is not None:
 				out = out_writer(out, img_scaled, filename=self.out_file)