Apriltag corrupts while sliding the calibration board

[rooprob]

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.

[rooprob]

I'm using a logitech 1080p camera. Axxa M8 laser projector, in 1080p mode 60Hz.
folk is current master, with or without my debugging patches.

[rooprob]

Also tried apriltags FolkComputer/apriltag@d4f8b0a
and upstream apriltags AprilRobotics/apriltag@724a7d8

cat /etc/lsb-release
DISTRIB_ID=Ubuntu
DISTRIB_RELEASE=24.04
DISTRIB_CODENAME=noble
DISTRIB_DESCRIPTION="Ubuntu 24.04.1 LTS"

[rooprob]

For the above report I've been using folk fork of Apriltags.

I mentioned I'd tried the upsteam master. The latest AprilRobotics/apriltag@724a7d8 (Modify the memory allocation method of matd_t to comply with ISO standards) and now throws this error from exponentialMap.

Dec 12 17:39:41 folk-nuc14rvs-b make[56361]: Mailbox create folk-nuc14rvs-b.lan.local -> virtual-programs/apriltags.folk-m49:0-1
Dec 12 17:39:41 folk-nuc14rvs-b make[56361]: Mailbox create virtual-programs/apriltags.folk-m49:0-1 -> folk-nuc14rvs-b.lan.local
Dec 12 17:39:41 folk-nuc14rvs-b make[56361]: Mailbox create folk-nuc14rvs-b.lan.local -> virtual-programs/apriltags.folk-m49:0-2
Dec 12 17:39:41 folk-nuc14rvs-b make[56361]: Mailbox create virtual-programs/apriltags.folk-m49:0-2 -> folk-nuc14rvs-b.lan.local
Dec 12 17:39:41 folk-nuc14rvs-b make[56361]: Warning: Unable to generate getter for `VTerminal tmt`: Unrecognized rtype TMT
Dec 12 17:39:41 folk-nuc14rvs-b make[56361]: folk-nuc14rvs-b.lan.local: Error in virtual-programs/tags-to-quads.folk, match m65:0: In file included from /home/folk/apriltag/apriltag.h:36,
Dec 12 17:39:41 folk-nuc14rvs-b make[56361]:                  from /home/folk/apriltag/apriltag_pose.h:8,
Dec 12 17:39:41 folk-nuc14rvs-b make[56361]:                  from /tmp/cfile_PZRldN.c:45:
Dec 12 17:39:41 folk-nuc14rvs-b make[56361]: /tmp/cfile_PZRldN.c: In function ‘exponentialMap’:
Dec 12 17:39:41 folk-nuc14rvs-b make[56361]: /home/folk/apriltag/common/matd.h:64:39: warning: ‘*tu.data’ is used uninitialized [-Wuninitialized]
Dec 12 17:39:41 folk-nuc14rvs-b make[56361]:    64 | #define MATD_EL(m, row, col) (m)->data[((row)*(m)->ncols + (col))]
Dec 12 17:39:41 folk-nuc14rvs-b make[56361]:       |                                       ^
Dec 12 17:39:41 folk-nuc14rvs-b make[56361]: /tmp/cfile_PZRldN.c:837:5: note: in expansion of macro ‘MATD_EL’
Dec 12 17:39:41 folk-nuc14rvs-b make[56361]:   837 |     MATD_EL(tu, 0, 0) = vtux;
Dec 12 17:39:41 folk-nuc14rvs-b make[56361]:       |     ^~~~~~~
Dec 12 17:39:41 folk-nuc14rvs-b make[56361]: In file included from /home/folk/apriltag/apriltag.h:36,
Dec 12 17:39:41 folk-nuc14rvs-b make[56361]:                  from /home/folk/apriltag/apriltag_pose.h:8,
Dec 12 17:39:41 folk-nuc14rvs-b make[56361]:                  from /tmp/cfile_PZRldN.c:45:
Dec 12 17:39:41 folk-nuc14rvs-b make[56361]: /tmp/cfile_PZRldN.c: In function ‘exponentialMap’:
Dec 12 17:39:41 folk-nuc14rvs-b make[56361]: /home/folk/apriltag/common/matd.h:64:39: warning: ‘*tu.data’ is used uninitialized [-Wuninitialized]
Dec 12 17:39:41 folk-nuc14rvs-b make[56361]:    64 | #define MATD_EL(m, row, col) (m)->data[((row)*(m)->ncols + (col))]
Dec 12 17:39:41 folk-nuc14rvs-b make[56361]:       |                                       ^
Dec 12 17:39:41 folk-nuc14rvs-b make[56361]: /tmp/cfile_PZRldN.c:837:5: note: in expansion of macro ‘MATD_EL’
Dec 12 17:39:41 folk-nuc14rvs-b make[56361]:   837 |     MATD_EL(tu, 0, 0) = vtux;
Dec 12 17:39:41 folk-nuc14rvs-b make[56361]:       |     ^~~~~~~
Dec 12 17:39:41 folk-nuc14rvs-b make[56361]:     while executing
Dec 12 17:39:41 folk-nuc14rvs-b make[56361]: "exec $compiler -Wall -g -shared -fno-omit-frame-pointer -fPIC {*}$cflags $cfile -o [file rootname $cfile][info sharedlibextension]"
Dec 12 17:39:41 folk-nuc14rvs-b make[56361]:     (procedure "::c14::compile" line 45)
Dec 12 17:39:41 folk-nuc14rvs-b make[56361]:     invoked from within
Dec 12 17:39:41 folk-nuc14rvs-b make[56361]: "$cc compile"
Dec 12 17:39:41 folk-nuc14rvs-b make[56361]:     (lambda term "this set\ cc\ \[c\ create\]\n\n#\ Represents\ camera\ or\ pr..." line 514)
Dec 12 17:39:41 folk-nuc14rvs-b make[56361]:     invoked from within
Dec 12 17:39:41 folk-nuc14rvs-b make[56361]: "apply $__program $this"
Dec 12 17:39:41 folk-nuc14rvs-b make[56361]:     (lambda term "{this __program} {
Dec 12 17:39:41 folk-nuc14rvs-b make[56361]:     apply $__program $this
Dec 12 17:39:41 folk-nuc14rvs-b make[56361]: }" line 2)
Dec 12 17:39:41 folk-nuc14rvs-b make[56361]:     invoked from within
Dec 12 17:39:41 folk-nuc14rvs-b make[56361]: "apply $lambda {*}$env"
Dec 12 17:39:41 folk-nuc14rvs-b make[56361]:     invoked from within
Dec 12 17:39:41 folk-nuc14rvs-b make[56361]: "time {set ret [apply $lambda {*}$env]}"
Dec 12 17:39:41 folk-nuc14rvs-b make[56361]:     ("uplevel" body line 1)
Dec 12 17:39:41 folk-nuc14rvs-b make[56361]:     invoked from within
Dec 12 17:39:41 folk-nuc14rvs-b make[56361]: "uplevel [list time $body]"
Dec 12 17:39:41 folk-nuc14rvs-b make[56361]:     (procedure "baretime" line 1)
Dec 12 17:39:41 folk-nuc14rvs-b make[56361]:     invoked from within
Dec 12 17:39:41 folk-nuc14rvs-b make[56361]: "baretime {set ret [apply $lambda {*}$env]}"
Dec 12 17:39:41 folk-nuc14rvs-b make[56361]:     (procedure "runInSerializedEnvironment" line 4)
Dec 12 17:39:41 folk-nuc14rvs-b make[56361]:     invoked from within
Dec 12 17:39:41 folk-nuc14rvs-b make[56361]: "runInSerializedEnvironment $lambda $env"
Dec 12 17:39:41 folk-nuc14rvs-b make[56361]: folk-nuc14rvs-b.lan.local: Error in virtual-programs/calibrate/table-refine.folk, match m67:0: can't read "::c14::rescaleAndUndistort_addr": no such variable
Dec 12 17:39:41 folk-nuc14rvs-b make[56361]: can't read "::c14::rescaleAndUndistort_addr": no such variable
Dec 12 17:39:41 folk-nuc14rvs-b make[56361]:     while executing
Dec 12 17:39:41 folk-nuc14rvs-b make[56361]: "set [set scc]::[set sname]_addr"
Dec 12 17:39:41 folk-nuc14rvs-b make[56361]:     (procedure "::c15::import" line 6)
Dec 12 17:39:41 folk-nuc14rvs-b make[56361]:     invoked from within
Dec 12 17:39:41 folk-nuc14rvs-b make[56361]: "$cc import quadCc rescaleAndUndistort as rescaleAndUndistort"
Dec 12 17:39:41 folk-nuc14rvs-b make[56361]:     (lambda term "{this quadCc} {
Dec 12 17:39:41 folk-nuc14rvs-b make[56361]:     set cc [c create]
Dec 12 17:39:41 folk-nuc14rvs-b make[56361]:     $cc struct Intrin..." line 17)
Dec 12 17:39:41 folk-nuc14rvs-b make[56361]:     invoked from within
Dec 12 17:39:41 folk-nuc14rvs-b make[56361]: "apply $lambda {*}$env"
Dec 12 17:39:41 folk-nuc14rvs-b make[56361]:     invoked from within
Dec 12 17:39:41 folk-nuc14rvs-b make[56361]: "time {set ret [apply $lambda {*}$env]}"
Dec 12 17:39:41 folk-nuc14rvs-b make[56361]:     ("uplevel" body line 1)
Dec 12 17:39:41 folk-nuc14rvs-b make[56361]:     invoked from within
Dec 12 17:39:41 folk-nuc14rvs-b make[56361]: "uplevel [list time $body]"
Dec 12 17:39:41 folk-nuc14rvs-b make[56361]:     (procedure "baretime" line 1)
Dec 12 17:39:41 folk-nuc14rvs-b make[56361]:     invoked from within
Dec 12 17:39:41 folk-nuc14rvs-b make[56361]: "baretime {set ret [apply $lambda {*}$env]}"
Dec 12 17:39:41 folk-nuc14rvs-b make[56361]:     (procedure "runInSerializedEnvironment" line 4)
Dec 12 17:39:41 folk-nuc14rvs-b make[56361]:     invoked from within
Dec 12 17:39:41 folk-nuc14rvs-b make[56361]: "runInSerializedEnvironment $lambda $env"
Dec 12 17:39:41 folk-nuc14rvs-b make[56361]: Mailbox create folk-nuc14rvs-b.lan.local -> watchdog
Dec 12 17:39:41 folk-nuc14rvs-b make[56361]: Mailbox create watchdog -> folk-nuc14rvs-b.lan.local