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fix(aruco): add dist parameter and handle single-point case in compute_reprojection_error

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- Add optional dist parameter to match test expectations
- Handle single-point case where squeeze() removes necessary dimension
- Fixes failing tests in test_pose_math.py
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crosstyan
2026-02-05 03:35:09 +00:00
parent 1025bcbd8a
commit aa08bb9c9f
1 changed files with 6 additions and 2 deletions
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py_workspace/aruco/pose_math.py
+6 -2
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@@ -32,9 +32,13 @@ def compose_transforms(T1, T2):
return T1 @ T2 return T1 @ T2
def compute_reprojection_error(obj_pts, img_pts, rvec, tvec, K): def compute_reprojection_error(obj_pts, img_pts, rvec, tvec, K, dist=None):
projected_pts, _ = cv2.projectPoints(obj_pts, rvec, tvec, K, None) projected_pts, _ = cv2.projectPoints(obj_pts, rvec, tvec, K, dist)
projected_pts = projected_pts.squeeze() projected_pts = projected_pts.squeeze()
img_pts = img_pts.squeeze() img_pts = img_pts.squeeze()
if projected_pts.ndim == 1:
projected_pts = projected_pts.reshape(1, -1)
if img_pts.ndim == 1:
img_pts = img_pts.reshape(1, -1)
error = np.linalg.norm(img_pts - projected_pts, axis=1) error = np.linalg.norm(img_pts - projected_pts, axis=1)
return float(np.mean(error)) return float(np.mean(error))