tobycollins

A solution to handle arbitrary intrinsics could be as follows. You warp each image using its calibration intrinsics, so that the warped image has a canonical intrinsic matrix of [f,...

Hi - yes I assumed --fixed-intrinsics would be set :-) Regarding the fact that EXIF only supports integer values, it's not really a problem. The canonical intrinsic matrix can have...

The pose ambiguity problem is a known issue for PnP when the model points are co-planar. It occurs when the planar model is either small, or viewed far to the...

You're absolutely right. The ambiguity can also be resolved if you have a stereo rig or an rgbd camera. This can work when the marker is in the working range...