opencv - Aruco scales coordinates wrong -

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i using (newly released) aruco 2.0.7 track markers. camera using mounted ceiling facing down, need x , y coordinates. can view area of 2.6m 1.5m. if understand documentation correctly, supply sidelength of markers i'm using in arbitrary unit, output of pose in same unit. markers have sidelength of 19.5cm. want result in meters, have value set 0.195.

however, results obtain not correct. if place markers right in corners of field of view of camera, not @ corresponding expected x , y coordinates.

i placing global origin on 1 of corners of field of view, e.g. (0,0) bottom left corner. done transforming incoming positions markers coordinate system using matrix transforms obtained getrtmatrix(). seems working, except x , y coordinates in wrong unit or scaled. rotation works perfectly.

am missing something? or can not expect accuracy? error significant, e.g. when should (2.6,1.5), displayed (1.8, 1), error of 33%.

after more thought figured out camera calibrated using smaller distance calibration board lens need use case. caused distortion coefficients wrong, giving me bogus scale. re-calibrated using aruco_calibration tool , accurate 3 or 4 cm, enough me.


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