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--- newsletters:2026-04 [2026/05/05 14:32] – [GPU refactor for multiple displays] osnr
+++ newsletters:2026-04 [2026/05/05 20:08] (current) – [NaN handling] osnr
@@ Line 32: / Line 32: @@
 === Bluetooth keyboard support ===
-Omar started working on new Bluetooth keyboard support where we don't need a custom udev device path in ''by-path''
+Omar and Andrés started working on new Bluetooth keyboard support, where we don't need a custom udev device path in ''by-path'' -- ideally, we could pair and reconnect a keyboard just from the table (and ideally completely automatically if already paired).
+{{newsletters:c0cd1dcc-f626-46b0-9f07-f4dee96c0298-7942-00000d891e1303c7.png?300px}}
 === Multi-display / multi-camera support ===
@@ Line 42: / Line 46: @@
 Given this stereo camera, how can we add crop support to the UI and ultimately calibrate and use both 'eyes' to do better pose estimation?
+=== Easier camera config ===
+Added a setting on /camera that lets you set the exposure (and auto-exposure mode) live right there. Also now iframe /camera on the calibration page, so we have just that one uniform UI for camera config (including any future settings we might want to add), rather than /calibrate having its own one-off exposure slider.
 === Camera crop ===
@@ Line 50: / Line 60: @@
 (We use this to pick just the left eye for now out of a stereo side-by-side ELP image, but eventually want to use this to create two virtual cameras, one from each eye, to co-calibrate.)
-=== Easier camera config ===
-Added a setting on /camera that lets you set the exposure (and auto-exposure mode) live right there. Also now iframe /camera on the calibration page, so we have just that one uniform UI for camera config (including any future settings we might want to add), rather than /calibrate having its own one-off exposure slider.
@@ Line 62: / Line 67: @@
 Now when you boot Folk on a PC with two displays, we can draw to both, but it's still the same stuff drawn to both. In order to have a properly multi-display Folk system, we need to change a lot of the draw statements to be scoped to a specific display, which may be a breaking API change.
+==== Ideas for fixing pose estimation errors ====
+Some systems have [[https://github.com/AprilRobotics/apriltag/issues/71|pose estimation problems]] while we rely on monocular vision. One solution is to use a stereo camera to remove ambiguity; another is to account for the table plane in some way to narrow down candidates.
+Here is a simple proposal:
+{{newsletters:screenshot-2026-04-24-at-5.10.07-pm.png?400px}}
 ==== New studio setup ====
-Last month, we started [[newsletters/2026-03#moving-into-the-new-studio|moving ]]out of Hex House and into a new studio space in Williamsburg. We continued that process this month and finalized a lot of the layout (although we don't necessarily have final mounting situation and tables/storage yet).
+Last month, we started [[newsletters/2026-03#moving-into-the-new-studio|moving]] out of Hex House and into a new studio space in Williamsburg. We continued that process this month and finalized a lot of the layout (although we don't necessarily have final mounting situation and tables/storage yet).
 === L-shaped dedicated area for Folk ===
@@ Line 76: / Line 90: @@
 Was trying the Logitech Brio 4K on one side and NexiGo on the other side at first. Horrible issues with USB3; ultimately gave up on the Brio 4K for now.
+{{newsletters:img_4149.mp4?250px}}
 {{.:pasted:20260504-222528.png?350px}}
-(I think it's the SAM2 demo that's running/rerunning all the time and really pushing the Nvidia drivers.)
+(I think it might be the SAM2 demo I have on the table that's running/rerunning all the time and really pushing the Nvidia drivers and causing deadlock.)
 === Communal table (folk-convivial) / JMGO N1 Ultra setup ===
@@ Line 96: / Line 113: @@
 It's not as light as the AAXA 4K1 (4ish pounds), but it's similar price and much, much brighter.
-C-stand setup
+Set it up on a tall C-stand (8-10 feet) for now, and wrapped a lampshade around it (see the head on table in second-to-last photo). C-stands have been useful for temporary mounting of heavy-ish stuff, but ultimately, should probably suspend from ceiling to get it totally out of the way.
-{{newsletters:img_3640.jpeg?0x400px}}
+{{newsletters:img_3640.jpeg?0x300px}} {{newsletters:img_3613.jpeg?0x300px}} {{newsletters:img_4150.jpeg?0x300px}} {{newsletters:img_4162.jpeg?0x300px}} {{newsletters:img_4152.jpeg?0x300px}}
-{{newsletters:img_4150.jpeg?0x300px}} {{newsletters:img_4152.jpeg?0x300px}}
 === Moving the CNC machine ===
@@ Line 117: / Line 132: @@
 ==== SVA setup ====
-TODO
+  * Andrés set up a small Folk system in the library of the SVA MFA Interaction Design department for students in their UI/UX Design History class to try out, here's Andrés walking a student through creating her first Folk program:
+    * {{:newsletters:sva_demo_shortened.mp4?400px|SVA demo — making a simple "Wish $this is outlined green" program via the web editor}}
+    * {{newsletters:sva_small_demo_pic.jpeg?400px|A blue outlined program on the Folk Computer shelf at SVA}}
 ==== Interactively refine calibration ====
@@ Line 131: / Line 148: @@
 {{newsletters:screenshot-2026-04-29-at-6.04.12-pm.png?500px}}
+Now capping the number of optimization iterations and throwing an error when NaN appears in any parameter. Still need to report to frontend UI.
 === Inline live preview on /calibrate ===