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--- newsletters:2026-04 [2026/05/05 19:44] – osnr
+++ newsletters:2026-04 [2026/05/05 20:08] (current) – [NaN handling] osnr
@@ Line 67: / 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 ====
@@ Line 140: / 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 ===