AR: sub-pixel corner refinement, ROI-first detection, anchor coplanarity check

public/js/ar/solve-cv.js

@@ -21,6 +21,7 @@
  */
 import * as THREE from 'three';
 import { anchorWorldMatrix } from './pose.js';
+import { planarity } from './geom.js';
 
 // ---------------- marker corner templates ----------------
 /* js-aruco2 corner order (canonical, matches POS-IT buildModel): TL, TR, BR, BL.
@@ -96,6 +97,7 @@ export class CvBoardSolver {
     this.lastReproj = 0;
     this.lastCount = 0;
     this.lastReject = '';           // why the worker last refused a pose (HUD)
+    this.planarity = null;          // anchor geometry conditioning, see geom.js
     this._v = new THREE.Vector3();
     this._m4 = new THREE.Matrix4();
     this._q = new THREE.Quaternion();
@@ -163,6 +165,15 @@ export class CvBoardSolver {
       if (a.enabled === false) continue;
       this.anchors.set(a.markerId, { mat: anchorWorldMatrix(a), sizeMM: a.sizeMM || 60 });
     }
+    /* Measure the layout's conditioning once, here, rather than discovering it
+     * later as intermittent mirrored poses. Warming cornersFor() for every
+     * anchor is a side benefit — the first solve no longer pays for it. */
+    const pts = [];
+    for (const id of this.anchors.keys()) {
+      const flat = this.cornersFor(id);
+      if (flat) pts.push(...flat);
+    }
+    this.planarity = planarity(pts);
     this.filter.reset();
     this.lastPose = null;
     if (this.worker) this.worker.postMessage({ type: 'reset' });