Claude: Findet .npz Fehler

setup/generateSets/render_robot.py

@@ -465,22 +465,35 @@ CALIBRATION_OUTPUT = str(
 render = scene.render
 cam = cam_obj.data
 
-width_px = render.resolution_x
-height_px = render.resolution_y
-
 scale = render.resolution_percentage / 100.0
+width_px = render.resolution_x * scale
+height_px = render.resolution_y * scale
 
-width_px *= scale
-height_px *= scale
-
+focal_mm = cam.lens
 sensor_width_mm = cam.sensor_width
 sensor_height_mm = cam.sensor_height
 
-focal_mm = cam.lens
+# Pixel aspect ratio (1.0 for synthetic cameras with square pixels)
+pixel_aspect_ratio = render.pixel_aspect_y / render.pixel_aspect_x
 
-# focal length in pixels
-fx = (width_px * focal_mm) / sensor_width_mm
-fy = (height_px * focal_mm) / sensor_height_mm
+# Blender's 'sensor_fit' decides which sensor axis defines the focal length.
+# With AUTO it is the longer (pixel-aspect-weighted) image axis, and pixels are
+# square (fy == fx). The previous code used sensor_height for fy, which only
+# matched at a 3:2 aspect ratio and was ~15% off at 16:9 (e.g. 1280x720).
+sensor_fit = cam.sensor_fit
+if sensor_fit == 'AUTO':
+    sensor_fit = 'HORIZONTAL' if width_px >= height_px * pixel_aspect_ratio else 'VERTICAL'
+
+if sensor_fit == 'HORIZONTAL':
+    sensor_size_mm = sensor_width_mm
+    view_fac_px = width_px
+else:  # VERTICAL
+    sensor_size_mm = sensor_height_mm
+    view_fac_px = pixel_aspect_ratio * height_px
+
+f_px = focal_mm * view_fac_px / sensor_size_mm
+fx = f_px
+fy = f_px / pixel_aspect_ratio   # square pixels => fy == fx
 
 cx = width_px / 2.0
 cy = height_px / 2.0