Remove all fallbacks: show errors, draw debug lines on calibration

- Remove try-except in CameraCalibrator — errors propagate to UI
- Remove auto-load of saved calibrations — always start uncalibrated
- Remove hardcoded "Base Setup" card with fake values
- Remove addStereocameras/getCamParams dead code
- Draw all detected Hough lines + corners on debug frame during calibration
- Show debug images in calibration tab after attempt
- Show error messages in UI instead of swallowing them

Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>

src/calibration/camera_calibrator.py

@@ -50,31 +50,27 @@ class CameraCalibrator:
             [0, 0, 1]
         ], dtype=np.float32)
 
-        try:
-            success, self.rotation_vec, self.translation_vec = cv2.solvePnP(
-                court_corners_3d.astype(np.float32),
-                court_corners_pixel.astype(np.float32),
-                self.camera_matrix,
-                None,
-                flags=cv2.SOLVEPNP_ITERATIVE
-            )
-            if not success:
-                return False
+        success, self.rotation_vec, self.translation_vec = cv2.solvePnP(
+            court_corners_3d.astype(np.float32),
+            court_corners_pixel.astype(np.float32),
+            self.camera_matrix,
+            None,
+            flags=cv2.SOLVEPNP_ITERATIVE
+        )
+        if not success:
+            raise RuntimeError("solvePnP failed to find camera pose")
 
-            self.rotation_matrix, _ = cv2.Rodrigues(self.rotation_vec)
+        self.rotation_matrix, _ = cv2.Rodrigues(self.rotation_vec)
 
-            # Build ground plane homography (Z=0)
-            ground_2d = court_corners_3d[:, :2].astype(np.float32)
-            self.homography = cv2.getPerspectiveTransform(
-                court_corners_pixel[:4].astype(np.float32),
-                ground_2d[:4]
-            )
+        # Build ground plane homography (Z=0)
+        ground_2d = court_corners_3d[:, :2].astype(np.float32)
+        self.homography = cv2.getPerspectiveTransform(
+            court_corners_pixel[:4].astype(np.float32),
+            ground_2d[:4]
+        )
 
-            self.calibrated = True
-            return True
-        except Exception as e:
-            print(f"Calibration failed: {e}")
-            return False
+        self.calibrated = True
+        return True
 
     def pixel_to_ground(self, px: float, py: float) -> Optional[Tuple[float, float]]:
         """Project pixel to ground plane (Z=0) using homography."""
@@ -150,20 +146,16 @@ class CameraCalibrator:
             json.dump(data, f, indent=2)
 
     def load(self, filepath: str) -> bool:
-        try:
-            with open(filepath, 'r') as f:
-                data = json.load(f)
-            self.camera_matrix = np.array(data['camera_matrix'], dtype=np.float32)
-            self.rotation_vec = np.array(data['rotation_vector'], dtype=np.float32).reshape(3, 1)
-            self.translation_vec = np.array(data['translation_vector'], dtype=np.float32).reshape(3, 1)
-            self.rotation_matrix = np.array(data['rotation_matrix'], dtype=np.float32)
-            if data.get('homography'):
-                self.homography = np.array(data['homography'], dtype=np.float32)
-            self.calibrated = True
-            return True
-        except Exception as e:
-            print(f"Failed to load calibration: {e}")
-            return False
+        with open(filepath, 'r') as f:
+            data = json.load(f)
+        self.camera_matrix = np.array(data['camera_matrix'], dtype=np.float32)
+        self.rotation_vec = np.array(data['rotation_vector'], dtype=np.float32).reshape(3, 1)
+        self.translation_vec = np.array(data['translation_vector'], dtype=np.float32).reshape(3, 1)
+        self.rotation_matrix = np.array(data['rotation_matrix'], dtype=np.float32)
+        if data.get('homography'):
+            self.homography = np.array(data['homography'], dtype=np.float32)
+        self.calibrated = True
+        return True
 
 
 def get_half_court_3d_points(side: str) -> np.ndarray:

src/web/app.py

@@ -112,11 +112,16 @@ def api_calibration_trigger():
     if fn is None:
         return jsonify({'ok': False, 'error': 'Calibration not available'}), 500
 
+    import traceback
     try:
         result = fn()
-        return jsonify({'ok': True, 'result': result})
+        # Check if any camera failed
+        any_ok = any(r.get('ok') for r in result.values())
+        return jsonify({'ok': any_ok, 'result': result})
     except Exception as e:
-        return jsonify({'ok': False, 'error': str(e)}), 500
+        tb = traceback.format_exc()
+        print(f"[CALIBRATION ERROR]\n{tb}")
+        return jsonify({'ok': False, 'error': f'{type(e).__name__}: {e}'}), 500
 
 
 @app.route('/api/calibration/data')

src/web/templates/index.html

@@ -332,19 +332,15 @@
             <div class="bottom-card"><img id="cal-cam1" alt="Camera 1"></div>
             <div class="bottom-card"><img id="cal-cam0" alt="Camera 0"></div>
             <div class="cam-card">
-                <div class="cc-title">Base Setup</div>
-                <div class="cc-item">Distance <b id="paramPosY">1.0</b>m</div>
-                <div class="cc-item">Height <b id="paramPosZ">1.0</b>m</div>
-                <div class="cc-item">Stereo <b id="paramStereo">6</b>cm</div>
-                <div class="cc-item">Rotation <b id="paramAngle">15</b>°</div>
-                <div class="cc-item">HFOV <b id="paramHfov">128</b>°</div>
-                <div class="cc-item">Sensor <b>IMX219</b></div>
-                <div class="cc-divider"></div>
+                <div class="cc-title">Calibration</div>
                 <button class="btn-calibrate" id="btnCalibrate" onclick="doCalibrate()">Calibrate</button>
                 <div class="calibrate-status" id="calStatus">
                     <span id="calStatusText">Not calibrated</span>
                 </div>
+                <div id="calError" style="color:#ff4444;font-size:8px;word-break:break-all;display:none"></div>
             </div>
+            <div class="bottom-card" id="calDebug0" style="display:none"><img id="calDebugImg0" alt="CAM 0 debug"></div>
+            <div class="bottom-card" id="calDebug1" style="display:none"><img id="calDebugImg1" alt="CAM 1 debug"></div>
         </div>
     </div>
 </div>
@@ -411,15 +407,34 @@ if (activeTab !== 'camera') switchTab(activeTab);
 // ===================== Calibration =====================
 function doCalibrate() {
     var btn = document.getElementById('btnCalibrate');
+    var errEl = document.getElementById('calError');
     btn.disabled = true;
     btn.textContent = 'Calibrating...';
+    errEl.style.display = 'none';
 
     fetch('/api/calibration/trigger', { method: 'POST' })
         .then(function(r) { return r.json(); })
         .then(function(data) {
             btn.disabled = false;
+
+            // Show debug images from calibration
+            if (data.result) {
+                for (var sid in data.result) {
+                    var r = data.result[sid];
+                    if (r.debug_image) {
+                        var dbgEl = document.getElementById('calDebug' + sid);
+                        var imgEl = document.getElementById('calDebugImg' + sid);
+                        if (dbgEl && imgEl) {
+                            imgEl.src = 'data:image/jpeg;base64,' + r.debug_image;
+                            dbgEl.style.display = 'block';
+                        }
+                    }
+                }
+            }
+
             if (data.ok) {
                 btn.textContent = 'Re-calibrate';
+                errEl.style.display = 'none';
                 updateCalibrationStatus();
 
                 fetch('/api/calibration/data')
@@ -427,19 +442,23 @@ function doCalibrate() {
                     .then(function(camData) { addCamerasToScene(camData); });
             } else {
                 btn.textContent = 'Calibrate';
+                // Show errors
                 var errors = [];
                 if (data.result) {
                     for (var sid in data.result) {
-                        if (!data.result[sid].ok) errors.push('CAM ' + sid + ': ' + data.result[sid].error);
+                        if (!data.result[sid].ok) errors.push(data.result[sid].error);
                     }
                 }
-                alert('Calibration failed:\n' + (errors.join('\n') || data.error || 'Unknown error'));
+                var msg = errors.join(' | ') || data.error || 'Unknown error';
+                errEl.textContent = msg;
+                errEl.style.display = 'block';
             }
         })
         .catch(function(e) {
             btn.disabled = false;
             btn.textContent = 'Calibrate';
-            alert('Error: ' + e);
+            errEl.textContent = String(e);
+            errEl.style.display = 'block';
         });
 }
 
@@ -582,9 +601,6 @@ function initCourtScene() {
 
     courtScene.add(new THREE.AmbientLight(0xffffff, 0.8));
 
-    // Physical camera marker: 1m from net, center, 1m height
-    addStereocameras(courtScene, getCamParams());
-
     // Load existing calibration cameras
     fetch('/api/calibration/data')
         .then(function(r) { return r.json(); })
@@ -683,9 +699,6 @@ function initTrajectoryScene() {
 
     trajScene.add(new THREE.AmbientLight(0xffffff, 0.8));
 
-    // Physical camera marker: 1m from net, center, 1m height
-    addStereocameras(trajScene, getCamParams());
-
     function animateTraj() {
         requestAnimationFrame(animateTraj);
         controls.update();
@@ -702,115 +715,6 @@ function initTrajectoryScene() {
     });
 }
 
-// ===================== Stereo camera rig with court coverage =====================
-// Track camera overlay objects for live update
-var camOverlayObjects = [];
-
-function addStereocameras(scene, params) {
-    params = params || {};
-    var baseX = 6.7;
-    var baseY = -(params.posY || 1);
-    var baseZ = params.posZ || 1;
-    var stereoGap = (params.stereo || 6) / 100;
-    var camAngle = params.angle || 15;
-    var hfov = params.hfov || 128;
-
-    // Remove old overlay objects
-    camOverlayObjects.forEach(function(obj) { scene.remove(obj); });
-    camOverlayObjects = [];
-
-    function addObj(obj) {
-        scene.add(obj);
-        camOverlayObjects.push(obj);
-    }
-
-    var cam0x = baseX - stereoGap / 2;
-    var cam1x = baseX + stereoGap / 2;
-
-    // Small camera bodies
-    function drawCamBody(cx, color) {
-        var body = new THREE.Mesh(
-            new THREE.BoxGeometry(0.12, 0.08, 0.08),
-            new THREE.MeshBasicMaterial({ color: color })
-        );
-        body.position.set(cx, baseY, baseZ);
-        addObj(body);
-    }
-    drawCamBody(cam0x, 0x44aaff);
-    drawCamBody(cam1x, 0xff44aa);
-
-    // Pole
-    var poleGeo = new THREE.BufferGeometry().setFromPoints([
-        new THREE.Vector3(baseX, baseY, 0),
-        new THREE.Vector3(baseX, baseY, baseZ)
-    ]);
-    addObj(new THREE.Line(poleGeo, new THREE.LineBasicMaterial({ color: 0x666666 })));
-
-    // Court boundaries for clipping
-    var courtMinX = 0, courtMaxX = 13.4, courtMinY = 0, courtMaxY = 6.1;
-    var deg2rad = Math.PI / 180;
-    var halfFov = hfov / 2;
-
-    function drawCoverage(cx, angleDeg, color) {
-        var centerAngle = 90 + angleDeg;
-        var leftAngle = centerAngle + halfFov;
-        var rightAngle = centerAngle - halfFov;
-        var ox = cx, oy = baseY;
-
-        // Cast ray, return farthest point on court boundary
-        function castRay(aDeg) {
-            var rad = aDeg * deg2rad;
-            var dx = Math.cos(rad);
-            var dy = Math.sin(rad);
-            if (dy <= 0) return null;
-
-            // t where ray enters court (Y=0)
-            var tEnter = (courtMinY - oy) / dy;
-            // t where ray exits court
-            var tExit = (courtMaxY - oy) / dy;
-            // clip X bounds
-            if (dx > 1e-9) tExit = Math.min(tExit, (courtMaxX - ox) / dx);
-            else if (dx < -1e-9) tExit = Math.min(tExit, (courtMinX - ox) / dx);
-
-            if (tExit <= tEnter) return null;
-
-            var px = ox + dx * tExit;
-            var py = oy + dy * tExit;
-            px = Math.max(courtMinX, Math.min(courtMaxX, px));
-            py = Math.max(courtMinY, Math.min(courtMaxY, py));
-            return new THREE.Vector3(px, py, 0.015);
-        }
-
-        // Camera actual position (behind court at Y=-1)
-        var camOnCourt = new THREE.Vector3(cx, oy, 0.015);
-
-        // Far edge points
-        var farPoints = [];
-        var steps = 64;
-        for (var i = 0; i <= steps; i++) {
-            var a = rightAngle + (leftAngle - rightAngle) * (i / steps);
-            var pt = castRay(a);
-            if (pt) farPoints.push(pt);
-        }
-        if (farPoints.length < 2) return;
-
-        // Draw triangle fan from camera court position to far edge
-        var mat = new THREE.MeshBasicMaterial({
-            color: color, transparent: true, opacity: 0.35,
-            side: THREE.DoubleSide, depthWrite: false
-        });
-        for (var i = 0; i < farPoints.length - 1; i++) {
-            var triGeo = new THREE.BufferGeometry().setFromPoints([
-                camOnCourt, farPoints[i], farPoints[i + 1]
-            ]);
-            addObj(new THREE.Mesh(triGeo, mat));
-        }
-    }
-
-    drawCoverage(cam0x, -camAngle, 0x4488ff);  // blue
-    drawCoverage(cam1x, camAngle, 0xff44aa);   // pink
-    // overlap blends to purple naturally
-}
 
 // ===================== Draw court lines =====================
 function drawCourtLines(scene) {
@@ -983,26 +887,6 @@ setInterval(function() {
     }).catch(function() {});
 }, 1000);
 
-// ===================== Camera params live update =====================
-function getCamParams() {
-    return {
-        posY: parseFloat(document.getElementById('paramPosY').textContent) || 1,
-        posZ: parseFloat(document.getElementById('paramPosZ').textContent) || 1,
-        stereo: parseFloat(document.getElementById('paramStereo').textContent) || 6,
-        angle: parseFloat(document.getElementById('paramAngle').textContent) || 15,
-        hfov: parseFloat(document.getElementById('paramHfov').textContent) || 128
-    };
-}
-
-function setCamParams(p) {
-    document.getElementById('paramPosY').textContent = p.posY;
-    document.getElementById('paramPosZ').textContent = p.posZ;
-    document.getElementById('paramStereo').textContent = p.stereo;
-    document.getElementById('paramAngle').textContent = p.angle;
-    document.getElementById('paramHfov').textContent = p.hfov;
-    if (courtSceneInitialized) addStereocameras(courtScene, p);
-    if (trajSceneInitialized) addStereocameras(trajScene, p);
-}
 </script>
 </body>
 </html>