Here's the math that peter came up with for correcting the camera skew from the previous incarnation of the software: https://github.com/uclagamelab/flatland_cameravision/blob/master/CorrectLocation.pde https://github.com/uclagamelab/flatland_cameravision/blob/master/Tracking.pde#L225
Here's the math that peter came up with for correcting the camera skew from the previous incarnation of the software:
https://github.com/uclagamelab/flatland_cameravision/blob/master/CorrectLocation.pde
https://github.com/uclagamelab/flatland_cameravision/blob/master/Tracking.pde#L225