>S) Thanks for showing an interest in the test harness! I have a version ready for you,
> however the color detection logic (for pole detection) isn't up to the job, so
> unfortunately you won't be able to import your own pictures and detect poles with
> much (if any) success. Saying this, I think you could still make use of it by using
> the built-in picture. This picture contains 3 poles (that I have drawn in). Each
> pole has its own unique color to differentiate it from the background and the other
> poles. Using this picture I can see that the farther the pole is from the center of
> the picture (on the horizontal plane), the nearer the application thinks the pole
> is. I believe an arch has been formed on the y-axis, which we need to straighten?
> Is this because the RadiansPerPixel is constant?

Or maybe the lens is not linear? Try moving one of your poles in an arc around the lens, keeping the distance constant, and check how wide in pixels does it get. If the lens is linear, the pixelwidth should stay the same.

The rest of your ideas (saturation etc) sound quite right - whatever helps, why not.

>P.S. You will need to installation version 2.0 of the Microsoft.NET Framework to run
>the test harness application. The installation wizard should pick this up :)

Um... my machine is already unstable as is (read as "five BSODs a week ever since I moved from W2KSP2 to SP4), so I'm a little worried about dot net making it worse. But then, who knows, it may even help.

I'll give it a try over the weekend.