changed active res on cam

FRC_Fiducial_Tracking/April_PNP_Live.py

@@ -51,13 +51,13 @@ if args.high_res:
     camera_res = (1088, 720)
 
 if args.wide_low:
-    FOCAL_LEN_PIXELS = (2.75/(6.45/640))
-    camera_matrix = np.array([[FOCAL_LEN_PIXELS,   0.,         323.59646261],
-    [  0.,         FOCAL_LEN_PIXELS, 229.56706391],
+    FOCAL_LEN_PIXELS = 976.16482142
+    camera_matrix = np.array([[FOCAL_LEN_PIXELS,   0.,         771.05155174],
+    [  0.,         FOCAL_LEN_PIXELS, 408.52081949],
     [  0.,           0.,           1.        ]])
     
-    dist = np.array([[-0.02760058, -0.01336192, -0.00662915,  0.00432453,  0.23444395]])
-    camera_res = (640, 480)
+    dist = np.array([[-0.04790604,  0.08489533, -0.00387366,  0.00616192, -0.03875398]])
+    camera_res = (1536, 864)
 
 b=6.5
 # 3d object array. The points of the 3d april tag that coresponds to tag_points which we detect

FRC_Fiducial_Tracking/Camera_Calibration.py

@@ -21,7 +21,7 @@ objp[0,:,:2] = np.mgrid[0:CHECKERBOARD[0], 0:CHECKERBOARD[1]].T.reshape(-1, 2)
 prev_img_shape = None
 
 # Extracting path of individual image stored in a given directory
-images = glob.glob('/home/tyler/Desktop/FRC-Apriltag-Pose-Detection/FRC_Fiducial_Tracking/Calibration_Pics_Wide_640x480/*.jpg')
+images = glob.glob('/home/tyler/Desktop/FRC-Apriltag-Pose-Detection/FRC_Fiducial_Tracking/Calibration_Pics_Wide_1536x864/*.jpg')
 for fname in images:
     img = cv2.imread(fname)
     gray = cv2.cvtColor(img,cv2.COLOR_BGR2GRAY)

FRC_Fiducial_Tracking/Picam2Calibration_Capture.py

@@ -2,14 +2,14 @@ from Picam2Vid import Picam2Vid
 import cv2
 import os
 
-stream = Picam2Vid((640, 480))
+stream = Picam2Vid((1536, 864))
 
-path = "/home/tyler/Desktop/FRC-Apriltag-Pose-Detection/FRC_Fiducial_Tracking/Static_Tag_Pics/"
+path = "/home/tyler/Desktop/FRC-Apriltag-Pose-Detection/FRC_Fiducial_Tracking/Calibration_Pics_Wide_1536x864/"
 
 stream.update()
 frame = stream.read()
 cv2.imshow("frame", frame)
-cv2.waitKey(1)
+cv2.waitKey(2)
 confirmation = input("keep y or n: ")
 if confirmation == "y":
     file_order = len(os.listdir(path))