diff --git a/FRC_Fiducial_Tracking/April_PNP_Live.py b/FRC_Fiducial_Tracking/April_PNP_Live.py index a8f206f..13c19bb 100644 --- a/FRC_Fiducial_Tracking/April_PNP_Live.py +++ b/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. 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and /dev/null differ diff --git a/FRC_Fiducial_Tracking/Camera_Calibration.py b/FRC_Fiducial_Tracking/Camera_Calibration.py index 5b2d86d..408631f 100644 --- a/FRC_Fiducial_Tracking/Camera_Calibration.py +++ b/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) diff --git a/FRC_Fiducial_Tracking/Picam2Calibration_Capture.py b/FRC_Fiducial_Tracking/Picam2Calibration_Capture.py index 03a1dd0..7688505 100644 --- a/FRC_Fiducial_Tracking/Picam2Calibration_Capture.py +++ b/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))