attempting to undistort not promising still

FRC_Fiducial_Tracking/Picam2Calibration_Capture.py

@@ -9,9 +9,10 @@ path = "/home/tyler/Desktop/FRC-Apriltag-Pose-Detection/FRC_Fiducial_Tracking/St
 stream.update()
 frame = stream.read()
 cv2.imshow("frame", frame)
-cv2.waitKey(2)
+cv2.waitKey(1)
 confirmation = input("keep y or n: ")
+print(frame)
 if confirmation == "y":
     file_order = len(os.listdir(path))
-    cv2.imwrite(path+str(file_order)+".png", frame)
+    cv2.imwrite(path+str(file_order)+".jpg", frame)
 stream.stop()

FRC_Fiducial_Tracking/Picam2Vid.py

@@ -11,7 +11,7 @@ class Picam2Vid:
         #  For specs - https://www.raspberrypi.com/documentation/accessories/camera.html
         self.camera = Picamera2()
         self.resolution = camera_res
-        config = self.camera.create_video_configuration(main={"size": self.resolution}, transform=Transform(hflip=True), lores={"size": (640,480)}, encode='main')
+        config = self.camera.create_still_configuration(main={"size": self.resolution}, transform=Transform(hflip=True), lores={"size": (640,480)}, encode='main')
         #config = self.camera.create_video_configuration(raw={"size":camera_res})
         self.camera.configure(config)
         self.camera.set_controls({"FrameRate": 120})
@@ -25,6 +25,7 @@ class Picam2Vid:
             self.camera.stop()
             return
         self.frame=self.camera.capture_array('main')
+        print(self.frame.dtype)
         #print("debug threading")
     
     def read(self):

FRC_Fiducial_Tracking/Static_Apriltag_Test.py

@@ -2,6 +2,14 @@ import dt_apriltags
 import numpy as np
 import cv2
 
+
+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([[-0.04790604,  0.08489533, -0.00387366,  0.00616192, -0.03875398]])
+
 detector = dt_apriltags.Detector(searchpath=['apriltags'],
                        families='tag36h11',
                        nthreads=2,
@@ -11,15 +19,25 @@ detector = dt_apriltags.Detector(searchpath=['apriltags'],
                        decode_sharpening=0.25,
                        debug=1)
 
-image = cv2.imread("/home/tyler/Desktop/FRC-Apriltag-Pose-Detection/FRC_Fiducial_Tracking/Static_Tag_Pics/bw_img.png")
+image = cv2.imread("/home/tyler/Desktop/FRC-Apriltag-Pose-Detection/FRC_Fiducial_Tracking/Static_Tag_Pics/7.png")
 
-tagFrame = cv2.cvtColor(image, cv2.COLOR_BGR2GRAY)
+h,  w = image.shape[:2]
+newcameramtx, roi = cv2.getOptimalNewCameraMatrix(camera_matrix, dist, (w,h), 1, (w,h))
 
-print(tagFrame.dtype)
+# undistort
+dst = cv2.undistort(image, camera_matrix, dist, None, newcameramtx)
+ 
+# crop the image
+x, y, w, h = roi
+dst = dst[y:y+h, x:x+w]
 
-cv2.imshow("frame", image)
-cv2.waitKey(0)
+dst = cv2.cvtColor(dst, cv2.COLOR_BGR2GRAY)
 
-output = detector.detect(tagFrame, estimate_tag_pose=False, camera_params=None, tag_size=None)
+print(dst)
+
+cv2.imshow("frame", dst)
+cv2.waitKey(1)
+
+output = detector.detect(dst, estimate_tag_pose=False, camera_params=None, tag_size=None)
 
 print(output)