wide camera calibration

FRC_Fiducial_Tracking/April_PNP_Live.py

@@ -48,6 +48,9 @@ if args.high_res:
     2.29608398e+00]])
     camera_res = (1088, 720)
 
+if args.wide_low:
+    FOCAL_LEN_PIXELS
+
 b=6.5
 # 3d object array. The points of the 3d april tag that coresponds to tag_points which we detect
 objp = np.array([[0,0,0], [-b/2, b/2, 0], [b/2, b/2, 0], [b/2, -b/2, 0], [-b/2, -b/2, 0]], dtype=np.float32)

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/pi/Desktop/apriltag-pose-frc/FRC_Fiducial_Tracking/Calibration_Pics_640x480/*.jpg')
+images = glob.glob('/home/tyler/Desktop/FRC-Apriltag-Pose-Detection/FRC_Fiducial_Tracking/Calibration_Pics_Wide_640x480/*.jpg')
 for fname in images:
     img = cv2.imread(fname)
     gray = cv2.cvtColor(img,cv2.COLOR_BGR2GRAY)

FRC_Fiducial_Tracking/Picam2Calibration_Capture.py

@@ -4,13 +4,13 @@ import os
 
 stream = Picam2Vid((640, 480))
 
-path = "/home/pi/desktop/FRC-Apriltag-Pose-Detection/FRC_Fiducial_Tracking/Calibration_Pics_Wide_640x480"
+path = "/home/tyler/Desktop/FRC-Apriltag-Pose-Detection/FRC_Fiducial_Tracking/Calibration_Pics_Wide_640x480/"
 
 frame = stream.read()
 cv2.imshow("frame", frame)
 cv2.waitKey(1)
-confirmation = input("keep Y or N")
-if confirmation == "Y":
+confirmation = input("keep y or n: ")
+if confirmation == "y":
     file_order = len(os.listdir(path))
-    cv2.imwrite(str(file_order)+".jpg", frame)
+    cv2.imwrite(path+str(file_order)+".jpg", frame)
 stream.stop()

FRC_Fiducial_Tracking/Wide_Cam_Calibration.txt

@@ -0,0 +1,6 @@
+[[550.16284916   0.         323.59646261]
+ [  0.         550.72383406 229.56706391]
+ [  0.           0.           1.        ]]
+dist : 
+
+[[-0.02760058 -0.01336192 -0.00662915  0.00432453  0.23444395]]