diff --git a/FRC_Fiducial_Tracking/April_PNP_Live.py b/FRC_Fiducial_Tracking/April_PNP_Live.py index 05c742c..837264d 100644 --- a/FRC_Fiducial_Tracking/April_PNP_Live.py +++ b/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) diff --git a/FRC_Fiducial_Tracking/Calibration_Pics_Wide_640x480/0.jpg b/FRC_Fiducial_Tracking/Calibration_Pics_Wide_640x480/0.jpg new file mode 100644 index 0000000..b8ddb8f Binary files /dev/null and b/FRC_Fiducial_Tracking/Calibration_Pics_Wide_640x480/0.jpg differ diff --git a/FRC_Fiducial_Tracking/Calibration_Pics_Wide_640x480/1.jpg b/FRC_Fiducial_Tracking/Calibration_Pics_Wide_640x480/1.jpg new file mode 100644 index 0000000..f259a30 Binary files /dev/null and b/FRC_Fiducial_Tracking/Calibration_Pics_Wide_640x480/1.jpg differ diff --git a/FRC_Fiducial_Tracking/Calibration_Pics_Wide_640x480/10.jpg b/FRC_Fiducial_Tracking/Calibration_Pics_Wide_640x480/10.jpg new file mode 100644 index 0000000..3eb83a9 Binary files /dev/null and b/FRC_Fiducial_Tracking/Calibration_Pics_Wide_640x480/10.jpg differ diff --git a/FRC_Fiducial_Tracking/Calibration_Pics_Wide_640x480/11.jpg b/FRC_Fiducial_Tracking/Calibration_Pics_Wide_640x480/11.jpg new file mode 100644 index 0000000..fe4fde0 Binary files /dev/null and b/FRC_Fiducial_Tracking/Calibration_Pics_Wide_640x480/11.jpg differ diff --git a/FRC_Fiducial_Tracking/Calibration_Pics_Wide_640x480/12.jpg b/FRC_Fiducial_Tracking/Calibration_Pics_Wide_640x480/12.jpg new file mode 100644 index 0000000..e7289fd Binary files /dev/null and b/FRC_Fiducial_Tracking/Calibration_Pics_Wide_640x480/12.jpg differ diff --git a/FRC_Fiducial_Tracking/Calibration_Pics_Wide_640x480/13.jpg b/FRC_Fiducial_Tracking/Calibration_Pics_Wide_640x480/13.jpg new file mode 100644 index 0000000..6c9ccbf Binary files /dev/null and b/FRC_Fiducial_Tracking/Calibration_Pics_Wide_640x480/13.jpg differ diff --git a/FRC_Fiducial_Tracking/Calibration_Pics_Wide_640x480/14.jpg b/FRC_Fiducial_Tracking/Calibration_Pics_Wide_640x480/14.jpg new file mode 100644 index 0000000..92177f8 Binary files /dev/null and b/FRC_Fiducial_Tracking/Calibration_Pics_Wide_640x480/14.jpg differ diff --git a/FRC_Fiducial_Tracking/Calibration_Pics_Wide_640x480/15.jpg b/FRC_Fiducial_Tracking/Calibration_Pics_Wide_640x480/15.jpg new file mode 100644 index 0000000..4ecffb7 Binary files /dev/null and b/FRC_Fiducial_Tracking/Calibration_Pics_Wide_640x480/15.jpg differ diff --git a/FRC_Fiducial_Tracking/Calibration_Pics_Wide_640x480/16.jpg b/FRC_Fiducial_Tracking/Calibration_Pics_Wide_640x480/16.jpg new file mode 100644 index 0000000..dcd8e62 Binary files /dev/null and b/FRC_Fiducial_Tracking/Calibration_Pics_Wide_640x480/16.jpg differ diff --git a/FRC_Fiducial_Tracking/Calibration_Pics_Wide_640x480/17.jpg b/FRC_Fiducial_Tracking/Calibration_Pics_Wide_640x480/17.jpg new file mode 100644 index 0000000..d75e139 Binary files /dev/null and b/FRC_Fiducial_Tracking/Calibration_Pics_Wide_640x480/17.jpg differ diff --git a/FRC_Fiducial_Tracking/Calibration_Pics_Wide_640x480/18.jpg b/FRC_Fiducial_Tracking/Calibration_Pics_Wide_640x480/18.jpg new file mode 100644 index 0000000..80071f4 Binary files /dev/null and b/FRC_Fiducial_Tracking/Calibration_Pics_Wide_640x480/18.jpg differ diff --git a/FRC_Fiducial_Tracking/Calibration_Pics_Wide_640x480/19.jpg b/FRC_Fiducial_Tracking/Calibration_Pics_Wide_640x480/19.jpg new file mode 100644 index 0000000..429d305 Binary files /dev/null and b/FRC_Fiducial_Tracking/Calibration_Pics_Wide_640x480/19.jpg differ diff --git a/FRC_Fiducial_Tracking/Calibration_Pics_Wide_640x480/2.jpg b/FRC_Fiducial_Tracking/Calibration_Pics_Wide_640x480/2.jpg new file mode 100644 index 0000000..238d2d0 Binary files /dev/null and b/FRC_Fiducial_Tracking/Calibration_Pics_Wide_640x480/2.jpg differ diff --git a/FRC_Fiducial_Tracking/Calibration_Pics_Wide_640x480/3.jpg b/FRC_Fiducial_Tracking/Calibration_Pics_Wide_640x480/3.jpg new file mode 100644 index 0000000..a0f7bfb Binary files /dev/null and b/FRC_Fiducial_Tracking/Calibration_Pics_Wide_640x480/3.jpg differ diff --git a/FRC_Fiducial_Tracking/Calibration_Pics_Wide_640x480/4.jpg b/FRC_Fiducial_Tracking/Calibration_Pics_Wide_640x480/4.jpg new file mode 100644 index 0000000..5a85b27 Binary files /dev/null and b/FRC_Fiducial_Tracking/Calibration_Pics_Wide_640x480/4.jpg differ diff --git a/FRC_Fiducial_Tracking/Calibration_Pics_Wide_640x480/5.jpg b/FRC_Fiducial_Tracking/Calibration_Pics_Wide_640x480/5.jpg new file mode 100644 index 0000000..e7c4966 Binary files /dev/null and b/FRC_Fiducial_Tracking/Calibration_Pics_Wide_640x480/5.jpg differ diff --git a/FRC_Fiducial_Tracking/Calibration_Pics_Wide_640x480/6.jpg b/FRC_Fiducial_Tracking/Calibration_Pics_Wide_640x480/6.jpg new file mode 100644 index 0000000..5dd3a6c Binary files /dev/null and b/FRC_Fiducial_Tracking/Calibration_Pics_Wide_640x480/6.jpg differ diff --git a/FRC_Fiducial_Tracking/Calibration_Pics_Wide_640x480/7.jpg b/FRC_Fiducial_Tracking/Calibration_Pics_Wide_640x480/7.jpg new file mode 100644 index 0000000..399c8ff Binary files /dev/null and b/FRC_Fiducial_Tracking/Calibration_Pics_Wide_640x480/7.jpg differ diff --git a/FRC_Fiducial_Tracking/Calibration_Pics_Wide_640x480/8.jpg b/FRC_Fiducial_Tracking/Calibration_Pics_Wide_640x480/8.jpg new file mode 100644 index 0000000..7d19387 Binary files /dev/null and b/FRC_Fiducial_Tracking/Calibration_Pics_Wide_640x480/8.jpg differ diff --git a/FRC_Fiducial_Tracking/Calibration_Pics_Wide_640x480/9.jpg b/FRC_Fiducial_Tracking/Calibration_Pics_Wide_640x480/9.jpg new file mode 100644 index 0000000..b482269 Binary files /dev/null and b/FRC_Fiducial_Tracking/Calibration_Pics_Wide_640x480/9.jpg differ diff --git a/FRC_Fiducial_Tracking/Camera_Calibration.py b/FRC_Fiducial_Tracking/Camera_Calibration.py index 3caa668..5b2d86d 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/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) diff --git a/FRC_Fiducial_Tracking/Picam2Calibration_Capture.py b/FRC_Fiducial_Tracking/Picam2Calibration_Capture.py index 7c1c72d..c7bbb33 100644 --- a/FRC_Fiducial_Tracking/Picam2Calibration_Capture.py +++ b/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() diff --git a/FRC_Fiducial_Tracking/Wide_Cam_Calibration.txt b/FRC_Fiducial_Tracking/Wide_Cam_Calibration.txt new file mode 100644 index 0000000..1fa0092 --- /dev/null +++ b/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]] \ No newline at end of file