Tyler-J42/FRC-Apriltag-Pose-Detection
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camera calibration doesn't work for some reason

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Tylr-J42 2024-07-12 22:50:22 -04:00
parent 4e7abe6dc0
commit 6504de4270
1 changed files with 10 additions and 2 deletions
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12
FRC_Fiducial_Tracking/April_PNP_Live.py
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@ -11,6 +11,7 @@ from math import pi
import math
from networktables import NetworkTables
import argparse
from TagObj import TagObj
#from PiVid import PiVid
from Picam2Vid import Picam2Vid
@ -21,6 +22,7 @@ RAD2DEG = 180*pi
parser = argparse.ArgumentParser(description="Select display")
parser.add_argument("--display", action='store_true', help="enable a display of the camera")
parser.add_argument("--high_res", action='store_true', help="enable resolution 1088x720 vs 640x480")
parser.add_argument("--wide_low", action='store_true', help="estimate with wide pi 3 camera 640x480")
parser.add_argument("--pose_estimation", action='store_true', help="estimate pose based on detected tags")
parser.add_argument("--ip_add", type=str, required=True)
args = parser.parse_args()
@ -49,7 +51,13 @@ if args.high_res:
camera_res = (1088, 720)
if args.wide_low:
FOCAL_LEN_PIXELS
FOCAL_LEN_PIXELS = (2.75/(6.45/640))
camera_matrix = np.array([[FOCAL_LEN_PIXELS, 0., 323.59646261],
[ 0., FOCAL_LEN_PIXELS, 229.56706391],
[ 0., 0., 1. ]])
dist = np.array([[-0.02760058, -0.01336192, -0.00662915, 0.00432453, 0.23444395]])
camera_res = (640, 480)
b=6.5
# 3d object array. The points of the 3d april tag that coresponds to tag_points which we detect
@ -128,7 +136,7 @@ def display_features(image, imgpts, totalDist):
# setting up apriltag detection. Make sure this is OUTSIDE the loop next time
options = apriltag.DetectorOptions(families='tag36h11', border=1, nthreads=4,
quad_decimate=2.0, quad_blur=0.0, refine_edges=True,
quad_decimate=1.0, quad_blur=0.0, refine_edges=True,
refine_decode=False, refine_pose=False, debug=False, quad_contours=True)
detector = apriltag.Detector(options)