I am stupid mirroring fixed it

FRC_Fiducial_Tracking/April_PNP_Live.py

@@ -22,7 +22,6 @@ 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()
@@ -38,8 +37,8 @@ camera_matrix = np.array([[FOCAL_LEN_PIXELS, 0., 308.94165115],
 
 # from Camera_Calibration.py
 dist = np.array([ 2.32929183e-01, -1.35534844e+00, -1.51912733e-03, -2.17960810e-03, 2.25537289e+00])
- 
-camera_res = (640, 480)
+
+camera_res = (1536, 864)
 
 if args.high_res:
     FOCAL_LEN_PIXELS = 991.5391539
@@ -48,16 +47,7 @@ if args.high_res:
     [0.00000000, 0.00000000, 1.00000000]])
     dist = np.array([[ 2.52081760e-01, -1.34794418e+00,  1.24975695e-03, -7.77510823e-04,
     2.29608398e+00]])
-    camera_res = (1088, 720)
-
-if args.wide_low:
-    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]])
-    camera_res = (1536, 864)
+    camera_res = (2304, 1296)
 
 b=6.5
 # 3d object array. The points of the 3d april tag that coresponds to tag_points which we detect
@@ -135,10 +125,14 @@ def display_features(image, imgpts, totalDist):
     return image
 
 # setting up apriltag detection. Make sure this is OUTSIDE the loop next time
-options = apriltag.DetectorOptions(families='tag36h11', border=1, nthreads=1,
-quad_decimate=2.0, quad_blur=0.0, refine_edges=True,
-refine_decode=False, refine_pose=False, debug=True, quad_contours=True)
-detector = apriltag.Detector(options)
+detector = dt_apriltags.Detector(searchpath=['apriltags'],
+                       families='tag36h11',
+                       nthreads=2,
+                       quad_decimate=2,
+                       quad_sigma=0,
+                       refine_edges=1,
+                       decode_sharpening=0.25,
+                       debug=0)
 
 # main vision processing code
 time.sleep(0.1)
@@ -153,6 +147,7 @@ while True:
     tagFrame = cv2.cvtColor(image, cv2.COLOR_BGR2GRAY)
     
     output = detector.detect(tagFrame)
+
     print(output)
 
     for det in output:

FRC_Fiducial_Tracking/Aruco_Detection.py

@@ -15,6 +15,7 @@ while True:
 
     stream.update()
     frame = stream.read()
+    frame = cv2.flip(frame, 1)
 
     grey = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
 

FRC_Fiducial_Tracking/Picam2Vid.py

@@ -1,5 +1,6 @@
 from picamera2 import Picamera2
 from libcamera import Transform
+import cv2
 
 # class for allocating a thread to only updating the camera stream,
 # the other thread is used for detection processing
@@ -24,6 +25,7 @@ class Picam2Vid:
             self.camera.stop()
             return
         self.frame=self.camera.capture_array('main')
+        self.frame = cv2.flip(self.frame, 1)
         #print(self.frame.dtype)
         #print("debug threading")
     

FRC_Fiducial_Tracking/Static_Apriltag_Test.py

@@ -2,7 +2,6 @@ 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],
@@ -13,9 +12,9 @@ dist = np.array([[-0.04790604,  0.08489533, -0.00387366,  0.00616192, -0.0387539
 detector = dt_apriltags.Detector(searchpath=['apriltags'],
                        families='tag36h11',
                        nthreads=2,
-                       quad_decimate=2,
-                       quad_sigma=1,
-                       refine_edges=3,
+                       quad_decimate=1,
+                       quad_sigma=0,
+                       refine_edges=1,
                        decode_sharpening=0.25,
                        debug=1)
 
@@ -41,6 +40,6 @@ print(smaller)
 cv2.imshow("frame", smaller)
 cv2.waitKey(0)
 
-output = detector.detect(smaller, estimate_tag_pose=False, camera_params=None, tag_size=None)
+output = detector.detect(smaller, estimate_tag_pose=True, camera_params=None, tag_size=None)
 
 print(output)