例程讲解23-April-Tags->find_apriltags 最大分辨率寻找Apriltag

# 最大分辨率寻找Apriltag示例
#
# 此示例显示了OpenMV Cam在OpenMV Cam M7上检测April标签的强大功能。
# OpenMV2 M4版本无法检测April标签。


import sensor, image, time, math, omv

sensor.reset()
sensor.set_pixformat(sensor.GRAYSCALE)
sensor.set_framesize(sensor.VGA) # 如果分辨率更大,我们的内存会耗尽...
# AprilTags最大工作<64K像素。
if omv.board_type() == "H7": sensor.set_windowing((240, 240))
elif omv.board_type() == "M7": sensor.set_windowing((200, 200))
else: raise Exception("You need a more powerful OpenMV Cam to run this script")
sensor.skip_frames(time = 2000)
sensor.set_auto_gain(False)  # must turn this off to prevent image washout...
sensor.set_auto_whitebal(False)  # must turn this off to prevent image washout...
clock = time.clock()

# 注意!与find_qrcodes不同,find_apriltags方法不需要对图像进行镜头校正

# apriltag代码最多支持可以同时处理6种tag家族。
# 返回的tag标记对象,将有其tag标记家族及其在tag标记家族内的id。



tag_families = 0
tag_families |= image.TAG16H5 # comment out to disable this family
tag_families |= image.TAG25H7 # comment out to disable this family
tag_families |= image.TAG25H9 # comment out to disable this family
tag_families |= image.TAG36H10 # comment out to disable this family
tag_families |= image.TAG36H11 # comment out to disable this family (default family)
tag_families |= image.ARTOOLKIT # comment out to disable this family

#标签系列有什么区别? 那么,例如,TAG16H5家族实际上是一个4x4的方形标签。 
#所以,这意味着可以看到比6x6的TAG36H11标签更长的距离。 
#然而,较低的H值(H5对H11),意味着4x4标签的假阳性率远高于6x6标签。 
#所以,除非你有理由使用其他标签系列,否则使用默认族TAG36H11。



def family_name(tag):
    if(tag.family() == image.TAG16H5):
        return "TAG16H5"
    if(tag.family() == image.TAG25H7):
        return "TAG25H7"
    if(tag.family() == image.TAG25H9):
        return "TAG25H9"
    if(tag.family() == image.TAG36H10):
        return "TAG36H10"
    if(tag.family() == image.TAG36H11):
        return "TAG36H11"
    if(tag.family() == image.ARTOOLKIT):
        return "ARTOOLKIT"

while(True):
    clock.tick()
    img = sensor.snapshot()
    for tag in img.find_apriltags(families=tag_families): # defaults to TAG36H11 without "families".
        img.draw_rectangle(tag.rect(), color = 127)
        img.draw_cross(tag.cx(), tag.cy(), color = 127)
        print_args = (family_name(tag), tag.id(), (180 * tag.rotation()) / math.pi)
        print("Tag Family %s, Tag ID %d, rotation %f (degrees)" % print_args)
    print(clock.fps())

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