Spiegazione della routine 16-Codici->trova_apriltags tracciamento tag

Tutorial video 11 - Monitoraggio dei tag AprilTag: https://singtown.com/learn/49590/

Tutorial video 21 - Auto che insegue altri oggetti: https://singtown.com/learn/50041/

# AprilTags 标记追踪例程
#
# 这个例子展示了OpenMV Cam的功能，可以检测OpenMV Cam M7上的April标签。 M4版本无法检测april标签。

import sensor, image, time, math

sensor.reset()
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QQVGA) # 如果分辨率太高，内存可能会溢出…
sensor.skip_frames(time = 2000)
sensor.set_auto_gain(False)  # 必须关闭此功能，以防止图像冲洗…
sensor.set_auto_whitebal(False)  # 必须关闭此功能，以防止图像冲洗…
clock = time.clock()

# 注意！与find_qrcodes不同，find_apriltags方法不需要对镜像进行镜头校正。

# apriltag标签代码最多支持6个可以同时处理的标签族。
# 返回的标签对象将在标签系列中具有其标签系列和标识。

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 = (255, 0, 0))
        img.draw_cross(tag.cx(), tag.cy(), color = (0, 255, 0))
        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())

Spiegazione ufficiale della funzione del documento cinese di Singtown Technology OpenMV:

Ulteriori letture:

• Dall'APP Singtown Lab: come individuare/intervallo Apriltag durante l'identificazione?Qual è l'unità dell'output tx ty tz?Come si ottiene la distanza effettiva?https://forum.singtown.com/topic/52