openmv apriltag

1.Apriltag識別

    Apriltag是openmv標准鏡頭中識別准確率和速度最快的一個,apriltag中一類識別輸出為0-10.

2.下載apriltag標簽圖片：

    https://lanzous.com/ibq15ng

3. 復制openmv apriltag源碼到openmv ide中(ide下載安裝鏈接：https://book.openmv.cc/quick-starter.html)

# AprilTags Example
#
# This example shows the power of the OpenMV Cam to detect April Tags
# on the OpenMV Cam M7. The M4 versions cannot detect April Tags.

import sensor, image, time, math
from pyb import LED

sensor.reset()
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QQVGA) # we run out of memory if the resolution is much bigger...
sensor.skip_frames(30)
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()

led=LED(1)
led.toggle()
a=0
while(True):
    clock.tick()
    img = sensor.snapshot()
    for tag in img.find_apriltags(): # 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))
        degress = 180 * tag.rotation() / math.pi
        print(tag.id(),degress)
        if a%2 ==0:
            led.on()
        else:
            led.off()
        a=a+1

4.在openmv ide中，連接openmv(通電之后點擊左下角灰色的那個按鍵)，然后點擊工具-將打開的腳本保存到Openmv Cam中，實現程序脫機運行。也可以點擊左下角的綠色三角實現程序直接運行。

 

 

 5.將openmv與電腦斷開，給openmv通上電，識別Apriltag碼可輸出對應的數字，同時看到openmv上的紅色led燈閃爍。