1.Apriltag识别
Apriltag是openmv标准镜头中识别准确率和速度最快的一个,apriltag中一类识别输出为0-10.
2.下载apriltag标签图片:
3. 复制openmv apriltag源码到openmv ide中(ide下载安装链接: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,连接openmv(通电之后点击左下角灰色的那个按键),然后点击工具-将打开的脚本保存到Openmv Cam中,实现程序脱机运行。也可以点击左下角的绿色三角实现程序直接运行。
5.将openmv与电脑断开,给openmv通上电,识别Apriltag码可输出对应的数字,同时看到openmv上的红色led灯闪烁。