# 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 machine import UART
uart = UART(3, 115200) #OpenMV RT 注释掉这一行,用下一行UART(1)
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()
# 注意!与find_qrcodes不同,find_apriltags 不需要软件矫正畸变就可以工作。
# 注意,输出的姿态的单位是弧度,可以转换成角度,但是位置的单位是和你的大小有关,需要等比例换算
# f_x 是x的像素为单位的焦距。对于标准的OpenMV,应该等于2.8/3.984*656,这个值是用毫米为单位的焦距除以x方向的感光元件的长度,乘以x方向的感光元件的像素(OV7725)
# f_y 是y的像素为单位的焦距。对于标准的OpenMV,应该等于2.8/2.952*488,这个值是用毫米为单位的焦距除以y方向的感光元件的长度,乘以y方向的感光元件的像素(OV7725)
# c_x 是图像的x中心位置
# c_y 是图像的y中心位置
f_x = (2.8 / 3.984) * 160 # 默认值
f_y = (2.8 / 2.952) * 120 # 默认值
c_x = 160 * 0.5 # 默认值(image.w * 0.5)
c_y = 120 * 0.5 # 默认值(image.h * 0.5)
def degrees(radians):
return (180 * radians) / math.pi
while(True):
clock.tick()
img = sensor.snapshot()
for tag in img.find_apriltags(fx=f_x, fy=f_y, cx=c_x, cy=c_y): # 默认为TAG36H11
img.draw_rectangle(tag.rect(), color = (255, 0, 0))
img.draw_cross(tag.cx(), tag.cy(), color = (0, 255, 0))
print_args = (tag.x_translation(), tag.y_translation(), tag.z_translation(), \
degrees(tag.x_rotation()), degrees(tag.y_rotation()), degrees(tag.z_rotation()))
# 位置的单位是未知的,旋转的单位是角度
print("Tx: %f, Ty %f, Tz %f, Rx %f, Ry %f, Rz %f" % print_args)
if tag.z_translation() > -3:
uart.writechar(0x41) #发送停止
time.sleep_ms(50)
print("stop")
else:
if -1<tag.x_translation()<=1:
uart.writechar(0x30) #发送前进
time.sleep_ms(50)
print("go")
elif tag.x_translation()<=-1:
uart.writechar(0x4C) #发送左转
time.sleep_ms(50)
print("left")
elif 1<tag.x_translation():
uart.writechar(0x31) #发送右转
time.sleep_ms(50)
print("right")
else:
uart.writechar(0x41) #发送停止
time.sleep_ms(50)
print("stop")
#print(clock.fps())
标签:默认值,img,image,单片机,tag,OpenMV,sensor,AprilTags,OPENMV
From: https://blog.csdn.net/2302_80529671/article/details/139509926