Apriltag标记检测
apriltag的Python项目详细描述
四月塔格
Apriltag标记检测 基于https://github.com/swatbotics/apriltag
依赖关系
- opencv（可选）
示例
importapriltagimportcv2img=cv2.imread('apriltag_foto.jpg'.cv2.IMREAD_GRAYSCALE)detector=apriltag.Detector()result=detector.detect(img)
结果的形式为
[DetectionBase(tag_family='tag36h11', tag_id=2, hamming=0, goodness=0.0, decision_margin=98.58241271972656, homography=array([[ -1.41302664e-01, 1.08428082e+00, 1.67512900e+01],
[ -8.75899366e-01, 1.50245469e-01, 1.70532040e+00],
[ -4.89183533e-04, 2.12210247e-03, 6.02052342e-02]]), center=array([ 278.23643912, 28.32511859]), corners=array([[ 269.8939209 , 41.50381088],
[ 269.57183838, 11.79248142],
[ 286.1383667 , 15.84242821],
[ 286.18066406, 43.48323059]])),
DetectionBase(tag_family='tag36h11', ... etc
可以指定多个选项来调整检测性能：
options=apriltag.Detectoroptions(families='tag36h11',border=1,nthreads=4,quad_decimate=1.0,quad_blur=0.0,refine_edges=True,refine_decode=False,refine_pose=False,debug=False,quad_contours=True)detector=apriltag.Detector()result=detector.detect(img)
访问值
tf=result[0].tag_familycx=result[0].center[0].
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