python April tag安装与使用（单应性矩阵）

April tag安装

在win系统，python安装方法。

April tag应用

静态图片识别

识别图像中tag个数，对其四个角点位置记录。对其后做单应性矩阵计算提供四个点。

#!/usr/bin/env python
# coding: UTF-8
# import apriltag
import pupil_apriltags as apriltag     # for windows
import cv2
import numpy as np
import sys
def tag_H(img):
    cols, rows, ch = img.shape
    gray = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)
    # 创建一个apriltag检测器
    # at_detector = apriltag.Detector(apriltag.DetectorOptions(families='tag36h11 tag25h9'))
    at_detector = apriltag.Detector(families='tag36h11 tag25h9')  #for windows
    # 进行apriltag检测，得到检测到的apriltag的列表
    tags = at_detector.detect(gray)
    print("%d apriltags have been detected." % len(tags))

    for tag in tags:
        cv2.circle(img, tuple(tag.corners[3].astype(int)), 2, (255, 0, 0), 2)  # left-top
        cv2.circle(img, tuple(tag.corners[2].astype(int)), 2, (255, 0, 0