Apriltag识别-python

目录

环境配置

pip install apriltag

代码部分

#!/usr/bin/env python
# -*- coding: utf-8 -*-
import cv2 
# from pupil_apriltags import Detector

import platform
if platform.system().lower() == 'linux':
    import dt_apriltags as apriltag
    # import apriltag
else:
    import pupil_apriltags as apriltag

img = cv2.imread("./output_image_size500.png")
gray = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)
# 创建一个apriltag检测器
at_detector = apriltag.Detector(families='tag36h11')
# 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[0].astype(int)), 6,(0,0,255), 2) # left-top
    cv2.circle(img, tuple(tag.corners[1].astype(int)), 6,(0,0,255), 2) # right-top
    cv2.circle(img, tuple(tag.corners[2].astype(int)), 6,(0,0,255), 2) # right-bottom
    cv2.circle(img, tuple(tag.corners[3].astype(int)), 6,(0,0,255), 2) # left-bottom
cv2.imwrite("./newimagergb.png",img)

标题使用的图片

上面图为tag36h11类型的图

标题检测效果图