Apriltag生成

Apriltag生成

一. 单个Apriltag生成

生成单个的二维码，下面给出30cmx30cm打印大小的生成脚本，输入路径直接用 apriltag-imgs 工程的tag36h11系列的图片即可。生成结果得到587个png和pdf格式的二维码。打印成30cmx30cm的即可。

#coding:utf-8
import cv2
import sys
import os
import numpy as np

def png2pdf(img_src_path, img_dst_path, img_dst_path_pdf,num):
  pixel_size = 1800
  #scale
  os.system("convert %s -scale  %s  %s"%(img_src_path, pixel_size, img_dst_path))
  #crop
  img = cv2.imread(img_dst_path)
  gray = cv2.cvtColor(img,cv2.COLOR_BGR2GRAY)
  region = gray[100:1700, 100:1700] #1600*1600
  ret, binary = cv2.threshold(region, 127, 255, cv2.THRESH_BINARY|cv2.THRESH_OTSU)
  rgb = cv2.cvtColor(binary,cv2.COLOR_GRAY2BGR)
  #draw coordinate
  rgb = cv2.arrowedLine(rgb, (20, 1580), (80, 1580), (0 ,0, 255), 1)
  rgb = cv2.arrowedLine(rgb, (20, 1580), (20, 1520), (0, 255, 0), 1)
  #putText
  rgb = cv2.putText(rgb,str(num), (30, 1570), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 0), 1, cv2.LINE_AA)
  cv2.imwrite(img_dst_path, rgb)
  #to pdf
  os.system("convert %s %s"%(img_dst_path, img_dst_path_pdf))

if __name__ == "__main__":
    if len(sys.argv) !=4:
        print("generate_pdf_apriltag.py  input_path  output_path_png output_path_pdf")
        exit(0)

    input_path = os.path.abspath(sys.argv[1])
    output_path_png = os.path.abspath(sys.argv[2])
    output_path_pdf = os.path.abspath(sys.argv[3])

    # scale + crop + pdf
    img_files = os.listdir(input_path)
    idxs = list()
    for img_file in img_files:
        if img_file.split('.')[1] == 'png':
            img_src_path = os.path.join(input_path, img_file)
            img_dst_path = os.path.join(output_path_png, img_file)
            img_dst_path_pdf = os.path.join(output_path_pdf, img_file.split('.')[0] +'.pdf')
            num = int((img_file.split('.')[0]).split('_')[-1])
            idxs.append(num)
            png2pdf(img_src_path, img_dst_path,img_dst_path_pdf, num)

二. 6x6 Apriltag生成

https://github.com/ethz-asl/kalibr/wiki/calibration-targets

也可以直接下载 6x6的 pdf

kalibr_create_target_pdf --type apriltag --nx [NUM_COLS] --ny [NUM_ROWS] --tsize [TAG_WIDTH_M] --tspace [TAG_SPACING_PERCENT]