Skip to main content

5、机器码识别实验

wmnologoAbout 2 min

例程代码

import sensor, image, time, math, lcd

lcd.init()
sensor.reset()
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QQVGA)
#sensor.set_framesize(sensor.QVGA)
sensor.skip_frames(time = 100)
sensor.set_auto_gain(False)
sensor.set_auto_whitebal(False)
clock = time.clock()

tag_families = 0
tag_families |= image.TAG16H5   # comment out to disable this family
tag_families |= image.TAG25H7   # comment out to disable this family
tag_families |= image.TAG25H9   # comment out to disable this family
tag_families |= image.TAG36H10  # comment out to disable this family
tag_families |= image.TAG36H11  # comment out to disable this family (default family)
tag_families |= image.ARTOOLKIT # comment out to disable this family

def family_name(tag):
    if(tag.family() == image.TAG16H5):
        return "TAG16H5"
    if(tag.family() == image.TAG25H7):
        return "TAG25H7"
    if(tag.family() == image.TAG25H9):
        return "TAG25H9"
    if(tag.family() == image.TAG36H10):
        return "TAG36H10"
    if(tag.family() == image.TAG36H11):
        return "TAG36H11"
    if(tag.family() == image.ARTOOLKIT):
        return "ARTOOLKIT"

while(True):
    clock.tick()
    img = sensor.snapshot()
    #img = img.resize(280, 195)
    #img = img.resize(292, 210)
    for tag in img.find_apriltags(families=tag_families):
        img.draw_rectangle(tag.rect(), color = (255, 0, 0))
        img.draw_cross(tag.cx(), tag.cy(), color = (0, 255, 0))
        print_args = (family_name(tag), tag.id(), (180 * tag.rotation()) / math.pi)
        print("Tag Family %s, Tag ID %d, rotation %f (degrees)" % print_args)
    lcd.display(img)
    #print(clock.fps())

实验准备

    1. 通过usb线将K210与电脑连接。
    1. 准备一张机器码。
    1. 打开CanMV IDE，执行上面的例程代码。

实验结果

    1. 等待系统初始化完成后，LCD显示摄像头画面，用摄像头拍摄机器码，识别的类型包括：TAG16H5，TAG25H7， TAG25H9， TAG36H10， TAG36H11， ARTOOLKIT。由于K210处理能力有限，处理AprilTag机器码需要大量储存空间和算力，所以目前无法设置全屏分辨率大小画面。可以看到机器码被框出来。
    1. 并且在IDE底部的串行终端打印出机器码的信息。

例程代码讲解

    1. 导入相关库，并初始化摄像头和LCD显示屏。
import sensor, image, time, math, lcd
lcd.init()
sensor.reset()
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QQVGA)
sensor.skip_frames(time = 100)
sensor.set_auto_gain(False)
sensor.set_auto_whitebal(False)
clock = time.clock()
    1. 设置要识别的机器码家族成员，如果不需要识别哪个就注释掉那一行。这里默认是TAG36H11家
      族。
tag_families = 0
tag_families |= image.TAG16H5 # comment out to disable this family
tag_families |= image.TAG25H7 # comment out to disable this family
tag_families |= image.TAG25H9 # comment out to disable this family
tag_families |= image.TAG36H10 # comment out to disable this family
tag_families |= image.TAG36H11 # comment out to disable this family (default
family)
tag_families |= image.ARTOOLKIT # comment out to disable this family
    1. 新建一个函数用来将家族名转化成字符串。
def family_name(tag):
    if(tag.family() == image.TAG16H5):
        return "TAG16H5"
    if(tag.family() == image.TAG25H7):
        return "TAG25H7"
    if(tag.family() == image.TAG25H9):
        return "TAG25H9"
    if(tag.family() == image.TAG36H10):
        return "TAG36H10"
    if(tag.family() == image.TAG36H11):
        return "TAG36H11"
    if(tag.family() == image.ARTOOLKIT):
        return "ARTOOLKIT"
    1. 新建一个while循环，调用find_apriltags函数查找图像中的机器码，找到之后框出来并且打印相关信息。
while(True):
    clock.tick()
    img = sensor.snapshot()
    #img = img.resize(280, 195)
    #img = img.resize(292, 210)
    for tag in img.find_apriltags(families=tag_families):
        img.draw_rectangle(tag.rect(), color = (255, 0, 0))
        img.draw_cross(tag.cx(), tag.cy(), color = (0, 255, 0))
        print_args = (family_name(tag), tag.id(), (180 * tag.rotation()) / math.pi)
        print("Tag Family %s, Tag ID %d, rotation %f (degrees)" % print_args)
    lcd.display(img)
    #print(clock.fps())
Copyright © 2025 wmnologo