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apriltag1.py
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apriltag1.py
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import apriltag
print("[INFO] loading image...")
image = frame
gray = cv2.cvtColor(image, cv2.COLOR_BGR2GRAY)
options = apriltag.DetectorOptions(families="tag36h11")
detector = apriltag.Detector(options)
results = detector.detect(gray)
print("[INFO] {} total AprilTags detected".format(len(results)))
for r in results:
# extract the bounding box (x, y)-coordinates for the AprilTag
# and convert each of the (x, y)-coordinate pairs to integers
(ptA, ptB, ptC, ptD) = r.corners
ptB = (int(ptB[0]), int(ptB[1]))
ptC = (int(ptC[0]), int(ptC[1]))
ptD = (int(ptD[0]), int(ptD[1]))
ptA = (int(ptA[0]), int(ptA[1]))
# draw the bounding box of the AprilTag detection
cv2.line(image, ptA, ptB, (0, 255, 0), 2)
cv2.line(image, ptB, ptC, (0, 255, 0), 2)
cv2.line(image, ptC, ptD, (0, 255, 0), 2)
cv2.line(image, ptD, ptA, (0, 255, 0), 2)
# draw the center (x, y)-coordinates of the AprilTag
(cX, cY) = (int(r.center[0]), int(r.center[1]))
cv2.circle(image, (cX, cY), 5, (0, 0, 255), -1)
# draw the tag family on the image
tagFamily = r.tag_family.decode("utf-8")
cv2.putText(image, tagFamily, (ptA[0], ptA[1] - 15),
cv2.FONT_HERSHEY_SIMPLEX, 0.5, (0, 255, 0), 2)
print("[INFO] tag family: {}".format(tagFamily))
# show the output image after AprilTag detection
cv2.imshow("Image", image)
cv2.waitKey(0)