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07-april-tags.py
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07-april-tags.py
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import sensor
import image
import time
import math
sensor.reset()
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QQVGA)
sensor.skip_frames(time=2000)
sensor.set_auto_gain(False) # must turn this off to prevent image washout...
sensor.set_auto_whitebal(False) # must turn this off to prevent image washout...
clock = time.clock()
while True:
clock.tick()
img = sensor.snapshot()
for tag in img.find_apriltags(families=image.TAG36H11):
img.draw_rectangle(tag.rect(), color=(255, 0, 0))
img.draw_cross(tag.cx(), tag.cy(), color=(0, 255, 0))
print_args = ("TAG36H11", tag.id(), (180 * tag.rotation()) / math.pi)
print("Tag Family %s, Tag ID %d, rotation %f (degrees)" % print_args)
print(clock.fps())