walking机器人入门教程-应用-生成aruco标签

walking机器人入门教程-应用-生成aruco标签

说明：

• 介绍如何快速生成aruco标签

相关设备：

• walking机器人套件：采购地址

步骤:

• 进入脚本目录

cd ~/aiwalking_ws/src/walking_visual/walking_visual

• 生成ID为23的DICT_5X5_100类型标签

python3 generate_aruco.py --id 23 --type DICT_5X5_100 --output tags/DICT_5X5_100_id23.png

• 生成ID为30-36的DICT_ARUCO_ORIGINAL类型标签

python3 generate_aruco.py --id 30 --type DICT_ARUCO_ORIGINAL --output tags/DICT_ORIGINAL_30.png
python3 generate_aruco.py --id 31 --type DICT_ARUCO_ORIGINAL --output tags/DICT_ORIGINAL_31.png
python3 generate_aruco.py --id 32 --type DICT_ARUCO_ORIGINAL --output tags/DICT_ORIGINAL_32.png
python3 generate_aruco.py --id 33 --type DICT_ARUCO_ORIGINAL --output tags/DICT_ORIGINAL_33.png
python3 generate_aruco.py --id 34 --type DICT_ARUCO_ORIGINAL --output tags/DICT_ORIGINAL_34.png
python3 generate_aruco.py --id 35 --type DICT_ARUCO_ORIGINAL --output tags/DICT_ORIGINAL_35.png
python3 generate_aruco.py --id 36 --type DICT_ARUCO_ORIGINAL --output tags/DICT_ORIGINAL_36.png

• 所有支持的类型

ARUCO_DICT = {
    "DICT_4X4_50": cv2.aruco.DICT_4X4_50,
    "DICT_4X4_100": cv2.aruco.DICT_4X4_100,
    "DICT_4X4_250": cv2.aruco.DICT_4X4_250,
    "DICT_4X4_1000": cv2.aruco.DICT_4X4_1000,
    "DICT_5X5_50": cv2.aruco.DICT_5X5_50,
    "DICT_5X5_100": cv2.aruco.DICT_5X5_100,
    "DICT_5X5_250": cv2.aruco.DICT_5X5_250,
    "DICT_5X5_1000": cv2.aruco.DICT_5X5_1000,
    "DICT_6X6_50": cv2.aruco.DICT_6X6_50,
    "DICT_6X6_100": cv2.aruco.DICT_6X6_100,
    "DICT_6X6_250": cv2.aruco.DICT_6X6_250,
    "DICT_6X6_1000": cv2.aruco.DICT_6X6_1000,
    "DICT_7X7_50": cv2.aruco.DICT_7X7_50,
    "DICT_7X7_100": cv2.aruco.DICT_7X7_100,
    "DICT_7X7_250": cv2.aruco.DICT_7X7_250,
    "DICT_7X7_1000": cv2.aruco.DICT_7X7_1000,
    "DICT_ARUCO_ORIGINAL": cv2.aruco.DICT_ARUCO_ORIGINAL,
    "DICT_APRILTAG_16h5": cv2.aruco.DICT_APRILTAG_16h5,
    "DICT_APRILTAG_25h9": cv2.aruco.DICT_APRILTAG_25h9,
    "DICT_APRILTAG_36h10": cv2.aruco.DICT_APRILTAG_36h10,
    "DICT_APRILTAG_36h11": cv2.aruco.DICT_APRILTAG_36h11
}

• 查看图片目录

cd tags
$ ls
DICT_5X5_100_id23.png  DICT_ORIGINAL_33.png
DICT_ORIGINAL_30.png   DICT_ORIGINAL_34.png
DICT_ORIGINAL_31.png   DICT_ORIGINAL_35.png
DICT_ORIGINAL_32.png   DICT_ORIGINAL_36.png

• 查看图片

eog DICT_5X5_100_id23.png

• 效果图：

演示视频