运行的官方的例程代码，然后显示报错，查了一下手册说是要更新固件，但是已经是最高版本了，这个怎么处理呢？

[htlr]

# AprilTags Example
#
# This example shows the power of the OpenMV Cam to detect April Tags
# on the OpenMV Cam M7. The M4 versions cannot detect April Tags.

import sensor, image, time, math

sensor.reset()
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QQVGA) # we run out of memory if the resolution is much bigger...
sensor.skip_frames(30)
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()

# 注意！与find_qrcodes不同，find_apriltags 不需要软件矫正畸变就可以工作。

# 注意，输出的姿态的单位是弧度，可以转换成角度，但是位置的单位是和你的大小有关，需要等比例换算

# f_x 是x的像素为单位的焦距。对于标准的OpenMV，应该等于2.8/3.984*656，这个值是用毫米为单位的焦距除以x方向的感光元件的长度，乘以x方向的感光元件的像素（OV7725）
# f_y 是y的像素为单位的焦距。对于标准的OpenMV，应该等于2.8/2.952*488，这个值是用毫米为单位的焦距除以y方向的感光元件的长度，乘以y方向的感光元件的像素（OV7725）

# c_x 是图像的x中心位置
# c_y 是图像的y中心位置

f_x = (2.8 / 3.984) * 160 # 默认值
f_y = (2.8 / 2.952) * 120 # 默认值
c_x = 160 * 0.5 # 默认值(image.w * 0.5)
c_y = 120 * 0.5 # 默认值(image.h * 0.5)

def degrees(radians):
    return (180 * radians) / math.pi

while(True):
    clock.tick()
    img = sensor.snapshot()
    for tag in img.find_apriltags(fx=f_x, fy=f_y, cx=c_x, cy=c_y): # 默认为TAG36H11
        img.draw_rectangle(tag.rect(), color = (255, 0, 0))
        img.draw_cross(tag.cx(), tag.cy(), color = (0, 255, 0))
        print_args = (tag.x_translation(), tag.y_translation(), tag.z_translation(), \
            degrees(tag.x_rotation()), degrees(tag.y_rotation()), degrees(tag.z_rotation()))
        # 位置的单位是未知的，旋转的单位是角度
        print("Tx: %f, Ty %f, Tz %f, Rx %f, Ry %f, Rz %f" % print_args)
    print(clock.fps())

[kidswong999]

使用下面的代码，因为接口更新了，我会尽快把文档和例子更新完。

# This work is licensed under the MIT license.
# Copyright (c) 2013-2023 OpenMV LLC. All rights reserved.
# https://github.com/openmv/openmv/blob/master/LICENSE
#
# AprilTags Example
#
# This example shows the power of the OpenMV Cam to detect April Tags
# on the OpenMV Cam M7. The M4 versions cannot detect April Tags.

import sensor
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()

# Note! Unlike find_qrcodes the find_apriltags method does not need lens correction on the image to work.

# Please use the TAG36H11 tag family for this script - it's the recommended tag family to use.


while True:
    clock.tick()
    img = sensor.snapshot()
    for tag in img.find_apriltags():
        img.draw_rectangle(tag.rect, color=(255, 0, 0))
        img.draw_cross(tag.cx, tag.cy, color=(0, 255, 0))
        print_args = (tag.name, tag.id, (180 * tag.rotation) / math.pi)
        print("Tag Family %s, Tag ID %d, rotation %f (degrees)" % print_args)
    print(clock.fps())