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ORB: Change default threshold to 85 and min match to 5.
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@ -2714,7 +2714,7 @@ static mp_obj_t py_image_match_descriptor(uint n_args, const mp_obj_t *args, mp_
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case DESC_ORB: {
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case DESC_ORB: {
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py_kp_obj_t *kpts1 = ((py_kp_obj_t*)args[1]);
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py_kp_obj_t *kpts1 = ((py_kp_obj_t*)args[1]);
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py_kp_obj_t *kpts2 = ((py_kp_obj_t*)args[2]);
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py_kp_obj_t *kpts2 = ((py_kp_obj_t*)args[2]);
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int threshold = py_helper_lookup_int(kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_threshold), 70);
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int threshold = py_helper_lookup_int(kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_threshold), 85);
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int filter_outliers = py_helper_lookup_int(kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_filter_outliers), false);
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int filter_outliers = py_helper_lookup_int(kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_filter_outliers), false);
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// Sanity checks
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// Sanity checks
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@ -63,7 +63,7 @@ while (True):
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# Match the first set of keypoints with the second one
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# Match the first set of keypoints with the second one
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c=image.match_descriptor(image.ORB, kpts1, kpts2)
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c=image.match_descriptor(image.ORB, kpts1, kpts2)
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match = c[6] # C[6] contains the number of matches.
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match = c[6] # C[6] contains the number of matches.
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if (match>2):
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if (match>5):
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img.draw_rectangle(c[2:6])
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img.draw_rectangle(c[2:6])
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img.draw_cross(c[0], c[1], size=10)
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img.draw_cross(c[0], c[1], size=10)
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print(kpts2, "matched:%d dt:%d"%(match, c[7]))
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print(kpts2, "matched:%d dt:%d"%(match, c[7]))
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@ -39,9 +39,9 @@ while (True):
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kpts1 = kpts2
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kpts1 = kpts2
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draw_keypoints(img, kpts1)
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draw_keypoints(img, kpts1)
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elif kpts2:
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elif kpts2:
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c = image.match_descriptor(image.ORB, kpts1, kpts2, threshold=70)
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c = image.match_descriptor(image.ORB, kpts1, kpts2, threshold=85)
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match = c[6] # C[6] contains the number of matches.
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match = c[6] # C[6] contains the number of matches.
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if (match>2):
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if (match>5):
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img.draw_rectangle(c[2:6])
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img.draw_rectangle(c[2:6])
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img.draw_cross(c[0], c[1], size=10)
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img.draw_cross(c[0], c[1], size=10)
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