Update keypoints.py script.

This commit is contained in:
iabdalkader 2017-01-15 18:43:14 +02:00
parent e4c297d0e3
commit e650adb53a

View File

@ -10,7 +10,8 @@ sensor.reset()
# Sensor settings
sensor.set_contrast(1)
sensor.set_gainceiling(16)
sensor.set_framesize(sensor.QCIF)
sensor.set_framesize(sensor.VGA)
sensor.set_windowing((240, 240))
sensor.set_pixformat(sensor.GRAYSCALE)
sensor.set_auto_gain(False, value=100)
@ -32,22 +33,24 @@ clock = time.clock()
while (True):
clock.tick()
img = sensor.snapshot()
# NOTE: See the docs for other arguments
kpts2 = img.find_keypoints(max_keypoints=100, scale_factor=1.2)
if (kpts2 and kpts1 == None):
kpts1 = kpts2
if (kpts1 == None):
# NOTE: By default find_keypoints returns multi-scale keypoints extracted from an image pyramid.
kpts1 = img.find_keypoints(max_keypoints=150, threshold=20, scale_factor=1.1)
draw_keypoints(img, kpts1)
elif kpts2:
c = image.match_descriptor(kpts1, kpts2, threshold=85)
match = c[6] # C[6] contains the number of matches.
if (match>5):
img.draw_rectangle(c[2:6])
img.draw_cross(c[0], c[1], size=10)
else:
# NOTE: When extracting keypoints to match the first descriptor, we use normalized=True to extract
# keypoints from the first scale only, which will match one of the scales in the first descriptor.
kpts2 = img.find_keypoints(max_keypoints=150, threshold=20, normalized=True)
if (kpts2):
c = image.match_descriptor(kpts1, kpts2, threshold=80)
match = c[6] # C[6] contains the number of matches.
if (match>5):
img.draw_rectangle(c[2:6])
img.draw_cross(c[0], c[1], size=10)
print(kpts2, "matched:%d dt:%d"%(match, c[7]))
# NOTE: uncomment if you want to draw the keypoints
#img.draw_keypoints(kpts2, size=KEYPOINTS_SIZE, matched=True)
print(kpts2, "matched:%d dt:%d"%(match, c[7]))
# NOTE: uncomment if you want to draw the keypoints
#img.draw_keypoints(kpts2, size=KEYPOINTS_SIZE, matched=True)
# Draw FPS
img.draw_string(0, 0, "FPS:%.2f"%(clock.fps()))