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Update keypoints scripts.
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@ -8,14 +8,14 @@ import sensor, time, image
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sensor.reset()
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# Sensor settings
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sensor.set_contrast(1)
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sensor.set_contrast(3)
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sensor.set_gainceiling(16)
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sensor.set_framesize(sensor.VGA)
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sensor.set_windowing((240, 240))
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sensor.set_windowing((320, 240))
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sensor.set_pixformat(sensor.GRAYSCALE)
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sensor.set_auto_gain(False, value=100)
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sensor.skip_frames(30)
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sensor.set_auto_gain(False, value=100)
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def draw_keypoints(img, kpts):
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print(kpts)
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@ -35,16 +35,16 @@ while (True):
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img = sensor.snapshot()
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if (kpts1 == None):
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# NOTE: By default find_keypoints returns multi-scale keypoints extracted from an image pyramid.
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kpts1 = img.find_keypoints(max_keypoints=150, threshold=20, scale_factor=1.1)
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kpts1 = img.find_keypoints(max_keypoints=150, threshold=10, scale_factor=1.2)
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draw_keypoints(img, kpts1)
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else:
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# NOTE: When extracting keypoints to match the first descriptor, we use normalized=True to extract
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# keypoints from the first scale only, which will match one of the scales in the first descriptor.
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kpts2 = img.find_keypoints(max_keypoints=150, threshold=20, normalized=True)
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kpts2 = img.find_keypoints(max_keypoints=150, threshold=10, normalized=True)
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if (kpts2):
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c = image.match_descriptor(kpts1, kpts2, threshold=80)
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c = image.match_descriptor(kpts1, kpts2, threshold=85)
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match = c[6] # C[6] contains the number of matches.
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if (match>5):
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if (match>10):
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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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@ -10,18 +10,23 @@ import sensor, time, image
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sensor.reset()
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# Sensor settings
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sensor.set_contrast(1)
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sensor.set_contrast(3)
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sensor.set_gainceiling(16)
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sensor.set_framesize(sensor.QCIF)
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sensor.set_framesize(sensor.VGA)
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sensor.set_windowing((320, 240))
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sensor.set_pixformat(sensor.GRAYSCALE)
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sensor.set_auto_gain(False, value=100)
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sensor.skip_frames(30)
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sensor.set_auto_gain(False, value=100)
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FILE_NAME = "desc"
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img = sensor.snapshot()
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# NOTE: See the docs for other arguments
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kpts = img.find_keypoints(scale_factor=1.2)
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# NOTE: By default find_keypoints returns multi-scale keypoints extracted from an image pyramid.
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kpts = img.find_keypoints(max_keypoints=150, threshold=10, scale_factor=1.2)
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if (kpts == None):
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raise(Exception("Couldn't find any keypoints!"))
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image.save_descriptor(kpts, "/%s.orb"%(FILE_NAME))
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img.save("/%s.pgm"%(FILE_NAME))
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@ -29,3 +34,4 @@ img.save("/%s.pgm"%(FILE_NAME))
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img.draw_keypoints(kpts)
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sensor.snapshot()
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time.sleep(1000)
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raise(Exception("Done! Please reset the camera"))
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