import sensor, time NORMALIZED=False MATCHING_THRESH=70 KEYPOINTS_THRESH=32 # Reset sensor sensor.reset() # Sensor settings sensor.set_contrast(1) sensor.set_gainceiling(16) sensor.set_framesize(sensor.QQVGA) sensor.set_pixformat(sensor.GRAYSCALE) # Skip a few frames to allow the sensor settle down # Note: This takes more time when exec from the IDE. for i in range(0, 30): img = sensor.snapshot() img.draw_string(0, 0, "Please wait...") kpts1 = None while (kpts1 == None): img = sensor.snapshot() kpts1 = img.find_keypoints(threshold=KEYPOINTS_THRESH, normalized=NORMALIZED) img.draw_keypoints(kpts1) time.sleep(1000) clock = time.clock() while (True): clock.tick() img = sensor.snapshot() kpts2 = img.find_keypoints(threshold=KEYPOINTS_THRESH, normalized=NORMALIZED) if not kpts2: continue c=img.match_keypoints(kpts1, kpts2, MATCHING_THRESH) if (c): img.draw_cross(c[0], c[1], size = 10) print (clock.fps())