import sensor, time KEYPOINTS_THRESH=60 MATCHING_THRESH=70 #sensor.reset() sensor.set_contrast(1) sensor.set_framesize(sensor.QQVGA) sensor.set_pixformat(sensor.GRAYSCALE) image = sensor.snapshot() kpts1 = image.find_keypoints(threshold=KEYPOINTS_THRESH, normalized=False) print (kpts1) time.sleep(1000) clock = time.clock() while (True): clock.tick() image = sensor.snapshot() try: kpts2 = image.find_keypoints(threshold=KEYPOINTS_THRESH, normalized=False) c=image.match_keypoints(kpts1, kpts2, MATCHING_THRESH) if (c): l=10 image.draw_line((c[0]-l, c[1], c[0]+l, c[1])) image.draw_line((c[0], c[1]-l, c[0], c[1]+l)) time.sleep(10) except: pass print (clock.fps())