import sensor, time # Set sensor gainceiling sensor.set_gainceiling(16) # Set sensor brightness sensor.set_brightness(-2) # Set sensor to grayscale sensor.set_pixformat(sensor.GRAYSCALE) image = sensor.snapshot() kp = image.find_keypoints(upright=False, thresh=0.0004, octaves=2) image.draw_keypoints(kp) time.sleep(2000) clock = time.clock() while (True): image = sensor.snapshot() clock.tick() ipts2 = image.find_keypoints_match(kp) print (clock.avg())