import sensor, time KEYPOINTS_THRESH=32 MATCHING_THRESH=70 NORMALIZED=False # 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, 10): img = sensor.snapshot() kpts1 = None while (kpts1 == None): img = sensor.snapshot() kpts1 = img.find_keypoints(threshold=KEYPOINTS_THRESH, normalized=NORMALIZED) print (kpts1) time.sleep(1000) def draw_cross(img, x, y, l): img.draw_line((x-l, y, x+l, y)) img.draw_line((x, y-l, x, y+l)) 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): draw_cross(img, c[0], c[1], 10) time.sleep(10) print (clock.fps())