# Object tracking with keypoints example. # Show the camera an object and then run the script. A set of keypoints will be extracted # once and then tracked in the following frames. If you want a new set of keypoints re-run # the script. NOTE: see the docs for arguments to tune find_keypoints and match_keypoints. import sensor, time, image # Reset sensor sensor.reset() # Sensor settings sensor.set_contrast(1) sensor.set_gainceiling(16) sensor.set_framesize(sensor.QCIF) sensor.set_pixformat(sensor.GRAYSCALE) sensor.set_auto_gain(False, value=100) sensor.skip_frames(30) def draw_keypoints(img, kpts): print(kpts) img.draw_keypoints(kpts) img = sensor.snapshot() time.sleep(1000) kpts1 = None # NOTE: uncomment to load a keypoints descriptor from file #kpts1 = image.load_descriptor(image.ORB, "/desc.orb") #img = sensor.snapshot() #draw_keypoints(img, kpts1) clock = time.clock() while (True): clock.tick() img = sensor.snapshot() # NOTE: See the docs for other arguments kpts2 = img.find_keypoints(max_keypoints=100, scale_factor=1.2) if (kpts2 and kpts1 == None): kpts1 = kpts2 draw_keypoints(img, kpts1) elif kpts2: c = image.match_descriptor(image.ORB, kpts1, kpts2, threshold=70) match = c[6] # C[6] contains the number of matches. if (match>2): img.draw_rectangle(c[2:6]) img.draw_cross(c[0], c[1], size=10) print(kpts2, "matched:%d dt:%d"%(match, c[7])) # NOTE: uncomment if you want to draw the keypoints #img.draw_keypoints(kpts2, size=KEYPOINTS_SIZE, matched=True) # Draw FPS img.draw_string(0, 0, "FPS:%.2f"%(clock.fps()))