openmv/scripts/examples/05-Feature-Detection/keypoints_save.py
2023-10-08 15:30:54 +02:00

39 lines
1.1 KiB
Python

# Keypoints descriptor example.
# This example shows how to save a keypoints descriptor to file. Show the camera an object
# and then run the script. The script will extract and save a keypoints descriptor and the image.
# You can use the keypoints_editor.py util to remove unwanted keypoints.
import sensor
import time
import image
# Reset sensor
sensor.reset()
# Sensor settings
sensor.set_contrast(3)
sensor.set_gainceiling(16)
sensor.set_framesize(sensor.VGA)
sensor.set_windowing((320, 240))
sensor.set_pixformat(sensor.GRAYSCALE)
sensor.skip_frames(time=2000)
sensor.set_auto_gain(False, value=100)
FILE_NAME = "desc"
img = sensor.snapshot()
# NOTE: See the docs for other arguments
# NOTE: By default find_keypoints returns multi-scale keypoints extracted from an image pyramid.
kpts = img.find_keypoints(max_keypoints=150, threshold=10, scale_factor=1.2)
if kpts is None:
raise (Exception("Couldn't find any keypoints!"))
image.save_descriptor(kpts, "/%s.orb" % (FILE_NAME))
img.save("/%s.pgm" % (FILE_NAME))
img.draw_keypoints(kpts)
sensor.snapshot()
time.sleep_ms(1000)
raise (Exception("Please reset the camera to see the new file."))