openmv/usr/examples/keypoints.py
2015-08-15 16:46:31 +02:00

46 lines
1.0 KiB
Python

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())