mirror of
https://github.com/openmv/openmv.git
synced 2025-11-04 14:49:50 +08:00
54 lines
1.7 KiB
Python
54 lines
1.7 KiB
Python
import sensor, time, image
|
|
|
|
# Rotation.
|
|
NORMALIZED=False
|
|
# Keypoint extractor threshold, range from 0 to any number.
|
|
# This threshold is used when extracting keypoints, the lower
|
|
# the threshold the higher the number of keypoints extracted.
|
|
KEYPOINTS_THRESH=20
|
|
# Keypoint-level threshold, range from 0 to 100.
|
|
# This threshold is used when matching two keypoint descriptors, it's the
|
|
# percentage of the distance between two descriptors to the max distance.
|
|
# In other words, the minimum matching percentage between 2 keypoints.
|
|
MATCHING_THRESH=80
|
|
|
|
# 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, 30):
|
|
img = sensor.snapshot()
|
|
img.draw_string(0, 0, "Please wait...")
|
|
|
|
kpts1 = None
|
|
# Uncomment to load keypoints from file
|
|
#kpts1 = image.load_descriptor(image.FREAK, "/desc.freak")
|
|
clock = time.clock()
|
|
|
|
while (True):
|
|
clock.tick()
|
|
img = sensor.snapshot()
|
|
kpts2 = img.find_keypoints(threshold=KEYPOINTS_THRESH, normalized=NORMALIZED)
|
|
|
|
if (kpts1==None):
|
|
kpts1 = kpts2
|
|
print(kpts1)
|
|
elif kpts2:
|
|
c = image.match_descriptor(image.FREAK, kpts1, kpts2, threshold=MATCHING_THRESH)
|
|
# C[3] contains the percentage of matching keypoints.
|
|
# If more than 25% of the keypoints match, draw stuff.
|
|
if (c[2]>25):
|
|
img.draw_cross(c[0], c[1], size=5)
|
|
img.draw_keypoints(kpts2, color=255, size=12)
|
|
img.draw_string(0, 10, "Match %d%%"%(c[2]))
|
|
|
|
# Draw FPS
|
|
img.draw_string(0, 0, "FPS:%.2f"%(clock.fps()))
|