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54 lines
1.6 KiB
Python
54 lines
1.6 KiB
Python
# Object tracking with keypoints example.
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# Show the camera an object and then run the script. A set of keypoints will be extracted
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# once and then tracked in the following frames. If you want a new set of keypoints re-run
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# the script. NOTE: see the docs for arguments to tune find_keypoints and match_keypoints.
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import sensor, time, image
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# Reset sensor
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sensor.reset()
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# Sensor settings
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sensor.set_contrast(1)
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sensor.set_gainceiling(16)
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sensor.set_framesize(sensor.QCIF)
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sensor.set_pixformat(sensor.GRAYSCALE)
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sensor.set_auto_gain(False, value=100)
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sensor.skip_frames(30)
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def draw_keypoints(img, kpts):
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print(kpts)
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img.draw_keypoints(kpts)
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img = sensor.snapshot()
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time.sleep(1000)
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kpts1 = None
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# NOTE: uncomment to load a keypoints descriptor from file
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#kpts1 = image.load_descriptor(image.ORB, "/desc.orb")
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#img = sensor.snapshot()
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#draw_keypoints(img, kpts1)
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clock = time.clock()
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while (True):
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clock.tick()
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img = sensor.snapshot()
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# NOTE: See the docs for other arguments
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kpts2 = img.find_keypoints(max_keypoints=100, scale_factor=1.2)
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if (kpts2 and kpts1 == None):
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kpts1 = kpts2
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draw_keypoints(img, kpts1)
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elif kpts2:
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c = image.match_descriptor(image.ORB, kpts1, kpts2, threshold=85)
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match = c[6] # C[6] contains the number of matches.
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if (match>5):
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img.draw_rectangle(c[2:6])
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img.draw_cross(c[0], c[1], size=10)
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print(kpts2, "matched:%d dt:%d"%(match, c[7]))
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# NOTE: uncomment if you want to draw the keypoints
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#img.draw_keypoints(kpts2, size=KEYPOINTS_SIZE, matched=True)
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# Draw FPS
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img.draw_string(0, 0, "FPS:%.2f"%(clock.fps()))
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