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43 lines
1.3 KiB
Python
43 lines
1.3 KiB
Python
# This work is licensed under the MIT license.
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# Copyright (c) 2013-2023 OpenMV LLC. All rights reserved.
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# https://github.com/openmv/openmv/blob/master/LICENSE
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#
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# Keypoints descriptor example.
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# This example shows how to save a keypoints descriptor to file. Show the camera an object
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# and then run the script. The script will extract and save a keypoints descriptor and the image.
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# You can use the keypoints_editor.py util to remove unwanted keypoints.
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import sensor
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import time
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import 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(3)
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sensor.set_gainceiling(16)
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sensor.set_framesize(sensor.VGA)
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sensor.set_windowing((320, 240))
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sensor.set_pixformat(sensor.GRAYSCALE)
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sensor.skip_frames(time=2000)
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sensor.set_auto_gain(False, gain_db=100)
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FILE_NAME = "desc"
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img = sensor.snapshot()
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# NOTE: See the docs for other arguments
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# NOTE: By default find_keypoints returns multi-scale keypoints extracted from an image pyramid.
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kpts = img.find_keypoints(max_keypoints=150, threshold=10, scale_factor=1.2)
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if kpts is None:
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raise (Exception("Couldn't find any keypoints!"))
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image.save_descriptor(kpts, "%s.orb" % (FILE_NAME))
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img.save("%s.pgm" % (FILE_NAME))
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img.draw_keypoints(kpts)
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sensor.snapshot()
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time.sleep_ms(1000)
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raise (Exception("Please reset the camera to see the new file."))
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