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38 lines
1.2 KiB
Python
38 lines
1.2 KiB
Python
# 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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#
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# NOTE: Please reset the camera after running this script to see the new file.
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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(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, value=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 == 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(1000)
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raise(Exception("Done! Please reset the camera"))
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