openmv/usr/examples/09-Feature-Detection/keypoints.py
2017-01-14 01:23:23 +02:00

54 lines
1.6 KiB
Python

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