openmv/usr/examples/keypoints.py
2014-09-24 22:27:16 +02:00

30 lines
773 B
Python

import sensor, time
KEYPOINTS_THRESH=60
MATCHING_THRESH=70
#sensor.reset()
sensor.set_contrast(1)
sensor.set_framesize(sensor.QQVGA)
sensor.set_pixformat(sensor.GRAYSCALE)
image = sensor.snapshot()
kpts1 = image.find_keypoints(threshold=KEYPOINTS_THRESH, normalized=False)
print (kpts1)
time.sleep(1000)
clock = time.clock()
while (True):
clock.tick()
image = sensor.snapshot()
try:
kpts2 = image.find_keypoints(threshold=KEYPOINTS_THRESH, normalized=False)
c=image.match_keypoints(kpts1, kpts2, MATCHING_THRESH)
if (c):
l=10
image.draw_line((c[0]-l, c[1], c[0]+l, c[1]))
image.draw_line((c[0], c[1]-l, c[0], c[1]+l))
time.sleep(10)
except:
pass
print (clock.fps())