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67 lines
2.3 KiB
Python
67 lines
2.3 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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# 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
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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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def draw_keypoints(img, kpts):
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if 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_ms(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("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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if kpts1 is None:
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# NOTE: By default find_keypoints returns multi-scale keypoints extracted from an image pyramid.
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kpts1 = img.find_keypoints(max_keypoints=150, threshold=10, scale_factor=1.2)
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draw_keypoints(img, kpts1)
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else:
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# NOTE: When extracting keypoints to match the first descriptor, we use normalized=True to extract
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# keypoints from the first scale only, which will match one of the scales in the first descriptor.
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kpts2 = img.find_keypoints(max_keypoints=150, threshold=10, normalized=True)
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if kpts2:
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match = image.match_descriptor(kpts1, kpts2, threshold=85)
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if match.count() > 10:
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# If we have at least n "good matches"
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# Draw bounding rectangle and cross.
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img.draw_rectangle(match.rect())
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img.draw_cross(match.cx(), match.cy(), size=10)
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print(kpts2, "matched:%d dt:%d" % (match.count(), match.theta()))
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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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