import sensor, time, image
# 重置传感器
sensor.reset()
# 传感器设置
sensor.set_contrast(1)
sensor.set_gainceiling(16)
sensor.set_framesize(sensor.VGA)
sensor.set_windowing((320, 240))
sensor.set_pixformat(sensor.GRAYSCALE)
sensor.skip_frames(time = 2000)
sensor.set_auto_gain(False, value=100)
FILE_NAME = "desc"
img = image.Image("/binary.pgm", copy_to_fb=True)
# 注意：请参阅文档查看其他参数
# 注：默认情况下，find_keypoints返回从图像中提取的多尺度关键点。
kpts = img.find_keypoints(max_keypoints=150, threshold=10, scale_factor=1.2)
if (kpts == None):
raise(Exception("Couldn't find any keypoints!"))
image.save_descriptor(kpts, "/%s.orb"%(FILE_NAME))
img.save("/%s.pgm"%(FILE_NAME))
img.draw_keypoints(kpts)
sensor.snapshot()
time.sleep_ms(1000)
#raise(Exception("Done! Please reset the camera"))
image.match_descriptor
print(image.kptmatch.cx())