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  • 怎么同时识别多个特征点的物体?



    • *已经录入多个物体的特征点了,但为啥识别的时候没法同时识别他们。
      *我要怎么改代码使其能同时识别多个物体?

      import sensor, time, image
      
      # 重置传感器
      sensor.reset()
      
      # 传感器设置
      sensor.set_contrast(3)
      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)
      
      #画出特征点
      def draw_keypoints(img, kpts):
          if kpts:
              print(kpts)
              img.draw_keypoints(kpts)
              img = sensor.snapshot()
              time.sleep_ms(1000)
      
      
      kpts1 = image.load_descriptor("/desc.orb")
      img = sensor.snapshot()
      kpts2 = image.load_descriptor("/desc0.orb")
      img = sensor.snapshot()
      
      
      clock = time.clock()
      
      while (True):
          clock.tick()
          img = sensor.snapshot()
          if  (kpts1 == None):
        
            
              kpts1 = img.find_keypoints(max_keypoints=150, threshold=10, scale_factor=1.2)
              draw_keypoints(img, kpts1)
      
          else:
           
      
      
              kpts2 = img.find_keypoints(max_keypoints=150, threshold=10, normalized=True)
      
              if (kpts2):
      
                  match = image.match_descriptor(kpts1, kpts2, threshold=85)
       
                  if (match.count()>10):
      
                      img.draw_rectangle(match.rect())
                      img.draw_cross(match.cx(), match.cy(), size=10)
      
      。
                  print(kpts2, "matched:%d dt:%d"%(match.count(), match.theta()))
      
      
      
          img.draw_string(0, 0, "FPS:%.2f"%(clock.fps()))
      
      


    • import sensor, time, image
      
      # 重置传感器
      sensor.reset()
      
      # 传感器设置
      sensor.set_contrast(3)
      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)
      
      #画出特征点
      def draw_keypoints(img, kpts):
          if kpts:
              print(kpts)
              img.draw_keypoints(kpts)
              img = sensor.snapshot()
              time.sleep_ms(1000)
      
      
      kpts1 = image.load_descriptor("/desc.orb")
      kpts2 = image.load_descriptor("/desc0.orb")
      
      
      clock = time.clock()
      
      while (True):
          clock.tick()
          img = sensor.snapshot()
      
          kpts0 = img.find_keypoints(max_keypoints=150, threshold=10, normalized=True)
      
          if (kpts0):
      
              match = image.match_descriptor(kpts0, kpts1, threshold=85)
      
              if (match.count()>10):
      
                  img.draw_rectangle(match.rect())
                  img.draw_cross(match.cx(), match.cy(), size=10)
      
              print(kpts2, "matched 1:%d dt:%d"%(match.count(), match.theta()))
      
              match = image.match_descriptor(kpts0, kpts2, threshold=85)
              
              if (match.count()>10):
              
                  img.draw_rectangle(match.rect())
                  img.draw_cross(match.cx(), match.cy(), size=10)
              
              print(kpts2, "matched 2:%d dt:%d"%(match.count(), match.theta()))
      
      
          img.draw_string(0, 0, "FPS:%.2f"%(clock.fps()))