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()))