ORB特征提取

基于OpenMV平台进行开发

具体原理有上一篇博客描述

运算结果：

程序代码：

import sensor, time, image

sensor.reset()

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)

while True:

    img = sensor.snapshot()

    kpts = img.find_keypoints(max_keypoints=150, threshold=10, scale_factor=1.2)

    if kpts != None:

        img.draw_keypoints(kpts)