class PlaneTracker:
def __init__(self):
- self.detector = cv2.ORB_create( nfeatures = 1000 )
+ self.detector = cv2.AKAZE_create(threshold = 0.003)
self.matcher = cv2.FlannBasedMatcher(flann_params, {}) # bug : need to pass empty dict (#1329)
self.targets = []
self.frame_points = []
def detect_features(self, frame):
'''detect_features(self, frame) -> keypoints, descrs'''
keypoints, descrs = self.detector.detectAndCompute(frame, None)
- if descrs is None: # detectAndCompute returns descs=None if not keypoints found
+ if descrs is None: # detectAndCompute returns descs=None if no keypoints found
descrs = []
return keypoints, descrs
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