features.py 文件源码

def detect_keypoints(self, frame):
        """Detect keypoints

        Parameters
        ----------
        frame : np.array
            Image frame

        Returns
        -------
        kps : list of KeyPoint
            Keypoints

        """
        # Detect keypoints
        keypoints = self.orb.detect(frame, None)

        # Convert OpenCV KeyPoint to KeyPoint
        kps = []
        for i in range(len(keypoints)):
            kp = keypoints[i]
            kps.append(KeyPoint(kp.pt,
                                kp.size,
                                kp.angle,
                                kp.response,
                                kp.octave))

        return kps