Scripts/ORB.py

import cv2
import numpy as np

def DetectMotionWithOrb(FrameOne, FrameTwo, MotionThreshold=1.0):
    FrameOneGray = cv2.cvtColor(FrameOne, cv2.COLOR_BGR2GRAY)
    FrameTwoGray = cv2.cvtColor(FrameTwo, cv2.COLOR_BGR2GRAY)
    OrbDetector = cv2.ORB_create() #type: ignore
    Keypoints1, Descriptors1 = OrbDetector.detectAndCompute(FrameOneGray, None)
    Keypoints2, Descriptors2 = OrbDetector.detectAndCompute(FrameTwoGray, None)
    if Descriptors1 is None or Descriptors2 is None:
        return False, 0, 0
    BfMatcher = cv2.BFMatcher(cv2.NORM_HAMMING, crossCheck=True)
    Matches = BfMatcher.match(Descriptors1, Descriptors2)
    Vectors = []
    for Match in Matches:
        Pt1 = Keypoints1[Match.queryIdx].pt
        Pt2 = Keypoints2[Match.trainIdx].pt
        Vector = (Pt2[0] - Pt1[0], Pt2[1] - Pt1[1])
        Vectors.append(Vector)
    if not Vectors:
        return False, 0, 0
    Vectors = np.array(Vectors)
    AvgVector = np.mean(Vectors, axis=0)
    AvgX, AvgY = AvgVector
    TotalMagnitude = np.hypot(AvgX, AvgY)
    DirectionAngle = np.degrees(np.arctan2(AvgY, AvgX))
    IsMotion = TotalMagnitude >= MotionThreshold
    return IsMotion, TotalMagnitude, DirectionAngle