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What is this code do: "gray = cv2.cvtColor(prev_frame, cv2.COLOR_BGR2GRAY) prev_gray = cv2.GaussianBlur(prev_gray, (19, 19), 0) # Find keypoints and descriptors in the first frame prev_keypoints, prev_descriptors = detector.detectAndCompute(prev_gray, None) # Merge close keypoints in the first frame prev_keypoints = merge_close_points(prev_keypoints) # Assign ID to each keypoint in the first frame for kp in prev_keypoints: tracked_points.append((kp, assign_id())) while cap.isOpened(): ret, frame = cap.read() if not ret: break # Convert frame to grayscale gray = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY) # Find keypoints in the current frame keypoints = detector.detect(gray, None) # Merge close keypoints in the current frame keypoints = merge_close_points(keypoints) # Match keypoints between frames matches = [] for kp in keypoints: for prev_kp, prev_id in tracked_points: if distance(kp.pt, prev_kp.pt) < DIST_THRE SHOLD: matches.append((kp, prev_id)) break # Update tracked points with matches and assign IDs to unmatched keypoints new_tracked_points = [] for kp, prev_id in matches: new_tracked_points.append((kp, prev_id)) for kp in keypoints: if kp not in [match[0] for match in matches]: new_tracked_points.append((kp, assign_id())) # Limit the number of tracked points to 200 tracked_points = new_tracked_points[-MAX_POINTS:] # Draw tracked points and IDs on the frame frame_with_points = frame.copy() for kp, kp_id in tracked_points: # Draw the point cv2.circle(frame_with_points, (int(kp.pt[0]), int(kp.pt[1])), 5, (0, 255, 0), -1) # Draw the ID number next to the point cv2.putText(frame_with_points, str(kp_id), (int(kp.pt[0]) + 10, int(kp.pt[1]) + 10), cv2.FONT_HERSHEY_SIMPLEX, 0.5, (0, 0, 255), 1, cv2.LINE_AA) # Display the result cv2.imshow('Fr ame', frame_with_points) if cv2.waitKey(25) & 0xFF == ord('q'): break cap.release() cv2.destroyAllWindows()"
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