Jetson Lepton 온도측정 모듈 사용하기
01 Jun 2021 | JetsonJetson Nano에 Lepton 2.5 모듈과 USB 어댑터인 PureThermal 2 를 사용했고, 여기를 참조했다.
40만원 가까이되는 금액을 소비하고.. 사용법을 알아봤는데 많은 정보들은 없었다.
해당 링크의 github는
이런 애플리케이션을 제공하는 오픈소스이고, 따로 개별적인 코드는 없었다.
이걸 나의 프로젝트에 접목시키기 위해, 해당 프레임의 추출과 온도값의 추출이 필요했다.
시작
일단 새로운 폴더를 만들고 시작하자
mkdir thermal | cd thermal
OpenCV 설치
다른 버전을 설치해도 되고.. 여기를 찾아봐도 된다.
의존성 설치
sudo apt-get update
sudo apt-get dist-upgrade -y --autoremove
# 의존성 설치
sudo apt-get install -y python3-pyqt5
sudo apt-get install -y python3-h5py
sudo apt-get install -y python3-psutil
sudo apt-get install -y python3-matplotlib
sudo apt-get install -y python-opencv
sudo apt-get install -y libatlas-base-dev
sudo apt-get install -y libjasper-dev
sudo apt-get install -y libqtgui4
sudo apt-get install -y libqt4-test
sudo apt-get install -y python3-pip
sudo pip3 install --no-cache-dir tifffile
libuvc 설치
uvc 라이브러리는 usb를 통한 비디오스트림 등을 할 때 사용되는 라이브러리이다.
# libuvc 설치 과정 ( 위 사진의 애플리케이션 포함 )
git clone https://github.com/Kheirlb/purethermal1-uvc-capture.git
cd purethermal1-uvc-capture
cd ui_software
git clone https://github.com/groupgets/libuvc
sudo apt-get install cmake
cd libuvc
mkdir build
cd build
cmake ..
make && sudo make install
sudo ldconfig -v
cd ../..
# USB 권한 설정
sudo sh -c "echo 'SUBSYSTEMS==\"usb\", ATTRS{idVendor}==\"1e4e\", ATTRS{idProduct}==\"0100\", SYMLINK+=\"pt1\", GROUP=\"usb\", MODE=\"666\"' > /etc/udev/rules.d/99-pt1.rules"
설치 확인
설치가 잘 확인되었는지 보려면, ui_software/Parabilis_Thermal로 이동한다.
그 다음 실행해본다
# $Version은 다양해서.. 자동완성 기능을 활용하기
sudo python3 RecordIR_{$Version}.py
# 또는
./RecordIR_{$Version}
여기까지 잘 구동되는지 보자.
하지만 우리가 원하는건 이게 아니다. 이 프로그램에서 열을 측정하는 코드와, 프레임이 필요할 뿐.
코드 해석
전체 코드는 여기에 있다.
해당 폴더에서 libuvc를 Ctype 라이브러리로 제어하는 uvctypesParabilis_v2.py를 가져와야 한다.
그 다음, 프레임과 온도를 정제하는 thermal.py 파일을 만들었다.
너무 길어서 맨 아래에 전체 코드를 올리고 지금은 좀 생략하겠다.
from uvctypesParabilis_v2 import *
from multiprocessing import Queue
import numpy as np
import cv2
BUF_SIZE = 2
q = Queue(BUF_SIZE)
def py_frame_callback(frame, userptr):
...
if not q.full():
q.put(data)
PTR_PY_FRAME_CALLBACK = CFUNCTYPE(None, POINTER(uvc_frame), c_void_p)(py_frame_callback)
def generate_colour_map(colorMapType):
lut = np.zeros((256, 1, 3), dtype=np.uint8)
#colorMaps
colormap_grayscale = [...]
colormap_rainbow = [...]
colourmap_ironblack = [...]
def chunk:
...
return lut
def getFrame(colorMapType):
data = q.get(True, 500)
if data is None:
print('No Data')
minVal, maxVal, minLoc, maxLoc = cv2.minMaxLoc(data)
img = cv2.LUT(raw_to_8bit(data), generate_colour_map(colorMapType))
return img, minVal, maxVal
def startStream():
...
def readTemp(unit, state, minVal, maxVal):
코드를 정상적으로 실행시키기 위해서는 3 가지 함수가 필요하다.
-
startStream()함수를 이용해 초기화를 해준다. 이 후 libuvc애 Callback 함수를 연결하여 온도를 측정한다. 그 다음q라는 큐에 넣ㅇ저ㅜㄴ다. -
getFrame()함수의 반환갑을 보면, minVal과 maxVal 을 반환하는 것이 보일 것이다. 기존 코드에선 전역변수로 값을 공유했는데, 안정성을 위해 인자로 반환했다.
코드 내에서 큐의 데이터를 검사한다. 그 뒤로 정제한 뒤 정제하고 이미지 내의 온도값을 계산해 minVal과 maxVal을 계산하고, 이미지를 반환한다. -
readTemp()에서는 minVal과 maxVal을 받고 이를 상태에 따라 섭씨 또는 화씨로 반환하는 함수이다.
위의 코드에서는, 이미지에서 온도값을 출력하기 때문에 readTemp()가 getFrame()에 대한 종속성이 좀 강한편이다.
MVC의 관점에서 본다면, getFrame에서 Model의 역할을 하고 readTemp는 Controller의 역할을 한다.
어댑터 만들기
이대로 써도 문제는 없지만, 더 편하게 사용하기 위해 어댑터 클래스를 만들었다.
from thermal import *
import threading
class TemperatureAdapter:
def __init__(self):
self.colorMapType = 0
self.toggleUnitState = 'C'
self.minVal = 0
self.maxVal = 0
self.lock = threading.Lock()
startStream()
def getFrame(self):
self.lock.acquire()
frame, self.minVal, self.maxVal = getFrame(self.colorMapType)
self.lock.release()
rgbImage = cv2.cvtColor(frame, cv2.COLOR_BGR2RGB)
return rgbImage
def checkTemperature(self):
self.lock.acquire()
minVal, maxVal = self.minVal, self.maxVal
self.lock.release()
return readTemp(self.toggleUnitState,'max', minVal, maxVal)
생성자에서 상태들을 설정해준 뒤 startStream()을 실행하고, 두 가지 함수로 데이터를 생성한다.
둘 다 Thread-Safe 하기 위하여 뮤텍스 락을 걸어주었다.
이제 호출하여 사용하면 된다.
전체 코드
thermal.py
from uvctypesParabilis_v2 import *
from multiprocessing import Queue
import numpy as np
import cv2
BUF_SIZE = 2
q = Queue(BUF_SIZE)
def py_frame_callback(frame, userptr):
array_pointer = cast(frame.contents.data, POINTER(c_uint16 * (frame.contents.width * frame.contents.height)))
data = np.frombuffer(
array_pointer.contents, dtype=np.dtype(np.uint16)).reshape(frame.contents.height, frame.contents.width)
if frame.contents.data_bytes != (2 * frame.contents.width * frame.contents.height):
return
if not q.full():
q.put(data)
PTR_PY_FRAME_CALLBACK = CFUNCTYPE(None, POINTER(uvc_frame), c_void_p)(py_frame_callback)
def generate_colour_map(colorMapType):
"""
Conversion of the colour map from GetThermal to a numpy LUT:
https://github.com/groupgets/GetThermal/blob/bb467924750a686cc3930f7e3a253818b755a2c0/src/dataformatter.cpp#L6
"""
lut = np.zeros((256, 1, 3), dtype=np.uint8)
#colorMaps
colormap_grayscale = [0, 0, 0, 1, 1, 1, 2, 2, 2, 3, 3, 3, 4, 4, 4, 5, 5, 5, 6, 6, 6, 7, 7, 7, 8, 8, 8, 9, 9, 9, 10, 10, 10, 11, 11, 11, 12, 12, 12, 13, 13, 13, 14, 14, 14, 15, 15, 15, 16, 16, 16, 17, 17, 17, 18, 18, 18, 19, 19, 19, 20, 20, 20, 21, 21, 21, 22, 22, 22, 23, 23, 23, 24, 24, 24, 25, 25, 25, 26, 26, 26, 27, 27, 27, 28, 28, 28, 29, 29, 29, 30, 30, 30, 31, 31, 31, 32, 32, 32, 33, 33, 33, 34, 34, 34, 35, 35, 35, 36, 36, 36, 37, 37, 37, 38, 38, 38, 39, 39, 39, 40, 40, 40, 41, 41, 41, 42, 42, 42, 43, 43, 43, 44, 44, 44, 45, 45, 45, 46, 46, 46, 47, 47, 47, 48, 48, 48, 49, 49, 49, 50, 50, 50, 51, 51, 51, 52, 52, 52, 53, 53, 53, 54, 54, 54, 55, 55, 55, 56, 56, 56, 57, 57, 57, 58, 58, 58, 59, 59, 59, 60, 60, 60, 61, 61, 61, 62, 62, 62, 63, 63, 63, 64, 64, 64, 65, 65, 65, 66, 66, 66, 67, 67, 67, 68, 68, 68, 69, 69, 69, 70, 70, 70, 71, 71, 71, 72, 72, 72, 73, 73, 73, 74, 74, 74, 75, 75, 75, 76, 76, 76, 77, 77, 77, 78, 78, 78, 79, 79, 79, 80, 80, 80, 81, 81, 81, 82, 82, 82, 83, 83, 83, 84, 84, 84, 85, 85, 85, 86, 86, 86, 87, 87, 87, 88, 88, 88, 89, 89, 89, 90, 90, 90, 91, 91, 91, 92, 92, 92, 93, 93, 93, 94, 94, 94, 95, 95, 95, 96, 96, 96, 97, 97, 97, 98, 98, 98, 99, 99, 99, 100, 100, 100, 101, 101, 101, 102, 102, 102, 103, 103, 103, 104, 104, 104, 105, 105, 105, 106, 106, 106, 107, 107, 107, 108, 108, 108, 109, 109, 109, 110, 110, 110, 111, 111, 111, 112, 112, 112, 113, 113, 113, 114, 114, 114, 115, 115, 115, 116, 116, 116, 117, 117, 117, 118, 118, 118, 119, 119, 119, 120, 120, 120, 121, 121, 121, 122, 122, 122, 123, 123, 123, 124, 124, 124, 125, 125, 125, 126, 126, 126, 127, 127, 127, 128, 128, 128, 129, 129, 129, 130, 130, 130, 131, 131, 131, 132, 132, 132, 133, 133, 133, 134, 134, 134, 135, 135, 135, 136, 136, 136, 137, 137, 137, 138, 138, 138, 139, 139, 139, 140, 140, 140, 141, 141, 141, 142, 142, 142, 143, 143, 143, 144, 144, 144, 145, 145, 145, 146, 146, 146, 147, 147, 147, 148, 148, 148, 149, 149, 149, 150, 150, 150, 151, 151, 151, 152, 152, 152, 153, 153, 153, 154, 154, 154, 155, 155, 155, 156, 156, 156, 157, 157, 157, 158, 158, 158, 159, 159, 159, 160, 160, 160, 161, 161, 161, 162, 162, 162, 163, 163, 163, 164, 164, 164, 165, 165, 165, 166, 166, 166, 167, 167, 167, 168, 168, 168, 169, 169, 169, 170, 170, 170, 171, 171, 171, 172, 172, 172, 173, 173, 173, 174, 174, 174, 175, 175, 175, 176, 176, 176, 177, 177, 177, 178, 178, 178, 179, 179, 179, 180, 180, 180, 181, 181, 181, 182, 182, 182, 183, 183, 183, 184, 184, 184, 185, 185, 185, 186, 186, 186, 187, 187, 187, 188, 188, 188, 189, 189, 189, 190, 190, 190, 191, 191, 191, 192, 192, 192, 193, 193, 193, 194, 194, 194, 195, 195, 195, 196, 196, 196, 197, 197, 197, 198, 198, 198, 199, 199, 199, 200, 200, 200, 201, 201, 201, 202, 202, 202, 203, 203, 203, 204, 204, 204, 205, 205, 205, 206, 206, 206, 207, 207, 207, 208, 208, 208, 209, 209, 209, 210, 210, 210, 211, 211, 211, 212, 212, 212, 213, 213, 213, 214, 214, 214, 215, 215, 215, 216, 216, 216, 217, 217, 217, 218, 218, 218, 219, 219, 219, 220, 220, 220, 221, 221, 221, 222, 222, 222, 223, 223, 223, 224, 224, 224, 225, 225, 225, 226, 226, 226, 227, 227, 227, 228, 228, 228, 229, 229, 229, 230, 230, 230, 231, 231, 231, 232, 232, 232, 233, 233, 233, 234, 234, 234, 235, 235, 235, 236, 236, 236, 237, 237, 237, 238, 238, 238, 239, 239, 239, 240, 240, 240, 241, 241, 241, 242, 242, 242, 243, 243, 243, 244, 244, 244, 245, 245, 245, 246, 246, 246, 247, 247, 247, 248, 248, 248, 249, 249, 249, 250, 250, 250, 251, 251, 251, 252, 252, 252, 253, 253, 253, 254, 254, 254, 255, 255, 255];
colormap_rainbow = [1, 3, 74, 0, 3, 74, 0, 3, 75, 0, 3, 75, 0, 3, 76, 0, 3, 76, 0, 3, 77, 0, 3, 79, 0, 3, 82, 0, 5, 85, 0, 7, 88, 0, 10, 91, 0, 14, 94, 0, 19, 98, 0, 22, 100, 0, 25, 103, 0, 28, 106, 0, 32, 109, 0, 35, 112, 0, 38, 116, 0, 40, 119, 0, 42, 123, 0, 45, 128, 0, 49, 133, 0, 50, 134, 0, 51, 136, 0, 52, 137, 0, 53, 139, 0, 54, 142, 0, 55, 144, 0, 56, 145, 0, 58, 149, 0, 61, 154, 0, 63, 156, 0, 65, 159, 0, 66, 161, 0, 68, 164, 0, 69, 167, 0, 71, 170, 0, 73, 174, 0, 75, 179, 0, 76, 181, 0, 78, 184, 0, 79, 187, 0, 80, 188, 0, 81, 190, 0, 84, 194, 0, 87, 198, 0, 88, 200, 0, 90, 203, 0, 92, 205, 0, 94, 207, 0, 94, 208, 0, 95, 209, 0, 96, 210, 0, 97, 211, 0, 99, 214, 0, 102, 217, 0, 103, 218, 0, 104, 219, 0, 105, 220, 0, 107, 221, 0, 109, 223, 0, 111, 223, 0, 113, 223, 0, 115, 222, 0, 117, 221, 0, 118, 220, 1, 120, 219, 1, 122, 217, 2, 124, 216, 2, 126, 214, 3, 129, 212, 3, 131, 207, 4, 132, 205, 4, 133, 202, 4, 134, 197, 5, 136, 192, 6, 138, 185, 7, 141, 178, 8, 142, 172, 10, 144, 166, 10, 144, 162, 11, 145, 158, 12, 146, 153, 13, 147, 149, 15, 149, 140, 17, 151, 132, 22, 153, 120, 25, 154, 115, 28, 156, 109, 34, 158, 101, 40, 160, 94, 45, 162, 86, 51, 164, 79, 59, 167, 69, 67, 171, 60, 72, 173, 54, 78, 175, 48, 83, 177, 43, 89, 179, 39, 93, 181, 35, 98, 183, 31, 105, 185, 26, 109, 187, 23, 113, 188, 21, 118, 189, 19, 123, 191, 17, 128, 193, 14, 134, 195, 12, 138, 196, 10, 142, 197, 8, 146, 198, 6, 151, 200, 5, 155, 201, 4, 160, 203, 3, 164, 204, 2, 169, 205, 2, 173, 206, 1, 175, 207, 1, 178, 207, 1, 184, 208, 0, 190, 210, 0, 193, 211, 0, 196, 212, 0, 199, 212, 0, 202, 213, 1, 207, 214, 2, 212, 215, 3, 215, 214, 3, 218, 214, 3, 220, 213, 3, 222, 213, 4, 224, 212, 4, 225, 212, 5, 226, 212, 5, 229, 211, 5, 232, 211, 6, 232, 211, 6, 233, 211, 6, 234, 210, 6, 235, 210, 7, 236, 209, 7, 237, 208, 8, 239, 206, 8, 241, 204, 9, 242, 203, 9, 244, 202, 10, 244, 201, 10, 245, 200, 10, 245, 199, 11, 246, 198, 11, 247, 197, 12, 248, 194, 13, 249, 191, 14, 250, 189, 14, 251, 187, 15, 251, 185, 16, 252, 183, 17, 252, 178, 18, 253, 174, 19, 253, 171, 19, 254, 168, 20, 254, 165, 21, 254, 164, 21, 255, 163, 22, 255, 161, 22, 255, 159, 23, 255, 157, 23, 255, 155, 24, 255, 149, 25, 255, 143, 27, 255, 139, 28, 255, 135, 30, 255, 131, 31, 255, 127, 32, 255, 118, 34, 255, 110, 36, 255, 104, 37, 255, 101, 38, 255, 99, 39, 255, 93, 40, 255, 88, 42, 254, 82, 43, 254, 77, 45, 254, 69, 47, 254, 62, 49, 253, 57, 50, 253, 53, 52, 252, 49, 53, 252, 45, 55, 251, 39, 57, 251, 33, 59, 251, 32, 60, 251, 31, 60, 251, 30, 61, 251, 29, 61, 251, 28, 62, 250, 27, 63, 250, 27, 65, 249, 26, 66, 249, 26, 68, 248, 25, 70, 248, 24, 73, 247, 24, 75, 247, 25, 77, 247, 25, 79, 247, 26, 81, 247, 32, 83, 247, 35, 85, 247, 38, 86, 247, 42, 88, 247, 46, 90, 247, 50, 92, 248, 55, 94, 248, 59, 96, 248, 64, 98, 248, 72, 101, 249, 81, 104, 249, 87, 106, 250, 93, 108, 250, 95, 109, 250, 98, 110, 250, 100, 111, 251, 101, 112, 251, 102, 113, 251, 109, 117, 252, 116, 121, 252, 121, 123, 253, 126, 126, 253, 130, 128, 254, 135, 131, 254, 139, 133, 254, 144, 136, 254, 151, 140, 255, 158, 144, 255, 163, 146, 255, 168, 149, 255, 173, 152, 255, 176, 153, 255, 178, 155, 255, 184, 160, 255, 191, 165, 255, 195, 168, 255, 199, 172, 255, 203, 175, 255, 207, 179, 255, 211, 182, 255, 216, 185, 255, 218, 190, 255, 220, 196, 255, 222, 200, 255, 225, 202, 255, 227, 204, 255, 230, 206, 255, 233, 208]
colourmap_ironblack = [
255, 255, 255, 253, 253, 253, 251, 251, 251, 249, 249, 249, 247, 247,
247, 245, 245, 245, 243, 243, 243, 241, 241, 241, 239, 239, 239, 237,
237, 237, 235, 235, 235, 233, 233, 233, 231, 231, 231, 229, 229, 229,
227, 227, 227, 225, 225, 225, 223, 223, 223, 221, 221, 221, 219, 219,
219, 217, 217, 217, 215, 215, 215, 213, 213, 213, 211, 211, 211, 209,
209, 209, 207, 207, 207, 205, 205, 205, 203, 203, 203, 201, 201, 201,
199, 199, 199, 197, 197, 197, 195, 195, 195, 193, 193, 193, 191, 191,
191, 189, 189, 189, 187, 187, 187, 185, 185, 185, 183, 183, 183, 181,
181, 181, 179, 179, 179, 177, 177, 177, 175, 175, 175, 173, 173, 173,
171, 171, 171, 169, 169, 169, 167, 167, 167, 165, 165, 165, 163, 163,
163, 161, 161, 161, 159, 159, 159, 157, 157, 157, 155, 155, 155, 153,
153, 153, 151, 151, 151, 149, 149, 149, 147, 147, 147, 145, 145, 145,
143, 143, 143, 141, 141, 141, 139, 139, 139, 137, 137, 137, 135, 135,
135, 133, 133, 133, 131, 131, 131, 129, 129, 129, 126, 126, 126, 124,
124, 124, 122, 122, 122, 120, 120, 120, 118, 118, 118, 116, 116, 116,
114, 114, 114, 112, 112, 112, 110, 110, 110, 108, 108, 108, 106, 106,
106, 104, 104, 104, 102, 102, 102, 100, 100, 100, 98, 98, 98, 96, 96,
96, 94, 94, 94, 92, 92, 92, 90, 90, 90, 88, 88, 88, 86, 86, 86, 84, 84,
84, 82, 82, 82, 80, 80, 80, 78, 78, 78, 76, 76, 76, 74, 74, 74, 72, 72,
72, 70, 70, 70, 68, 68, 68, 66, 66, 66, 64, 64, 64, 62, 62, 62, 60, 60,
60, 58, 58, 58, 56, 56, 56, 54, 54, 54, 52, 52, 52, 50, 50, 50, 48, 48,
48, 46, 46, 46, 44, 44, 44, 42, 42, 42, 40, 40, 40, 38, 38, 38, 36, 36,
36, 34, 34, 34, 32, 32, 32, 30, 30, 30, 28, 28, 28, 26, 26, 26, 24, 24,
24, 22, 22, 22, 20, 20, 20, 18, 18, 18, 16, 16, 16, 14, 14, 14, 12, 12,
12, 10, 10, 10, 8, 8, 8, 6, 6, 6, 4, 4, 4, 2, 2, 2, 0, 0, 0, 0, 0, 9,
2, 0, 16, 4, 0, 24, 6, 0, 31, 8, 0, 38, 10, 0, 45, 12, 0, 53, 14, 0,
60, 17, 0, 67, 19, 0, 74, 21, 0, 82, 23, 0, 89, 25, 0, 96, 27, 0, 103,
29, 0, 111, 31, 0, 118, 36, 0, 120, 41, 0, 121, 46, 0, 122, 51, 0, 123,
56, 0, 124, 61, 0, 125, 66, 0, 126, 71, 0, 127, 76, 1, 128, 81, 1, 129,
86, 1, 130, 91, 1, 131, 96, 1, 132, 101, 1, 133, 106, 1, 134, 111, 1,
135, 116, 1, 136, 121, 1, 136, 125, 2, 137, 130, 2, 137, 135, 3, 137,
139, 3, 138, 144, 3, 138, 149, 4, 138, 153, 4, 139, 158, 5, 139, 163,
5, 139, 167, 5, 140, 172, 6, 140, 177, 6, 140, 181, 7, 141, 186, 7,
141, 189, 10, 137, 191, 13, 132, 194, 16, 127, 196, 19, 121, 198, 22,
116, 200, 25, 111, 203, 28, 106, 205, 31, 101, 207, 34, 95, 209, 37,
90, 212, 40, 85, 214, 43, 80, 216, 46, 75, 218, 49, 69, 221, 52, 64,
223, 55, 59, 224, 57, 49, 225, 60, 47, 226, 64, 44, 227, 67, 42, 228,
71, 39, 229, 74, 37, 230, 78, 34, 231, 81, 32, 231, 85, 29, 232, 88,
27, 233, 92, 24, 234, 95, 22, 235, 99, 19, 236, 102, 17, 237, 106, 14,
238, 109, 12, 239, 112, 12, 240, 116, 12, 240, 119, 12, 241, 123, 12,
241, 127, 12, 242, 130, 12, 242, 134, 12, 243, 138, 12, 243, 141, 13,
244, 145, 13, 244, 149, 13, 245, 152, 13, 245, 156, 13, 246, 160, 13,
246, 163, 13, 247, 167, 13, 247, 171, 13, 248, 175, 14, 248, 178, 15,
249, 182, 16, 249, 185, 18, 250, 189, 19, 250, 192, 20, 251, 196, 21,
251, 199, 22, 252, 203, 23, 252, 206, 24, 253, 210, 25, 253, 213, 27,
254, 217, 28, 254, 220, 29, 255, 224, 30, 255, 227, 39, 255, 229, 53,
255, 231, 67, 255, 233, 81, 255, 234, 95, 255, 236, 109, 255, 238, 123,
255, 240, 137, 255, 242, 151, 255, 244, 165, 255, 246, 179, 255, 248,
193, 255, 249, 207, 255, 251, 221, 255, 253, 235, 255, 255, 24]
def chunk(
ulist, step): return map(
lambda i: ulist[i: i + step],
range(0, len(ulist),
step))
if (colorMapType == 1):
chunks = chunk(colormap_rainbow, 3)
elif (colorMapType == 2):
chunks = chunk(colormap_grayscale, 3)
else:
chunks = chunk(colourmap_ironblack, 3)
red = []
green = []
blue = []
for chunk in chunks:
red.append(chunk[0])
green.append(chunk[1])
blue.append(chunk[2])
lut[:, 0, 0] = blue
lut[:, 0, 1] = green
lut[:, 0, 2] = red
return lut
def getFrame(colorMapType):
data = q.get(True, 500)
if data is None:
print('No Data')
minVal, maxVal, minLoc, maxLoc = cv2.minMaxLoc(data)
img = cv2.LUT(raw_to_8bit(data), generate_colour_map(colorMapType))
return img, minVal, maxVal
def startStream():
ctx = POINTER(uvc_context)()
dev = POINTER(uvc_device)()
devh = POINTER(uvc_device_handle)()
ctrl = uvc_stream_ctrl()
res = libuvc.uvc_init(byref(ctx), 0)
if res < 0:
print("uvc_init error")
try:
res = libuvc.uvc_find_device(ctx, byref(dev), PT_USB_VID, PT_USB_PID, 0)
if res < 0:
print("uvc_find_device error")
exit(1)
try:
res = libuvc.uvc_open(dev, byref(devh))
if res < 0:
print("uvc_open error")
exit(1)
print("device opened!")
print_device_info(devh)
print_device_formats(devh)
frame_formats = uvc_get_frame_formats_by_guid(devh, VS_FMT_GUID_Y16)
if len(frame_formats) == 0:
print("device does not support Y16")
exit(1)
libuvc.uvc_get_stream_ctrl_format_size(devh, byref(ctrl), UVC_FRAME_FORMAT_Y16,
frame_formats[0].wWidth, frame_formats[0].wHeight, int(1e7 / frame_formats[0].dwDefaultFrameInterval)
)
res = libuvc.uvc_start_streaming(devh, byref(ctrl), PTR_PY_FRAME_CALLBACK, None, 0)
if res < 0:
print("uvc_start_streaming failed: {0}".format(res))
exit(1)
print("done starting stream, displaying settings")
print_shutter_info(devh)
print("resetting settings to default")
set_auto_ffc(devh)
set_gain_high(devh)
print("current settings")
print_shutter_info(devh)
except:
print('Failed to Open Device')
except:
print('Failed to Find Device')
exit(1)
def ktof(val):
return round(((1.8 * ktoc(val) + 32.0)), 2)
def ktoc(val):
return round(((val - 27315) / 100.0), 2)
def raw_to_8bit(data):
cv2.normalize(data, data, 0, 65535, cv2.NORM_MINMAX)
np.right_shift(data, 8, data)
return cv2.cvtColor(np.uint8(data), cv2.COLOR_GRAY2RGB)
def readTemp(unit, state, minVal, maxVal):
if state == 'max':
if unit == 'F':
return ktof(maxVal)
elif unit == 'C':
return ktoc(maxVal)
else:
print('What are you asking for?')
elif state == 'min':
if unit == 'F':
return ktof(minVal)
elif unit == 'C':
return ktoc(minVal)
else:
print('What are you asking for?')
else:
print('What are you asking for?')
thermal_adapter.py
from thermal import *
import threading
class TemperatureAdapter:
def __init__(self):
self.colorMapType = 0
self.toggleUnitState = 'C'
self.minVal = 0
self.maxVal = 0
self.lock = threading.Lock()
startStream()
def getFrame(self):
self.lock.acquire()
frame, self.minVal, self.maxVal = getFrame(self.colorMapType)
self.lock.release()
rgbImage = cv2.cvtColor(frame, cv2.COLOR_BGR2RGB)
return rgbImage
def checkTemperature(self):
self.lock.acquire()
minVal, maxVal = self.minVal, self.maxVal
self.lock.release()
return readTemp(self.toggleUnitState,'max', minVal, maxVal)