# Thermal The example streams thermal sensor data, displaying a colorized temperature image with a mouse-controlled crosshair showing real-time temperature values, and provides keyboard controls to adjust sensor settings like brightness, orientation, noise filtering, and shutter operation. This example requires the DepthAI v3 API, see [installation instructions](https://docs.luxonis.com/software-v3/depthai.md). ## Pipeline ### examples/thermal.pipeline.json ```json {"pipeline": {"connections": [{"node1Id": 3, "node1Output": "out", "node1OutputGroup": "", "node2Id": 0, "node2Input": "inputConfig", "node2InputGroup": ""}, {"node1Id": 0, "node1Output": "color", "node1OutputGroup": "", "node2Id": 4, "node2Input": "in", "node2InputGroup": ""}], "globalProperties": {"calibData": null, "cameraTuningBlobSize": null, "cameraTuningBlobUri": "", "leonCssFrequencyHz": 700000000.0, "leonMssFrequencyHz": 700000000.0, "pipelineName": null, "pipelineVersion": null, "sippBufferSize": 18432, "sippDmaBufferSize": 16384, "xlinkChunkSize": -1}, "nodes": [[4, {"alias": "", "id": 4, "ioInfo": [[["", "in"], {"blocking": true, "group": "", "id": 4, "name": "in", "queueSize": 3, "type": 3, "waitForMessage": false}]], "logLevel": 3, "name": "XLinkOut", "parentId": -1, "properties": {"maxFpsLimit": -1.0, "metadataOnly": false, "streamName": "__x_0_color"}}], [3, {"alias": "", "id": 3, "ioInfo": [[["", "out"], {"blocking": false, "group": "", "id": 3, "name": "out", "queueSize": 8, "type": 0, "waitForMessage": false}]], "logLevel": 3, "name": "XLinkIn", "parentId": -1, "properties": {"maxDataSize": 5242880, "numFrames": 8, "streamName": "__x_0__inputConfig"}}], [0, {"alias": "", "id": 0, "ioInfo": [[["", "color"], {"blocking": false, "group": "", "id": 2, "name": "color", "queueSize": 8, "type": 0, "waitForMessage": false}], [["", "temperature"], {"blocking": false, "group": "", "id": 1, "name": "temperature", "queueSize": 8, "type": 0, "waitForMessage": false}], [["", "inputConfig"], {"blocking": true, "group": "", "id": 0, "name": "inputConfig", "queueSize": 3, "type": 3, "waitForMessage": false}]], "logLevel": 3, "name": "Thermal", "parentId": -1, "properties": {"boardSocket": -1, "fps": 25.0, "initialConfig": {"ambientParams": {"atmosphericTemperature": null, "atmosphericTransmittance": null, "distance": null, "gainMode": null, "reflectionTemperature": null, "targetEmissivity": null}, "ffcParams": {"antiFallProtectionThresholdHighGainMode": null, "antiFallProtectionThresholdLowGainMode": null, "autoFFC": null, "autoFFCTempThreshold": null, "closeManualShutter": null, "fallProtection": null, "maxFFCInterval": null, "minFFCInterval": null, "minShutterInterval": null}, "imageParams": {"brightnessLevel": null, "contrastLevel": null, "digitalDetailEnhanceLevel": null, "orientation": null, "spatialNoiseFilterLevel": null, "timeNoiseFilterLevel": null}}, "numFramesPool": 4}}]]}} ``` ## Source code #### Python ```python import depthai as dai import cv2 THERMAL_IMAGE_BRIGHTNESS_STEP = 10 with dai.Pipeline(True) as pipeline: thermal = pipeline.create(dai.node.Thermal) thermalImgOut = thermal.color.createOutputQueue() thermalConfIn = thermal.inputConfig.createInputQueue() thermalConf = dai.ThermalConfig() pipeline.start() WINDOW_NAME = "thermal" cv2.namedWindow(WINDOW_NAME, cv2.WINDOW_NORMAL) initialRescaleDone = False while True: thermalImg = thermalImgOut.get() if not initialRescaleDone: cv2.resizeWindow(WINDOW_NAME, thermalImg.getWidth(), thermalImg.getHeight()) initialRescaleDone = True cv2.imshow(WINDOW_NAME, thermalImg.getCvFrame()) key = cv2.waitKey(1) changed = False if key == ord("q"): break elif key == ord("n"): if thermalConf.imageParams.brightnessLevel is None: thermalConf.imageParams.brightnessLevel = THERMAL_IMAGE_BRIGHTNESS_STEP if ( thermalConf.imageParams.brightnessLevel - THERMAL_IMAGE_BRIGHTNESS_STEP ) <= THERMAL_IMAGE_BRIGHTNESS_STEP: thermalConf.imageParams.brightnessLevel = THERMAL_IMAGE_BRIGHTNESS_STEP thermalConf.imageParams.brightnessLevel -= THERMAL_IMAGE_BRIGHTNESS_STEP print( "Set image brightness level to ", thermalConf.imageParams.brightnessLevel, ) changed = True elif key == ord("m"): if thermalConf.imageParams.brightnessLevel is None: thermalConf.imageParams.brightnessLevel = 0 if ( thermalConf.imageParams.brightnessLevel + THERMAL_IMAGE_BRIGHTNESS_STEP ) >= 255: thermalConf.imageParams.brightnessLevel = ( 255 - THERMAL_IMAGE_BRIGHTNESS_STEP ) thermalConf.imageParams.brightnessLevel += THERMAL_IMAGE_BRIGHTNESS_STEP print( "Set image brightness level to ", thermalConf.imageParams.brightnessLevel, ) changed = True elif key == ord("a"): if thermalConf.ffcParams.autoFFC is None: thermalConf.ffcParams.autoFFC = True thermalConf.ffcParams.autoFFC = not thermalConf.ffcParams.autoFFC print( "Set auto shutter to", "on." if thermalConf.ffcParams.autoFFC else "off.", ) changed = True elif key == ord("s"): if thermalConf.ffcParams.closeManualShutter is None: thermalConf.ffcParams.closeManualShutter = False thermalConf.ffcParams.closeManualShutter = ( not thermalConf.ffcParams.closeManualShutter ) print( "Closing" if thermalConf.ffcParams.closeManualShutter else "Opening", "manual shutter.", ) changed = True if changed: thermalConfIn.send(thermalConf) ``` #### C++ ```cpp /* Thermal camera example. Streams the temperature image from a thermal sensor and displays it with a crosshair with the temperature value at that point. */ #include #include #include "depthai/depthai.hpp" #include "depthai/pipeline/InputQueue.hpp" #include "depthai/pipeline/datatype/ThermalConfig.hpp" volatile int mouseX, mouseY = 0; void mouseCallback(int event, int x, int y, int flags, void* userdata) { mouseX = x; mouseY = y; } const cv::Scalar WHITE(255, 255, 255); constexpr int THERMAL_IMAGE_BRIGHTNESS_STEP = 10; int main(int argc, char** args) { dai::Pipeline pipeline(true); auto thermal = pipeline.create(); auto outTemp = thermal->temperature.createOutputQueue(); auto inConfig = thermal->inputConfig.createInputQueue(); auto thermalConfig = std::make_shared(); pipeline.start(); const char* TEMP_WINDOW = "Thermal"; cv::namedWindow(TEMP_WINDOW, cv::WINDOW_NORMAL); cv::setMouseCallback(TEMP_WINDOW, mouseCallback); const int WINDOW_SCALE_MULTIPLIER = 4; bool initialWindowResizeDone = false; while(true) { auto tempImgFrame = outTemp->get(); // On OAK-T the thermal stream is rather tiny, so we scale it up for better visualization. if(!initialWindowResizeDone) { cv::resizeWindow(TEMP_WINDOW, tempImgFrame->getWidth() * WINDOW_SCALE_MULTIPLIER, tempImgFrame->getHeight() * WINDOW_SCALE_MULTIPLIER); initialWindowResizeDone = true; } // Convert the FP16 image frame to CV_32F. cv::Mat frameFp32(tempImgFrame->getHeight(), tempImgFrame->getWidth(), CV_32F); tempImgFrame->getCvFrame().convertTo(frameFp32, CV_32F); // Colorize the temperature frame. cv::Mat normalized; cv::normalize(frameFp32, normalized, 0, 255, cv::NORM_MINMAX, CV_8UC1); cv::Mat colormapped(tempImgFrame->getHeight(), tempImgFrame->getWidth(), CV_8UC3); cv::applyColorMap(normalized, colormapped, cv::COLORMAP_MAGMA); if(mouseX < 0 || mouseY < 0 || mouseX >= colormapped.cols || mouseY >= colormapped.rows) { mouseX = std::max(0, std::min(static_cast(mouseX), colormapped.cols - 1)); mouseY = std::max(0, std::min(static_cast(mouseY), colormapped.rows - 1)); } double min, max; cv::minMaxLoc(frameFp32, &min, &max); const cv::Scalar textColor(255, 255, 255); ; // Draw crosshair cv::line(colormapped, cv::Point(mouseX - 10, mouseY), cv::Point(mouseX + 10, mouseY), textColor, 1); cv::line(colormapped, cv::Point(mouseX, mouseY - 10), cv::Point(mouseX, mouseY + 10), textColor, 1); // Draw deg C char text[32]; snprintf(text, sizeof(text), "%.1f deg C", frameFp32.at(mouseY, mouseX)); bool putTextLeft = mouseX > colormapped.cols / 2; cv::putText(colormapped, text, cv::Point(putTextLeft ? mouseX - 100 : mouseX + 10, mouseY - 10), cv::FONT_HERSHEY_SIMPLEX, 0.5, textColor, 1); cv::imshow(TEMP_WINDOW, colormapped); // Can add controls for the sensor in the future here. int key = cv::waitKey(1); bool confUpdated = false; if(key == 'q') { break; } else if(key == 'a') { if(!thermalConfig->ffcParams.autoFFC) { thermalConfig->ffcParams.autoFFC = false; } thermalConfig->ffcParams.autoFFC = !*thermalConfig->ffcParams.autoFFC; confUpdated = true; } else if(key == 'n') { if(!thermalConfig->imageParams.brightnessLevel) { thermalConfig->imageParams.brightnessLevel = 1; } if(*thermalConfig->imageParams.brightnessLevel >= 1) { *thermalConfig->imageParams.brightnessLevel -= 1; } else { thermalConfig->imageParams.brightnessLevel = 0; } confUpdated = true; } else if(key == 'm') { if(!thermalConfig->imageParams.brightnessLevel) { thermalConfig->imageParams.brightnessLevel = 0; } if(thermalConfig->imageParams.brightnessLevel >= 3) { thermalConfig->imageParams.brightnessLevel = 3; } *thermalConfig->imageParams.brightnessLevel += 1; confUpdated = true; } else if(key == 'r') { if(!thermalConfig->imageParams.orientation) { thermalConfig->imageParams.orientation = dai::ThermalConfig::ThermalImageOrientation::Normal; } auto orientation = static_cast(*thermalConfig->imageParams.orientation) + 1; if(orientation > 3) { orientation = 0; } thermalConfig->imageParams.orientation = static_cast(orientation); confUpdated = true; } else if(key == 't') { if(!thermalConfig->imageParams.timeNoiseFilterLevel) { thermalConfig->imageParams.timeNoiseFilterLevel = 1; } if(*thermalConfig->imageParams.timeNoiseFilterLevel == 0) { thermalConfig->imageParams.timeNoiseFilterLevel = 0; } else { *thermalConfig->imageParams.timeNoiseFilterLevel -= 1; } confUpdated = true; } else if(key == 'z') { if(!thermalConfig->imageParams.timeNoiseFilterLevel) { thermalConfig->imageParams.timeNoiseFilterLevel = 0; } if(*thermalConfig->imageParams.timeNoiseFilterLevel == 3) { thermalConfig->imageParams.timeNoiseFilterLevel = 3; } else { *thermalConfig->imageParams.timeNoiseFilterLevel += 1; } confUpdated = true; } else if(key == 's') { if(!thermalConfig->ffcParams.closeManualShutter.has_value()) { thermalConfig->ffcParams.closeManualShutter = false; } *thermalConfig->ffcParams.closeManualShutter = !*thermalConfig->ffcParams.closeManualShutter; std::cout << (*thermalConfig->ffcParams.closeManualShutter ? "Closing" : "Opening") << " manual shutter." << std::endl; confUpdated = true; } if(confUpdated) { inConfig->send(thermalConfig); } } return 0; } ``` ### Need assistance? Head over to [Discussion Forum](https://discuss.luxonis.com/) for technical support or any other questions you might have.