Thermal Camera

1#!/usr/bin/env python3
2
3import depthai as dai
4import cv2
5import numpy as np
6
7mouseX, mouseY = 0, 0
8
9
10def onMouse(event, x, y, *args):
11    global mouseX, mouseY
12    mouseX = x
13    mouseY = y
14
15
16device = dai.Device()
17pipeline = dai.Pipeline()
18
19# Thermal camera
20thermalCam = pipeline.create(dai.node.Camera)
21thermalCam.setFps(25) # Limit to 25 to match what the sensor can do, capped even if left at default, but warns.
22width, height = -1, -1
23thermalFound = False
24for features in device.getConnectedCameraFeatures():
25    if dai.CameraSensorType.THERMAL in features.supportedTypes:
26        thermalFound = True
27        thermalCam.setBoardSocket(features.socket)
28        width, height = features.width, features.height
29        break
30if not thermalFound:
31    raise RuntimeError("No thermal camera found!")
32thermalCam.setPreviewSize(width, height)
33
34# Output raw: FP16 temperature data (degrees Celsius)
35xoutRaw = pipeline.create(dai.node.XLinkOut)
36xoutRaw.setStreamName("thermal_raw")
37thermalCam.raw.link(xoutRaw.input)
38
39# Output preview,video, isp: RGB or NV12 or YUV420 thermal image.
40xoutImage = pipeline.create(dai.node.XLinkOut)
41xoutImage.setStreamName("image")
42thermalCam.preview.link(xoutImage.input)
43device.startPipeline(pipeline)
44
45qRaw = device.getOutputQueue("thermal_raw", 2, False)
46qImage = device.getOutputQueue("image", 2, False)
47
48
49RAW_WINDOW_NAME = "temperature"
50IMAGE_WINDOW_NAME = "image"
51# Scale 4x and position one next to another
52cv2.namedWindow(RAW_WINDOW_NAME, cv2.WINDOW_NORMAL)
53cv2.namedWindow(IMAGE_WINDOW_NAME, cv2.WINDOW_NORMAL)
54cv2.moveWindow(RAW_WINDOW_NAME, 0, 0)
55cv2.resizeWindow(RAW_WINDOW_NAME, width * 4, height * 4)
56cv2.moveWindow(IMAGE_WINDOW_NAME, width * 4, 0)
57cv2.resizeWindow(IMAGE_WINDOW_NAME, width * 4, height * 4)
58cv2.setMouseCallback(RAW_WINDOW_NAME, onMouse)
59cv2.setMouseCallback(IMAGE_WINDOW_NAME, onMouse)
60
61while True:
62    inRaw = qRaw.get()
63    inImg = qImage.get()
64
65    # Retrieve one point of fp16 data
66    frame = inRaw.getCvFrame().astype(np.float32)
67    colormappedFrame = cv2.normalize(frame, None, 0, 255, cv2.NORM_MINMAX, cv2.CV_8U)
68    colormappedFrame = cv2.applyColorMap(colormappedFrame, cv2.COLORMAP_MAGMA)
69    if (
70        mouseX < 0
71        or mouseY < 0
72        or mouseX >= frame.shape[1]
73        or mouseY >= frame.shape[0]
74    ):
75        mouseX = max(0, min(mouseX, frame.shape[1] - 1))
76        mouseY = max(0, min(mouseY, frame.shape[0] - 1))
77    textColor = (255, 255, 255)
78    # Draw crosshair
79    cv2.line(
80        colormappedFrame,
81        (mouseX - 10, mouseY),
82        (mouseX + 10, mouseY),
83        textColor,
84        1,
85    )
86    cv2.line(
87        colormappedFrame,
88        (mouseX, mouseY - 10),
89        (mouseX, mouseY + 10),
90        textColor,
91        1,
92    )
93    # Draw deg C
94    text = f"{frame[mouseY, mouseX]:.2f} deg C"
95    putTextLeft = mouseX > colormappedFrame.shape[1] / 2
96    cv2.putText(
97        colormappedFrame,
98        text,
99        (mouseX - 100 if putTextLeft else mouseX + 10, mouseY - 10),
100        cv2.FONT_HERSHEY_SIMPLEX,
101        0.5,
102        textColor,
103        1,
104    )
105    cv2.imshow(RAW_WINDOW_NAME, colormappedFrame)
106
107    cv2.imshow(IMAGE_WINDOW_NAME, inImg.getCvFrame())
108
109    if cv2.waitKey(1) == ord("q"):
110        break