热成像相机

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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

1/*
2    Thermal camera example.
3    Streams temperature and thermal image from thermal sensor and displays them.
4*/
5#include <algorithm>
6#include <cstdio>
7
8#include "depthai/depthai.hpp"
9
10volatile int mouseX, mouseY = 0;
11void mouseCallback(int event, int x, int y, int flags, void* userdata) {
12    mouseX = x;
13    mouseY = y;
14}
15
16const cv::Scalar WHITE(255, 255, 255);
17
18int main() {
19    dai::Device d;
20    dai::Pipeline pipeline;
21    auto thermal = pipeline.create<dai::node::Camera>();
22    // Find the sensor width, height.
23    int width, height;
24    bool thermal_found = false;
25    for(auto& features : d.getConnectedCameraFeatures()) {
26        if(std::find_if(features.supportedTypes.begin(),
27                        features.supportedTypes.end(),
28                        [](const dai::CameraSensorType& type) { return type == dai::CameraSensorType::THERMAL; })
29           != features.supportedTypes.end()) {
30            thermal->setBoardSocket(features.socket);  // Thermal will always be on CAM_E
31            width = features.width;
32            height = features.height;
33            thermal_found = true;
34        }
35    }
36    if(!thermal_found) {
37        throw std::runtime_error("Thermal camera not found!");
38    }
39    thermal->setPreviewSize(width, height);
40    auto xlink = pipeline.create<dai::node::XLinkOut>();
41    auto xlinkRaw = pipeline.create<dai::node::XLinkOut>();
42    // Output preview,video, isp: RGB or NV12 or YUV420 thermal image.
43    thermal->preview.link(xlink->input);
44    // Output raw: FP16 temperature data (degrees Celsius)
45    thermal->raw.link(xlinkRaw->input);
46
47    xlinkRaw->setStreamName("thermal_raw");
48    xlink->setStreamName("thermal");
49    d.startPipeline(pipeline);
50    auto q = d.getOutputQueue("thermal", 2, false);
51    auto qRaw = d.getOutputQueue("thermal_raw", 2, false);
52
53    const char* tempWindow = "temperature";
54    const char* imageWindow = "image";
55    cv::namedWindow(tempWindow, cv::WINDOW_NORMAL);
56    cv::setMouseCallback(tempWindow, mouseCallback);
57    cv::namedWindow(imageWindow, cv::WINDOW_NORMAL);
58    cv::setMouseCallback(imageWindow, mouseCallback);
59    // Scale 4x and position one next to another
60    cv::moveWindow(tempWindow, 0, 0);
61    cv::resizeWindow(tempWindow, width * 4, height * 4);
62    cv::moveWindow(imageWindow, width * 4, 0);
63    cv::resizeWindow(imageWindow, width * 4, height * 4);
64    while(true) {
65        auto temp = qRaw->tryGet<dai::ImgFrame>();
66        if(temp) {
67            auto frame = temp->getCvFrame();
68            // Retrieve one point of fp16 data
69            cv::Mat frameFp32(temp->getHeight(), temp->getWidth(), CV_32F);
70            frame.convertTo(frameFp32, CV_32F);
71            cv::Mat normalized;
72            cv::normalize(frameFp32, normalized, 0, 255, cv::NORM_MINMAX, CV_8UC1);
73            cv::Mat colormapped(temp->getHeight(), temp->getWidth(), CV_8UC3);
74            cv::applyColorMap(normalized, colormapped, cv::COLORMAP_MAGMA);
75            if(mouseX < 0 || mouseY < 0 || mouseX >= colormapped.cols || mouseY >= colormapped.rows) {
76                mouseX = std::max(0, std::min(static_cast<int>(mouseX), colormapped.cols - 1));
77                mouseY = std::max(0, std::min(static_cast<int>(mouseY), colormapped.rows - 1));
78            }
79            double min, max;
80            cv::minMaxLoc(frameFp32, &min, &max);
81            auto textColor = WHITE;
82            // Draw crosshair
83            cv::line(colormapped, cv::Point(mouseX - 10, mouseY), cv::Point(mouseX + 10, mouseY), textColor, 1);
84            cv::line(colormapped, cv::Point(mouseX, mouseY - 10), cv::Point(mouseX, mouseY + 10), textColor, 1);
85            // Draw deg C
86            char text[32];
87            snprintf(text, sizeof(text), "%.1f deg C", frameFp32.at<float>(mouseY, mouseX));
88            bool putTextLeft = mouseX > colormapped.cols / 2;
89            cv::putText(colormapped, text, cv::Point(putTextLeft ? mouseX - 100 : mouseX + 10, mouseY - 10), cv::FONT_HERSHEY_SIMPLEX, 0.5, textColor, 1);
90            cv::imshow(tempWindow, colormapped);
91        }
92        auto image = q->tryGet<dai::ImgFrame>();
93        if(image) {
94            cv::imshow(imageWindow, image->getCvFrame());
95        }
96        int key = cv::waitKey(1);
97        if(key == 'q') {
98            break;
99        }
100    }
101
102    return 0;
103}