def prepThermalCameraValues(flip_v=False, device="/dev/spidev0.0"):
#gives min and max temperature from array
with Lepton3(device) as l:
a, _ = l.capture()
min_t = ((a.min() - 27315) / 100.0)
max_t = ((a.max() - 27315) / 100.00)
return min_t, max_t
def capture(device="/dev/spidev0.0"):
with Lepton3(device) as l:
# time.sleep(0.2)
a, _ = l.capture()
cv2.normalize(a, a, 0, 65535, cv2.NORM_MINMAX)
np.right_shift(a, 8, a)
return np.uint8(a)
def capture(flip_v=False, device="/dev/spidev0.1"):
with Lepton3(device) as l:
a, _ = l.capture()
if flip_v:
cv2.flip(a, 0, a)
cv2.normalize(a, a, 0, 65535, cv2.NORM_MINMAX)
np.right_shift(a, 8, a)
return np.uint8(a)
def _thread(cls):
if cls.device_type == raspberrypi():
with picamera.PiCamera() as camera:
# camera setup
camera.resolution = (cls.width, cls.height)
camera.hflip = True
camera.vflip = True
# let camera warm up
camera.start_preview()
sleep(2)
stream = io.BytesIO()
for _ in camera.capture_continuous(stream,
'jpeg',
use_video_port=True):
stream.seek(0)
cls.frame = stream.read()
stream.seek(0)
stream.truncate()
if cls.should_stop():
break
elif cls.device_type == thermal():
while True:
with Lepton3("/dev/spidev0.0") as l:
a, _ = l.capture()
vflip = True
if vflip:
cv2.flip(a, 0, a)
cv2.normalize(a, a, 0, 65535, cv2.NORM_MINMAX)
np.right_shift(a, 8, a)
cls.frame = cv2.imencode('.jpg', np.uint8(a))[1].tobytes()
if cls.should_stop():
break
else: # Default to default system camera device
capture = cv2.VideoCapture(0)
success, frame = capture.read()
if success:
cls.height, cls.width = frame.shape[:2]
cls.size = cls.height * cls.width
while success:
success, frame = capture.read()
cls.frame = cv2.imencode('.jpg', frame)[1].tobytes()
if cls.should_stop():
break
else:
print("Default camera device not found [{}]".format(
cls.device_type))
print("Setting thread to none")
cls.thread = None
def lepton_sensor_init(self, device = "/dev/spidev0.0"):
self.sensor = Lepton3(device)
self.image_id = 0
self.file_extention = ".png"
self.path_file_name = "/home/pi/flir_lepton_sensor/scripts/path.txt"
self.image_file_name = "/home/pi/flir_lepton_sensor/scripts/image.txt"
self.path = self.get_path()
self.create_image_directory()
self.create_image_file()
def captureT(flip_v=False, device="/dev/spidev0.0"):
#prep for thermal capture
with Lepton3(device) as l:
a, _ = l.capture()
if flip_v:
cv2.flip(a, 0, a)
minVal, maxVal, minLoc, maxLoc = cv2.minMaxLoc(a)
a[0][0] = min_c
a[-1][-1] = max_c
cv2.normalize(a, a, 0, 65535, cv2.NORM_MINMAX)
np.right_shift(a, 8, a)
image_gray = np.uint8(a)
img = cv2.applyColorMap(image_gray, cv2.COLORMAP_JET)
return img
def main(flip_v=False, alpha=128, device="/dev/spidev0.0"):
# Create an array representing a 1280x720 image of
# a cross through the center of the display. The shape of
# the array must be of the form (height, width, color)
a = np.zeros((240, 320, 3), dtype=np.uint8)
lepton_buf = np.zeros((120, 160, 1), dtype=np.uint16)
with picamera.PiCamera() as camera:
camera.resolution = (640, 480)
camera.framerate = 24
camera.vflip = flip_v
camera.start_preview()
camera.zoom = (0.0, 0.0, 1.0, 1.0)
# Add the overlay directly into layer 3 with transparency;
# we can omit the size parameter of add_overlay as the
# size is the same as the camera's resolution
o = camera.add_overlay(np.getbuffer(a),
size=(320, 240),
layer=3,
alpha=int(alpha),
crop=(0, 0, 160, 120),
vflip=flip_v)
try:
time.sleep(0.2) # give the overlay buffers a chance to initialize
with Lepton3(device) as l:
last_nr = 0
while True:
_, nr = l.capture(lepton_buf)
if nr == last_nr:
# no need to redo this frame
continue
last_nr = nr
cv2.normalize(lepton_buf, lepton_buf, 0, 65535,
cv2.NORM_MINMAX)
np.right_shift(lepton_buf, 8, lepton_buf)
a[:lepton_buf.shape[0], :lepton_buf.
shape[1], :] = lepton_buf
o.update(np.getbuffer(a))
except Exception:
traceback.print_exc()
finally:
camera.remove_overlay(o)
def main():
args = parse_args()
device = "/dev/spidev0.0"
width = args.width
height = args.height
pixel_width = args.pixel
pixel_height = args.pixel
screen_width = width * pixel_width
screen_height = height * pixel_height
pixels = np.zeros((height, width, 1), dtype=np.uint16)
print(screen_width, screen_height)
print(args.min, args.max)
print('Press "Esc", "q" or "Q" to exit.')
# pygame
pygame.init()
clock = pygame.time.Clock()
screen = pygame.display.set_mode((screen_width, screen_height))
screen.fill((0, 0, 0))
pygame.display.update()
run = True
while run:
for event in pygame.event.get():
if event.type == pygame.QUIT:
run = False
break
keys = pygame.key.get_pressed()
if keys[pygame.K_ESCAPE] or keys[pygame.K_q]:
run = False
if run == False:
break
nr = 0
max_temp = float("-inf")
min_temp = float("inf")
try:
with Lepton3(device) as l:
_, nr = l.capture(pixels, args.debug)
for ix, row in enumerate(pixels):
max_temp = max(max_temp, max(row))
min_temp = min(min_temp, min(row))
# pixels[0][0] = args.max
# pixels[0][1] = args.min
cv2.normalize(pixels, pixels, 0, 65535, cv2.NORM_MINMAX)
np.right_shift(pixels, 8, pixels)
except Exception:
traceback.print_exc()
# draw everything
for ix, row in enumerate(pixels): # 120
for jx, pixel in enumerate(row): # 160
color = get_color(pixel)
pygame.draw.rect(
screen,
color,
(
# left, top, width, height
pixel_width * jx,
pixel_height * ix,
pixel_width,
pixel_height,
),
)
print(nr, args.min, min_temp, max_temp, args.max)
if max_temp > args.max:
filename = datetime.datetime.utcnow().strftime("%Y%m%d-%H%M%S-%f")
data = {
"filename": filename,
"temperature": max_temp,
"uploaded": False
}
save_json(args.json_path, data)
pygame.display.update()
clock.tick(FRAME_RATE)
pygame.quit()
import sys
import numpy as np
import cv2
from pylepton.Lepton3 import Lepton3
with Lepton3("/dev/spidev0.0") as l:
rawArray, _ = l.capture()
a = rawArray / 100 - 273.15
for i in range(0, 120):
print(a[i])
import numpy as np
import cv2
from pylepton.Lepton3 import Lepton3
while True:
with Lepton3() as l:
a, _ = l.capture()
cv2.normalize(a, a, 0, 65535, cv2.NORM_MINMAX) # extend contrast
np.right_shift(a, 8, a) # fit data into 8 bits
cv2.imshow("output", np.uint8(a)) # write it!
if cv2.waitKey(20) & 0xFF == ord('d'):
break
cv2.destroyAllWindows()
def main(device = "/dev/spidev0.0"):
a = np.zeros((120, 160, 3), dtype=np.uint8)
lepton_buf = np.zeros((120, 160, 1), dtype=np.uint16)
fgbg = cv2.createBackgroundSubtractorMOG2()
debut = time.time()
# Window creation to expand them
cv2.namedWindow('Background Subtraction',cv2.WINDOW_NORMAL)
cv2.resizeWindow('Background Subtraction',160*3,120*3)
cv2.namedWindow('Original Stream',cv2.WINDOW_NORMAL)
cv2.resizeWindow('Original Stream',160*3,120*3)
cv2.namedWindow('Threshold Processed', cv2.WINDOW_NORMAL)
cv2.resizeWindow('Threshold Processed', 160*3,120*3)
rectangleFound = False
contoursFound = False
try:
with Lepton3(device) as l:
last_nr = 0
while True:
_,nr = l.capture(lepton_buf)
if nr == last_nr:
# no need to redo this frame
continue
last_nr = nr
cv2.normalize(lepton_buf, lepton_buf, 0, 65535, cv2.NORM_MINMAX)
np.right_shift(lepton_buf, 8, lepton_buf)
a[:lepton_buf.shape[0], :lepton_buf.shape[1], :] = lepton_buf
# Background Removing by appliying the BackgroundSubtractorMOG2
gmask = fgbg.apply(a)
# Image processing in binary format then refining it by erosion then dilatation
thresh = cv2.threshold(gmask, 15, 255, cv2.THRESH_BINARY)[1]
kernel = np.ones((2,2), np.uint8)
thresh = cv2.erode(thresh, kernel, iterations=1)
thresh = cv2.dilate(thresh, kernel, iterations=1)
#Finding all the contours with an area bigger than 70 pixels
_, contours, _ = cv2.findContours(thresh.copy(), cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)
for c in contours:
# if the contour is too small, ignore it
if cv2.contourArea(c) < 70:
continue
contoursFound = True
# compute the bounding box for the contour, draw it on the frame,
# and update the text
(x, y, w, h) = cv2.boundingRect(c)
cv2.rectangle(a, (x, y), (x + w, y + h), (255, 255, 255), 2)
cv2.rectangle(thresh, (x, y), (x + w, y + h), (255, 255, 255), 2)
if(time.time() - debut) > 5:
serial_transmission.serialsending(str(x)+str(y)+str(w)+str(h),'/dev/ttyUSB1')
print "Envoyé !"
debut = time.time()
if not contoursFound :
debut = time.time()
contoursFound = False
# Displays the 3 steps of the image processing in 3 windows
cv2.imshow('Original Stream',a)
cv2.imshow('Background Subtraction',gmask)
cv2.imshow('Threshold Processed', thresh)
cv2.waitKey(1)
except Exception:
traceback.print_exc()
def run():
device = "/dev/spidev0.0"
a = np.zeros((240, 320, 3), dtype=np.uint8)
lepton_buf = np.zeros((120, 160, 1), dtype=np.uint16)
pixels = [160, 120]
length = pixels[0] * pixels[1]
# pylint: disable=invalid-slice-index
points = [(math.floor(ix / pixels[1]), (ix % pixels[1])) for ix in range(0, length)]
grid_x, grid_y = np.mgrid[0:159:160j, 0:119:120j]
# pylint: enable=invalid-slice-index
width = pixels[0] * 4
height = pixels[1] * 4
displayPixelWidth = 4
displayPixelHeight = 4
# pygame
pygame.init()
# clock = pygame.time.Clock()
screen = pygame.display.set_mode((width, height))
screen.fill((0, 0, 0))
pygame.display.update()
# let the sensor initialize
time.sleep(0.1)
run = True
while run:
for event in pygame.event.get():
if event.type == pygame.QUIT:
run = False
break
keys = pygame.key.get_pressed()
if keys[pygame.K_ESCAPE] or keys[pygame.K_q]:
run = False
if run == False:
break
lepton_min = float("inf")
lepton_max = float("-inf")
# read the pixels
pixels = []
try:
with Lepton3(device) as l:
_, nr = l.capture(lepton_buf)
# print(_)
# print(nr)
for ix, row in enumerate(lepton_buf): # 120
for jx, pixel in enumerate(row): # 160
lepton_buf[ix][jx] = min(max(pixel, MINTEMP), MAXTEMP)
lepton_buf[0][0] = MAXTEMP
lepton_buf[0][1] = MINTEMP
cv2.normalize(lepton_buf, lepton_buf, 0, 65535, cv2.NORM_MINMAX)
# for ix, row in enumerate(lepton_buf): # 120
# lepton_min = min(lepton_min, min(row))
# lepton_max = max(lepton_max, max(row))
# print(lepton_min, lepton_max)
np.right_shift(lepton_buf, 8, lepton_buf)
except Exception:
traceback.print_exc()
# draw everything
for ix, row in enumerate(lepton_buf): # 120
for jx, pixel in enumerate(row): # 160
color = get_color(pixel)
pygame.draw.rect(
screen,
color,
(
# left, top, width, height
displayPixelWidth * jx,
displayPixelHeight * ix,
displayPixelWidth,
displayPixelHeight,
),
)
pygame.display.update()
# clock.tick(FRAME_RATE)
pygame.quit()