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purethermal.py
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purethermal.py
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from threading import Thread
from queue import Queue
import numpy as np
import cv2, time
# IR camera
from .libuvc_wrapper import *
from .utils import ktoc, resize, normalize, crop_telemetry, detect_ir, drop_small_bboxes
def uvc_init(ctx):
res = libuvc.uvc_init(byref(ctx), 0)
if res < 0:
print("uvc_init error")
exit(res)
def find_device(ctx, dev):
res = libuvc.uvc_find_device(ctx, byref(dev), PT_USB_VID, PT_USB_PID, 0)
if res < 0:
print("uvc_find_device error")
exit(res)
def open_device(dev, devh):
res = libuvc.uvc_open(dev, byref(devh))
if res < 0:
print(f"uvc_open error {res}")
exit(res)
else:
print("device opened!")
def check_frame_formats(frame_formats):
if len(frame_formats) == 0:
print("device does not support Y16")
exit(1)
def start_streaming(devh, ctrl, ptr_callback):
res = libuvc.uvc_start_streaming(devh, byref(ctrl), ptr_callback, None, 0)
if res < 0:
print("uvc_start_streaming failed: {0}".format(res))
exit(1)
def start_pt2(dev, devh, ctx, q):
# initialize Pure Thermal 2 board
ctrl = uvc_stream_ctrl()
uvc_init(ctx)
find_device(ctx, dev)
open_device(dev, devh)
print_device_info(devh)
print_device_formats(devh)
frame_formats = uvc_get_frame_formats_by_guid(devh, VS_FMT_GUID_Y16)
check_frame_formats(frame_formats)
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),
)
PTR_PY_FRAME_CALLBACK = CFUNCTYPE(None, POINTER(uvc_frame), c_void_p)(
py_frame_callback
)
start_streaming(devh, ctrl, PTR_PY_FRAME_CALLBACK)
return PTR_PY_FRAME_CALLBACK
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
)
assert frame.contents.data_bytes == (
2 * frame.contents.width * frame.contents.height
)
if not q.full():
q.put(data)
def setup():
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")
exit(res)
res = libuvc.uvc_find_device(ctx, byref(dev), PT_USB_VID, PT_USB_PID, 0)
if res < 0:
print("uvc_find_device error")
exit(res)
res = libuvc.uvc_open(dev, byref(devh))
if res < 0:
print(f"uvc_open error {res}")
exit(res)
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),
)
PTR_PY_FRAME_CALLBACK = CFUNCTYPE(None, POINTER(uvc_frame), c_void_p)(
py_frame_callback
)
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)
return ctx, dev, devh, ctrl
class IRThread(Thread):
def __init__(self, bufsize=2, thr_temp=28):
super(IRThread, self).__init__()
self._ctx = POINTER(uvc_context)()
self._dev = POINTER(uvc_device)()
self._devh = POINTER(uvc_device_handle)()
self._cb_ptr = start_pt2(self._dev, self._devh, self._ctx, q)
self._thr_temp = thr_temp
self._raw = None
self._arr_deg_c = None
self._latency = -1.0
self._running = True
def run(self):
try:
while self._running:
start_time = time.monotonic()
raw = q.get(True, 500)
raw = crop_telemetry(raw)
arr_c = ktoc(raw.astype(np.float32)) # Convert 16-bit Kelvin to deg C.
# Casting to float prevents underflow of uint16 type in ktoc between -10C to 0C
# Save memebers
self._raw = raw
self._arr_deg_c = arr_c
self._latency = 1000 * (time.monotonic() - start_time)
finally:
self._exit_handler()
def _exit_handler(self):
libuvc.uvc_stop_streaming(self._devh)
libuvc.uvc_unref_device(self._dev)
libuvc.uvc_exit(self._ctx)
@property
def raw(self):
return self._raw.copy()
@property
def temps(self):
# TODO: locking much?
return self._arr_deg_c
@property
def latency(self):
return self._latency
def stop(self):
self._running = False
q = Queue(
2
) # not ideal, but q must be global for the callback function to have access to it
if __name__ == "__main__":
# example usage
ctx = POINTER(uvc_context)()
dev = POINTER(uvc_device)()
devh = POINTER(uvc_device_handle)()
p = start_pt2(dev, devh, ctx, q)
try:
while True:
data = q.get(True, 500)
print(ktoc(data))
finally:
libuvc.uvc_stop_streaming(devh)
libuvc.uvc_unref_device(dev)
libuvc.uvc_exit(ctx)