From 2199647a7a76ea02a4f592b773ac3be505cf151e Mon Sep 17 00:00:00 2001 From: dimonDDL Date: Wed, 29 May 2024 13:53:09 +0200 Subject: [PATCH 01/27] Added rudimentary support for T2S+ v2 --- ht301_hacklib.py | 56 ++++++++++++++++++++++++++++++++++++++++++++++-- pyplot.py | 2 ++ 2 files changed, 56 insertions(+), 2 deletions(-) diff --git a/ht301_hacklib.py b/ht301_hacklib.py index 0b3094b..0a59865 100755 --- a/ht301_hacklib.py +++ b/ht301_hacklib.py @@ -2,6 +2,7 @@ import math from sys import platform from typing import Tuple +from time import sleep import cv2 import numpy as np @@ -54,12 +55,19 @@ class Camera: fourLinePara:int cap:cv2.VideoCapture frame_raw_u16:np.ndarray - def __init__(self, video_dev:cv2.VideoCapture|None=None) -> None: + + camera_raw = False + reference_frame = None + offset_mean = 0.0 + dead_pixels_mask = None + + def __init__(self, video_dev:cv2.VideoCapture|None=None, camera_raw = False) -> None: if video_dev is None: video_dev = self.find_device() if not video_dev: raise Exception("No video device found!") self.cap = video_dev + self.camera_raw = camera_raw self.height = int(self.cap.get(cv2.CAP_PROP_FRAME_HEIGHT))-ROWS_SPECIAL_DATA self.width = int(self.cap.get(cv2.CAP_PROP_FRAME_WIDTH)) @@ -99,11 +107,17 @@ def find_device(cls) -> cv2.VideoCapture: raise ValueError(f"Cannot find camera with a width of one of {cls.supported_resolutions} that also matches: {width=} and {height=}") def info(self) -> Tuple[dict, np.ndarray]: + # TODO fix this readout shutTemper = read_u16(self.frame_raw_u16, self.fourLinePara + self.amountPixels + 1) floatShutTemper = shutTemper / 10.0 - self.ZEROC + print(f"Raw shut temp: {shutTemper}, float shut temp: {floatShutTemper}") + floatShutTemper = 20.0 + # TODO fix this readout coreTemper = read_u16(self.frame_raw_u16, self.fourLinePara + self.amountPixels + 2) floatCoreTemper = coreTemper / 10.0 - self.ZEROC + print(f"Raw core temp: {coreTemper}, float core temp: {floatCoreTemper}") + floatCoreTemper = 20.0 cal_00 = float(read_u16(self.frame_raw_u16, self.fourLinePara + self.amountPixels)) self.cal_01 = read_f32(self.frame_raw_u16, self.fourLinePara + self.amountPixels + 3) @@ -208,6 +222,19 @@ def read(self) -> Tuple[bool, np.ndarray]: ret, frame_raw = self.cap.read() self.frame_raw_u16: np.ndarray = frame_raw.view(np.uint16).ravel() frame_visible = self.frame_raw_u16[:self.fourLinePara].copy().reshape(self.height, self.width) + if self.reference_frame is not None: + frame_float = frame_visible.astype(np.float32) + + corrected_frame = frame_float - self.reference_frame + self.offset_mean + + corrected_frame = np.clip(corrected_frame, 0, 65535) + + if self.dead_pixels_mask is not None: + inpaint_radius = 3 + corrected_frame = cv2.inpaint(corrected_frame, self.dead_pixels_mask, inpaint_radius, cv2.INPAINT_TELEA) + + frame_visible = corrected_frame.astype(np.uint16) + return ret, frame_visible def set_correction(self, correction: float) -> None: @@ -289,9 +316,34 @@ def set_point(self, x: int, y: int, index: int) -> None: self.cap.set(cv2.CAP_PROP_ZOOM, x1) self.cap.set(cv2.CAP_PROP_ZOOM, y1) + def calibrate_raw(self) -> None: + '''Camera calibration for cameras that return raw data only''' + # uniformity correction + sleep(0.5) # wait for the camera to get ready + self.cap.set(cv2.CAP_PROP_ZOOM, 0x8000) # close shutter + sleep(0.3) # wait for the shutter to close + + ret, frame_visible = self.read() + + if ret: + self.reference_frame = frame_visible.astype(np.float32) + self.offset_mean = np.mean(self.reference_frame) + else: + raise RuntimeError("Failed to capture reference frame") + + # dead pixel correction + threshold = 0.01 + self.dead_pixels_mask = cv2.inRange(frame_visible.astype(np.float32), 0, threshold).astype(np.uint8) + + print(f"Found {np.count_nonzero(self.dead_pixels_mask)} dead pixels") + print(f"At: {np.argwhere(self.dead_pixels_mask)}") + def calibrate(self) -> None: '''camera calibration''' - self.cap.set(cv2.CAP_PROP_ZOOM, 0x8000) + if self.camera_raw: + self.calibrate_raw() + else: + self.cap.set(cv2.CAP_PROP_ZOOM, 0x8000) def release(self) -> None: ''' Release cap opencv ''' diff --git a/pyplot.py b/pyplot.py index fb3df48..4c0a3d0 100755 --- a/pyplot.py +++ b/pyplot.py @@ -24,6 +24,8 @@ camera:ht301_hacklib.Camera if sys.argv[-1].endswith('.npy'): camera = ht301_hacklib.CameraEmulator(sys.argv[-1]) +elif '-r' in sys.argv or '--rawcam' in sys.argv: + camera = ht301_hacklib.Camera(camera_raw=True) else: camera = ht301_hacklib.Camera() From 62808e1215089b0b99299d8424ab4ff5761e72a2 Mon Sep 17 00:00:00 2001 From: dmytro Date: Wed, 29 May 2024 20:48:58 +0200 Subject: [PATCH 02/27] Added comprehensive support for T2S+ v2 --- .gitignore | 3 ++- ht301_hacklib.py | 65 +++++++++++++++++++++++++++++++++++++++++++++--- pyplot.py | 46 +++++++++++++++++++++++----------- 3 files changed, 95 insertions(+), 19 deletions(-) diff --git a/.gitignore b/.gitignore index ed8ebf5..f53d18e 100644 --- a/.gitignore +++ b/.gitignore @@ -1 +1,2 @@ -__pycache__ \ No newline at end of file +__pycache__ +.vscode diff --git a/ht301_hacklib.py b/ht301_hacklib.py index 0a59865..426f518 100755 --- a/ht301_hacklib.py +++ b/ht301_hacklib.py @@ -2,6 +2,7 @@ import math from sys import platform from typing import Tuple +import time from time import sleep import cv2 @@ -83,6 +84,10 @@ def __init__(self, video_dev:cv2.VideoCapture|None=None, camera_raw = False) -> # using Raw mode 16 bit data self.cap.set(cv2.CAP_PROP_ZOOM, 0x8004) + # Wait for the camera to apply the temperature range change + self.wait_for_range_application() + + # Calibrate the camera self.calibrate() @@ -110,13 +115,13 @@ def info(self) -> Tuple[dict, np.ndarray]: # TODO fix this readout shutTemper = read_u16(self.frame_raw_u16, self.fourLinePara + self.amountPixels + 1) floatShutTemper = shutTemper / 10.0 - self.ZEROC - print(f"Raw shut temp: {shutTemper}, float shut temp: {floatShutTemper}") + #print(f"Raw shut temp: {shutTemper}, float shut temp: {floatShutTemper}") floatShutTemper = 20.0 # TODO fix this readout coreTemper = read_u16(self.frame_raw_u16, self.fourLinePara + self.amountPixels + 2) floatCoreTemper = coreTemper / 10.0 - self.ZEROC - print(f"Raw core temp: {coreTemper}, float core temp: {floatCoreTemper}") + #print(f"Raw core temp: {coreTemper}, float core temp: {floatCoreTemper}") floatCoreTemper = 20.0 cal_00 = float(read_u16(self.frame_raw_u16, self.fourLinePara + self.amountPixels)) @@ -318,11 +323,16 @@ def set_point(self, x: int, y: int, index: int) -> None: def calibrate_raw(self) -> None: '''Camera calibration for cameras that return raw data only''' + self.reference_frame = None + self.offset_mean = 0.0 + self.dead_pixels_mask = None # uniformity correction - sleep(0.5) # wait for the camera to get ready + sleep(0.5) self.cap.set(cv2.CAP_PROP_ZOOM, 0x8000) # close shutter sleep(0.3) # wait for the shutter to close - + self.flush_buffer() + # by issuing this command faster than once per second, we can keep the shutter closed + self.cap.set(cv2.CAP_PROP_ZOOM, 0x8000) ret, frame_visible = self.read() if ret: @@ -421,6 +431,53 @@ def temperature_range_high(self): self.correction_coefficient_m = 1.17 self.correction_coefficient_b = -40.9 + def wait_for_range_application(self, timeout=20): + """Wait for the camera to apply the temperature range change, this is detected when the video stops being uniform""" + print("Waiting for camera to stabilize...") + start_time = time.time() + done = False + while time.time() - start_time < timeout: + ret, frame_visible = self.read() + if ret and np.std(frame_visible) > 0: + done = True + break + time.sleep(0.1) + + if self.camera_raw: + # Now we keep the shutter open and wait for the camera to stabilize, + # we do this by running the calibration, waiting a bit and checking the average + # of all the pixels, when the change gets below a certain threshold we can consider + # the camera to be stable. + # Throughout this routine we keep the shutter closed. + lowest = 1000 + margin = 0.1 + min_val = 0.01 + while time.time() - start_time < timeout: + self.cap.set(cv2.CAP_PROP_ZOOM, 0x8000) + self.calibrate() + ret, frame_visible = self.read() + if ret: + # calculate how uniform the frame is + std = np.std(frame_visible) + self.cap.set(cv2.CAP_PROP_ZOOM, 0x8000) + sleep(0.1) + if std > min_val and lowest - std < margin: + print(f"Camera is stable with std: {std}") + return True + + if std < lowest and std > min_val: + lowest = std + + elif done: + print("Camera is stable") + return True + + return False + + def flush_buffer(self, num_reads=16): + for i in range(num_reads): + ret, frame_visible = self.read() + class MockVidoCapture: def set(self, propId, value): diff --git a/pyplot.py b/pyplot.py index 4c0a3d0..4315a36 100755 --- a/pyplot.py +++ b/pyplot.py @@ -1,4 +1,6 @@ #!/usr/bin/python3 +import argparse +import cv2 import numpy as np import matplotlib import matplotlib.pyplot as plt @@ -20,16 +22,27 @@ } draw_temp = True -# choose the camera class -camera:ht301_hacklib.Camera -if sys.argv[-1].endswith('.npy'): - camera = ht301_hacklib.CameraEmulator(sys.argv[-1]) -elif '-r' in sys.argv or '--rawcam' in sys.argv: - camera = ht301_hacklib.Camera(camera_raw=True) -else: - camera = ht301_hacklib.Camera() +# Argument parsing +parser = argparse.ArgumentParser(description='Thermal Camera Viewer') +parser.add_argument('-r', '--rawcam', action='store_true', help='use the raw camera') +parser.add_argument('-d', '--device', type=str, help='use the camera at camera_path') +parser.add_argument('file', nargs='?', type=str, help='use the emulator with the data in file.npy') +args = parser.parse_args() +# Choose the camera class +camera: ht301_hacklib.Camera +if args.file and args.file.endswith('.npy'): + camera = ht301_hacklib.CameraEmulator(args.file) +else: + camera_kwargs = {} + if args.rawcam: + camera_kwargs['camera_raw'] = True + if args.device: + camera_path = args.device + cv2_cam = cv2.VideoCapture(camera_path) + camera_kwargs['video_dev'] = cv2_cam + camera = ht301_hacklib.Camera(**camera_kwargs) #see https://matplotlib.org/tutorials/colors/colormaps.html cmaps_idx = 1 @@ -115,11 +128,15 @@ def animate_func(i): info, lut = camera.info() lut_frame = lut[frame] - if diff['enabled']: show_frame = lut_frame - diff['frame'] - else: show_frame = lut_frame + if diff['enabled']: + show_frame = lut_frame - diff['frame'] + else: + show_frame = lut_frame + if diff['annotation_enabled']: - annotation_frame = lut_frame - diff['frame'] - else: annotation_frame = lut_frame + annotation_frame = lut_frame - diff['frame'] + else: + annotation_frame = lut_frame im.set_array(show_frame) @@ -132,7 +149,7 @@ def animate_func(i): if update_colormap: im.set_clim(exposure['T_min'], exposure['T_max']) - fig.canvas.resize_event() #force update all, even with blit=True + fig.canvas.draw_idle() # force update all, even with blit=True update_colormap = False return [] @@ -215,7 +232,8 @@ def press(event): camera.temperature_range_normal() else: camera.temperature_range_high() - camera.calibrate() + camera.wait_for_range_application() # this takes care of calibration as well + update_colormap = True if event.key in ['left', 'right', 'up', 'down']: exposure['auto'] = False T_cent = int((exposure['T_min'] + exposure['T_max'])/2) From c642d53ba04b68c3d2da36062e667ae08b4fffea Mon Sep 17 00:00:00 2001 From: dmytro Date: Fri, 31 May 2024 15:40:11 +0200 Subject: [PATCH 03/27] minor additions to calibration procedures and coefficients --- ht301_hacklib.py | 26 ++++++++++++++++++++------ 1 file changed, 20 insertions(+), 6 deletions(-) diff --git a/ht301_hacklib.py b/ht301_hacklib.py index 426f518..667391a 100755 --- a/ht301_hacklib.py +++ b/ht301_hacklib.py @@ -90,7 +90,9 @@ def __init__(self, video_dev:cv2.VideoCapture|None=None, camera_raw = False) -> # Calibrate the camera self.calibrate() - + def get_resolution(self) -> Tuple[int, int]: + return self.width, self.height + def find_device(cls) -> cv2.VideoCapture: """Find a supported thermal camera @@ -223,10 +225,12 @@ def info(self) -> Tuple[dict, np.ndarray]: return info, temperatureTable # read raw data from cam, seperate visible frame from metadata - def read(self) -> Tuple[bool, np.ndarray]: + def read(self, raw = False) -> Tuple[bool, np.ndarray]: ret, frame_raw = self.cap.read() self.frame_raw_u16: np.ndarray = frame_raw.view(np.uint16).ravel() frame_visible = self.frame_raw_u16[:self.fourLinePara].copy().reshape(self.height, self.width) + if raw: + return ret, frame_visible if self.reference_frame is not None: frame_float = frame_visible.astype(np.float32) @@ -333,7 +337,7 @@ def calibrate_raw(self) -> None: self.flush_buffer() # by issuing this command faster than once per second, we can keep the shutter closed self.cap.set(cv2.CAP_PROP_ZOOM, 0x8000) - ret, frame_visible = self.read() + ret, frame_visible = self.read(raw=True) if ret: self.reference_frame = frame_visible.astype(np.float32) @@ -342,8 +346,13 @@ def calibrate_raw(self) -> None: raise RuntimeError("Failed to capture reference frame") # dead pixel correction - threshold = 0.01 - self.dead_pixels_mask = cv2.inRange(frame_visible.astype(np.float32), 0, threshold).astype(np.uint8) + frame_visible_float = frame_visible.astype(np.float32) + min_val = np.min(frame_visible_float) + max_val = np.max(frame_visible_float) + threshold_margin = (max_val - min_val) * 0.05 # Adjust the multiplier as needed + threshold = min_val + threshold_margin + + self.dead_pixels_mask = cv2.inRange(frame_visible_float, 0, threshold).astype(np.uint8) print(f"Found {np.count_nonzero(self.dead_pixels_mask)} dead pixels") print(f"At: {np.argwhere(self.dead_pixels_mask)}") @@ -428,6 +437,11 @@ def temperature_range_normal(self): def temperature_range_high(self): """Switch camera to the high temperature range (-20°C to 450°C)""" self.cap.set(cv2.CAP_PROP_ZOOM, 0x8021) + if self.camera_raw: + # TODO verify these + self.correction_coefficient_m = 0.1 + self.correction_coefficient_b = 0 + return self.correction_coefficient_m = 1.17 self.correction_coefficient_b = -40.9 @@ -476,7 +490,7 @@ def wait_for_range_application(self, timeout=20): def flush_buffer(self, num_reads=16): for i in range(num_reads): - ret, frame_visible = self.read() + ret, frame_visible = self.read(raw=True) class MockVidoCapture: From f72a7fde9b4beed617c7aa4897deffd67cc9bd2f Mon Sep 17 00:00:00 2001 From: dmytro Date: Tue, 4 Jun 2024 18:16:35 +0200 Subject: [PATCH 04/27] wip termperature correction register search --- ht301_hacklib.py | 35 ++++++++++++++++++++++++++++------- 1 file changed, 28 insertions(+), 7 deletions(-) diff --git a/ht301_hacklib.py b/ht301_hacklib.py index 667391a..d5bdea2 100755 --- a/ht301_hacklib.py +++ b/ht301_hacklib.py @@ -114,17 +114,38 @@ def find_device(cls) -> cv2.VideoCapture: raise ValueError(f"Cannot find camera with a width of one of {cls.supported_resolutions} that also matches: {width=} and {height=}") def info(self) -> Tuple[dict, np.ndarray]: + #fuzzing readout + # for i in range(256 * 4): + # print(f"Off: {i}; u16: {read_u16(self.frame_raw_u16, self.fourLinePara + i)}") + # #print(f"Off: {i}; f32: {read_f32(self.frame_raw_u16, self.fourLinePara + i)}") + # return + + # TODO fix this readout shutTemper = read_u16(self.frame_raw_u16, self.fourLinePara + self.amountPixels + 1) - floatShutTemper = shutTemper / 10.0 - self.ZEROC - #print(f"Raw shut temp: {shutTemper}, float shut temp: {floatShutTemper}") - floatShutTemper = 20.0 + if self.camera_raw: + if shutTemper < 0x801: + floatShutTemper = float(shutTemper) + corrFactor = 0.625 + else: + floatShutTemper = float(0xfff - shutTemper) + corrFactor = -0.625 + floatShutTemper = (floatShutTemper * corrFactor + 2731.5) / 10.0 + -273.15 + #TODO figure out this correction factor thing + floatShutTemper = floatShutTemper - 10 + else: + floatShutTemper = shutTemper / 10.0 - self.ZEROC + print(f"shutTemper: {shutTemper}, floatShutTemper: {floatShutTemper}, corrFactor: {corrFactor}") + # TODO fix this readout coreTemper = read_u16(self.frame_raw_u16, self.fourLinePara + self.amountPixels + 2) - floatCoreTemper = coreTemper / 10.0 - self.ZEROC - #print(f"Raw core temp: {coreTemper}, float core temp: {floatCoreTemper}") - floatCoreTemper = 20.0 + if self.camera_raw: + shutterFix = read_u16(self.frame_raw_u16, self.fourLinePara + (self.amountPixels * 2 + 0x2f) + 1) + print(f"shutterFix: {shutterFix}") + floatCoreTemper = floatShutTemper + else: + floatCoreTemper = coreTemper / 10.0 - self.ZEROC cal_00 = float(read_u16(self.frame_raw_u16, self.fourLinePara + self.amountPixels)) self.cal_01 = read_f32(self.frame_raw_u16, self.fourLinePara + self.amountPixels + 3) @@ -145,7 +166,7 @@ def info(self) -> Tuple[dict, np.ndarray]: humi = read_f32(self.frame_raw_u16, self.fourLinePara + self.userArea + 6) emiss = read_f32(self.frame_raw_u16, self.fourLinePara + self.userArea + 8) distance = read_u16(self.frame_raw_u16, self.fourLinePara + self.userArea + 10) - + fpa_avg = read_u16(self.frame_raw_u16, self.fourLinePara) fpaTmp = read_u16(self.frame_raw_u16, self.fourLinePara + 1) maxx1 = read_u16(self.frame_raw_u16, self.fourLinePara + 2) From 8fd9c56c35e6b6d1472bbe2bbabe19f3fd689016 Mon Sep 17 00:00:00 2001 From: dmytro Date: Sat, 8 Jun 2024 01:02:54 +0200 Subject: [PATCH 05/27] updated readme, removed debug info, added some helpful comments --- README.md | 8 ++++++++ ht301_hacklib.py | 39 ++++++++++++++++----------------------- 2 files changed, 24 insertions(+), 23 deletions(-) diff --git a/README.md b/README.md index d6b8673..bd6f898 100644 --- a/README.md +++ b/README.md @@ -37,6 +37,14 @@ mouse: left button - add Region Of Interest (ROI) right button - add user temperature annotation ``` + +Alternatively if you can specify the video device directly with `-d` to skip the search routine. Also for T2S+ V2 users (where the camera sends raw data and doesn't do onboard processing) you can specify the `-r` option to tell the program to treat the camera stream as raw sensor data. +Example: + +``` +./pyplot.py -d /dev/video14 -r +``` + ![pyplot output](docs/pyplot-output1.png) ![pyplot output](docs/pyplot-output2.png) diff --git a/ht301_hacklib.py b/ht301_hacklib.py index d5bdea2..b311377 100755 --- a/ht301_hacklib.py +++ b/ht301_hacklib.py @@ -114,14 +114,6 @@ def find_device(cls) -> cv2.VideoCapture: raise ValueError(f"Cannot find camera with a width of one of {cls.supported_resolutions} that also matches: {width=} and {height=}") def info(self) -> Tuple[dict, np.ndarray]: - #fuzzing readout - # for i in range(256 * 4): - # print(f"Off: {i}; u16: {read_u16(self.frame_raw_u16, self.fourLinePara + i)}") - # #print(f"Off: {i}; f32: {read_f32(self.frame_raw_u16, self.fourLinePara + i)}") - # return - - - # TODO fix this readout shutTemper = read_u16(self.frame_raw_u16, self.fourLinePara + self.amountPixels + 1) if self.camera_raw: if shutTemper < 0x801: @@ -131,19 +123,19 @@ def info(self) -> Tuple[dict, np.ndarray]: floatShutTemper = float(0xfff - shutTemper) corrFactor = -0.625 floatShutTemper = (floatShutTemper * corrFactor + 2731.5) / 10.0 + -273.15 - #TODO figure out this correction factor thing - floatShutTemper = floatShutTemper - 10 + # TODO fix this readout for the T2S+ v2 + # The temperature is indeed being red out, but the sensor is located in some weird place, + # it gets hot super fast and causes the entire image to drift, I couldn't figure out how to deal with that + # hard coding ~18C (room temp) works pretty good tho... + floatShutTemper = 18.0 else: floatShutTemper = shutTemper / 10.0 - self.ZEROC - - print(f"shutTemper: {shutTemper}, floatShutTemper: {floatShutTemper}, corrFactor: {corrFactor}") - # TODO fix this readout coreTemper = read_u16(self.frame_raw_u16, self.fourLinePara + self.amountPixels + 2) if self.camera_raw: - shutterFix = read_u16(self.frame_raw_u16, self.fourLinePara + (self.amountPixels * 2 + 0x2f) + 1) - print(f"shutterFix: {shutterFix}") - floatCoreTemper = floatShutTemper + # TODO fix this readout for the T2S+ v2 + # I don't even think the v2 has a separate core and shutter temperature registers... + floatCoreTemper = 18.0 else: floatCoreTemper = coreTemper / 10.0 - self.ZEROC @@ -346,7 +338,7 @@ def set_point(self, x: int, y: int, index: int) -> None: self.cap.set(cv2.CAP_PROP_ZOOM, x1) self.cap.set(cv2.CAP_PROP_ZOOM, y1) - def calibrate_raw(self) -> None: + def calibrate_raw(self, quiet=False) -> None: '''Camera calibration for cameras that return raw data only''' self.reference_frame = None self.offset_mean = 0.0 @@ -375,13 +367,14 @@ def calibrate_raw(self) -> None: self.dead_pixels_mask = cv2.inRange(frame_visible_float, 0, threshold).astype(np.uint8) - print(f"Found {np.count_nonzero(self.dead_pixels_mask)} dead pixels") - print(f"At: {np.argwhere(self.dead_pixels_mask)}") + if not quiet: + print(f"Found {np.count_nonzero(self.dead_pixels_mask)} dead pixels") + print(f"At: {np.argwhere(self.dead_pixels_mask)}") - def calibrate(self) -> None: + def calibrate(self, quiet=False) -> None: '''camera calibration''' if self.camera_raw: - self.calibrate_raw() + self.calibrate_raw(quiet=quiet) else: self.cap.set(cv2.CAP_PROP_ZOOM, 0x8000) @@ -479,7 +472,7 @@ def wait_for_range_application(self, timeout=20): time.sleep(0.1) if self.camera_raw: - # Now we keep the shutter open and wait for the camera to stabilize, + # Now we keep the shutter closed and wait for the camera to stabilize, # we do this by running the calibration, waiting a bit and checking the average # of all the pixels, when the change gets below a certain threshold we can consider # the camera to be stable. @@ -489,7 +482,7 @@ def wait_for_range_application(self, timeout=20): min_val = 0.01 while time.time() - start_time < timeout: self.cap.set(cv2.CAP_PROP_ZOOM, 0x8000) - self.calibrate() + self.calibrate(quiet=True) ret, frame_visible = self.read() if ret: # calculate how uniform the frame is From b6c012b223972d27a5972503fe20e9647e76ecf0 Mon Sep 17 00:00:00 2001 From: Cuprum77 Date: Tue, 18 Jun 2024 12:18:58 +0200 Subject: [PATCH 06/27] added if statements to prevent crash when there's no dead pixels --- ht301_hacklib.py | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/ht301_hacklib.py b/ht301_hacklib.py index b311377..1106e72 100755 --- a/ht301_hacklib.py +++ b/ht301_hacklib.py @@ -365,7 +365,9 @@ def calibrate_raw(self, quiet=False) -> None: threshold_margin = (max_val - min_val) * 0.05 # Adjust the multiplier as needed threshold = min_val + threshold_margin - self.dead_pixels_mask = cv2.inRange(frame_visible_float, 0, threshold).astype(np.uint8) + # if there are no dead pixels, we don't need to do anything + if np.count_nonzero(frame_visible_float < threshold) == 0: + self.dead_pixels_mask = cv2.inRange(frame_visible_float, 0, threshold).astype(np.uint8) if not quiet: print(f"Found {np.count_nonzero(self.dead_pixels_mask)} dead pixels") From 75ebbdefb2acee2fb8eab4a6ea8e6509b77cb99a Mon Sep 17 00:00:00 2001 From: dimonDDL Date: Sat, 22 Jun 2024 01:10:28 +0200 Subject: [PATCH 07/27] wip figuring out all the registers for the T2S+ v2 --- 2024-06-21_23-02-55.npy | Bin 0 -> 100480 bytes display.py | 79 + ht301_hacklib.py | 91 +- p.png | Bin 0 -> 151049 bytes registers_t2s.txt | 170 ++ run.txt | Bin 0 -> 190306 bytes run1.txt | 5120 +++++++++++++++++++++++++++++++++++++++ 7 files changed, 5422 insertions(+), 38 deletions(-) create mode 100644 2024-06-21_23-02-55.npy create mode 100644 display.py create mode 100644 p.png create mode 100644 registers_t2s.txt create mode 100644 run.txt create mode 100644 run1.txt diff --git a/2024-06-21_23-02-55.npy b/2024-06-21_23-02-55.npy new file mode 100644 index 0000000000000000000000000000000000000000..daa8d0a498e63085d104ba758a2b94fe42166c05 GIT binary patch literal 100480 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zz>a$W_8Cl8Do#bI%u4^Fro1Ln-kbX99c9q7D)5!2)ZRAK`1c^La$vA%GQc+{wf2P9 zRl!q?0~0$Bg7c>*e4x`u1B@>?cZoJLp1Qp0z;9oyf#G_tN-R%GT{hz<&ujWxVkH>=(pZ_zK z=YN03|BS2t|8teq%jXR$@^9{+=Ye<`JUl%-;(B^|v~mB%(|FF|t>buZ_G-gd+ITeg ztl;61)FZCP@1cC%Gfv{j41?%TzKN9-xZ9xVLf=hb2#etMM}R@T$A zUeW{^GNee5AvkHA0R9Z%Pyc`ZO!lvTkJvKpNryPW2|c$x41CgZSc*|aj|GG$_VD=q WfB*A8m-62~|GNVJU4j3-0{;itz9;km literal 0 HcmV?d00001 diff --git a/display.py b/display.py new file mode 100644 index 0000000..51d5f9b --- /dev/null +++ b/display.py @@ -0,0 +1,79 @@ +import numpy as np +import matplotlib.pyplot as plt +from matplotlib.widgets import Button + +# Load the numpy file +data = np.load('./2024-06-21_23-02-55.npy') + +# Function to get the pixel number +def get_pixel_number(x, y, width, height, origin=(0, 0)): + zero_x, zero_y = origin + pixel_number = (y - zero_y) * width + (x - zero_x) + return pixel_number + +# Click event handler +def onclick(event): + global arrow, rect + x, y = int(event.xdata), int(event.ydata) + height, width = data.shape + + if x >= 0 and y >= 0 and x < width and y < height: + pixel_number = get_pixel_number(x, y, width, height, origin=(zero_x, zero_y)) + pixel_value = data[y, x] + print(f'Pixel ({x}, {y}) has number: {pixel_number} and value: {pixel_value}') + + # Clear the previous highlight + if arrow: + arrow.remove() + if rect: + rect.remove() + + # Draw an arrow pointing to the clicked pixel with detailed information + arrow = ax.annotate(f'({x}, {y})\nNumber: {pixel_number}\nValue: {pixel_value}', + xy=(x, y), xytext=(x+10, y+10), + arrowprops=dict(facecolor='red', shrink=0.05), + bbox=dict(boxstyle="round,pad=0.3", edgecolor='red', facecolor='white')) + + # Draw a rectangle around the clicked pixel + rect = plt.Rectangle((x-0.5, y-0.5), 1, 1, edgecolor='red', facecolor='none') + ax.add_patch(rect) + + fig.canvas.draw() + +# Function to highlight all non-zero pixels +def highlight_non_zero(event): + global scatter + if scatter: + scatter.remove() + scatter = None + else: + non_zero_pixels = np.argwhere(data != 0) + y, x = non_zero_pixels[:, 0], non_zero_pixels[:, 1] + scatter = ax.scatter(x, y, color='blue', s=10) + + fig.canvas.draw() + +# Load and display the image +fig, ax = plt.subplots() +plt.subplots_adjust(bottom=0.2) # Adjust to make space for the button +ax.imshow(data, cmap='gray') + +# Define origin +zero_x, zero_y = 0, 192 # Adjust these values to set a different origin + +# Initialize annotation and rectangle variables +arrow = None +rect = None +scatter = None + +# Connect the click event +cid = fig.canvas.mpl_connect('button_press_event', onclick) + +# Add a button to highlight non-zero pixels +ax_button = plt.axes([0.8, 0.05, 0.1, 0.075]) +btn = Button(ax_button, 'Toggle Non-Zero') +btn.on_clicked(highlight_non_zero) + +# plt.tight_layout() + +plt.show() \ No newline at end of file diff --git a/ht301_hacklib.py b/ht301_hacklib.py index 1106e72..f335118 100755 --- a/ht301_hacklib.py +++ b/ht301_hacklib.py @@ -113,68 +113,81 @@ def find_device(cls) -> cv2.VideoCapture: except: pass raise ValueError(f"Cannot find camera with a width of one of {cls.supported_resolutions} that also matches: {width=} and {height=}") + def bin_to_twos_complement(self, binary: str) -> int: + if binary[0] == '1': + return int(binary, 2) - 2**len(binary) + return int(binary, 2) + def info(self) -> Tuple[dict, np.ndarray]: - shutTemper = read_u16(self.frame_raw_u16, self.fourLinePara + self.amountPixels + 1) + shutTemper = read_u16(self.frame_raw_u16, self.fourLinePara + self.amountPixels + 1) # 257 if self.camera_raw: - if shutTemper < 0x801: + if shutTemper < 2049: floatShutTemper = float(shutTemper) corrFactor = 0.625 else: floatShutTemper = float(0xfff - shutTemper) corrFactor = -0.625 + shutterFix = self.bin_to_twos_complement((bin(read_u16(self.frame_raw_u16, self.fourLinePara + self.amountPixels * 2 + 47))[2:].zfill(16))[:8]) / 10.0 # 559 floatShutTemper = (floatShutTemper * corrFactor + 2731.5) / 10.0 + -273.15 + floatShutTemper = floatShutTemper + shutterFix # TODO fix this readout for the T2S+ v2 # The temperature is indeed being red out, but the sensor is located in some weird place, # it gets hot super fast and causes the entire image to drift, I couldn't figure out how to deal with that # hard coding ~18C (room temp) works pretty good tho... - floatShutTemper = 18.0 + #floatShutTemper = 18.0 else: floatShutTemper = shutTemper / 10.0 - self.ZEROC - coreTemper = read_u16(self.frame_raw_u16, self.fourLinePara + self.amountPixels + 2) + coreTemper = read_u16(self.frame_raw_u16, self.fourLinePara + self.amountPixels + 2) # 258 if self.camera_raw: # TODO fix this readout for the T2S+ v2 # I don't even think the v2 has a separate core and shutter temperature registers... - floatCoreTemper = 18.0 + #floatCoreTemper = 18.0 + floatCoreTemper = floatShutTemper - shutterFix + #floatShutTemper = 18.0 else: floatCoreTemper = coreTemper / 10.0 - self.ZEROC + + # print(f"Shutter temperature: {floatShutTemper}°C, Core temperature: {coreTemper / 10.0 - self.ZEROC}°C") - cal_00 = float(read_u16(self.frame_raw_u16, self.fourLinePara + self.amountPixels)) - self.cal_01 = read_f32(self.frame_raw_u16, self.fourLinePara + self.amountPixels + 3) - cal_02 = read_f32(self.frame_raw_u16, self.fourLinePara + self.amountPixels + 5) - cal_03 = read_f32(self.frame_raw_u16, self.fourLinePara + self.amountPixels + 7) - cal_04 = read_f32(self.frame_raw_u16, self.fourLinePara + self.amountPixels + 9) - cal_05 = read_f32(self.frame_raw_u16, self.fourLinePara + self.amountPixels + 11) + # TODO check all of these + cal_00 = float(read_u16(self.frame_raw_u16, self.fourLinePara + self.amountPixels)) # 256 + self.cal_01 = read_f32(self.frame_raw_u16, self.fourLinePara + self.amountPixels + 3) # 259 + cal_02 = read_f32(self.frame_raw_u16, self.fourLinePara + self.amountPixels + 5) # 261 + cal_03 = read_f32(self.frame_raw_u16, self.fourLinePara + self.amountPixels + 7) # 263 + cal_04 = read_f32(self.frame_raw_u16, self.fourLinePara + self.amountPixels + 9) # 265 + cal_05 = read_f32(self.frame_raw_u16, self.fourLinePara + self.amountPixels + 11) # 267 - cameraSoftVersion: np.ndarray = read_u8(self.frame_raw_u16, self.fourLinePara + self.amountPixels + 24, step=8) + cameraSoftVersion: np.ndarray = read_u8(self.frame_raw_u16, self.fourLinePara + self.amountPixels + 24, step=8) # 280-287? cameraSoftVersion = cameraSoftVersion.tobytes().decode("ascii").rstrip("\x00") - sn: np.ndarray = read_u8(self.frame_raw_u16, self.fourLinePara + self.amountPixels + 32, step=3) - sn = sn.tobytes().decode("ascii").rstrip("\x00") + # this one is reading out incorrectly? + sn: np.ndarray = read_u8(self.frame_raw_u16, self.fourLinePara + self.amountPixels + 32, step=3) # 288-290? + sn = sn.tobytes().decode("ascii").rstrip("\x00") - correction = read_f32(self.frame_raw_u16, self.fourLinePara + self.userArea) - Refltmp = read_f32(self.frame_raw_u16, self.fourLinePara + self.userArea + 2) - Airtmp = read_f32(self.frame_raw_u16, self.fourLinePara + self.userArea + 4) - humi = read_f32(self.frame_raw_u16, self.fourLinePara + self.userArea + 6) - emiss = read_f32(self.frame_raw_u16, self.fourLinePara + self.userArea + 8) - distance = read_u16(self.frame_raw_u16, self.fourLinePara + self.userArea + 10) - - fpa_avg = read_u16(self.frame_raw_u16, self.fourLinePara) - fpaTmp = read_u16(self.frame_raw_u16, self.fourLinePara + 1) - maxx1 = read_u16(self.frame_raw_u16, self.fourLinePara + 2) - maxy1 = read_u16(self.frame_raw_u16, self.fourLinePara + 3) - self.max_raw = read_u16(self.frame_raw_u16, self.fourLinePara + 4) - minx1 = read_u16(self.frame_raw_u16, self.fourLinePara + 5) - miny1 = read_u16(self.frame_raw_u16, self.fourLinePara + 6) - self.min_raw = read_u16(self.frame_raw_u16, self.fourLinePara + 7) - self.avg_raw = read_u16(self.frame_raw_u16, self.fourLinePara + 8) + correction = read_f32(self.frame_raw_u16, self.fourLinePara + self.userArea) # 383 + Refltmp = read_f32(self.frame_raw_u16, self.fourLinePara + self.userArea + 2) # 385 + Airtmp = read_f32(self.frame_raw_u16, self.fourLinePara + self.userArea + 4) # 387 + humi = read_f32(self.frame_raw_u16, self.fourLinePara + self.userArea + 6) # 389 + emiss = read_f32(self.frame_raw_u16, self.fourLinePara + self.userArea + 8) # 391 + distance = read_u16(self.frame_raw_u16, self.fourLinePara + self.userArea + 10) # 393 + + fpa_avg = read_u16(self.frame_raw_u16, self.fourLinePara) # 0 + fpaTmp = read_u16(self.frame_raw_u16, self.fourLinePara + 1) # 1 + maxx1 = read_u16(self.frame_raw_u16, self.fourLinePara + 2) # 2 + maxy1 = read_u16(self.frame_raw_u16, self.fourLinePara + 3) # 3 + self.max_raw = read_u16(self.frame_raw_u16, self.fourLinePara + 4) # 4 + minx1 = read_u16(self.frame_raw_u16, self.fourLinePara + 5) # 5 + miny1 = read_u16(self.frame_raw_u16, self.fourLinePara + 6) # 6 + self.min_raw = read_u16(self.frame_raw_u16, self.fourLinePara + 7) # 7 + self.avg_raw = read_u16(self.frame_raw_u16, self.fourLinePara + 8) # 8 fpatmp_ = 20.0 - (float(fpaTmp) - self.fpa_off) / self.fpa_div - center_raw = read_u16(self.frame_raw_u16, self.fourLinePara + 12) - user_raw00 = read_u16(self.frame_raw_u16, self.fourLinePara + 13) - user_raw01 = read_u16(self.frame_raw_u16, self.fourLinePara + 14) - user_raw02 = read_u16(self.frame_raw_u16, self.fourLinePara + 15) + center_raw = read_u16(self.frame_raw_u16, self.fourLinePara + 12) # 12 + user_raw00 = read_u16(self.frame_raw_u16, self.fourLinePara + 13) # 13 + user_raw01 = read_u16(self.frame_raw_u16, self.fourLinePara + 14) # 14 + user_raw02 = read_u16(self.frame_raw_u16, self.fourLinePara + 15) # 15 distance_adjusted = (20.0 if distance >= 20.0 else distance) * self.distance_multiplier atm = self.atmt(humi, Airtmp, distance_adjusted) @@ -234,7 +247,7 @@ def info(self) -> Tuple[dict, np.ndarray]: "Tmax_C": temperatureTable[self.max_raw], "Tcenter_C": temperatureTable[center_raw], } - + return info, temperatureTable # read raw data from cam, seperate visible frame from metadata @@ -362,11 +375,12 @@ def calibrate_raw(self, quiet=False) -> None: frame_visible_float = frame_visible.astype(np.float32) min_val = np.min(frame_visible_float) max_val = np.max(frame_visible_float) - threshold_margin = (max_val - min_val) * 0.05 # Adjust the multiplier as needed + print(f"Min: {min_val}, Max: {max_val}, Avg: {np.mean(frame_visible_float)}") + threshold_margin = (max_val - min_val) * 0.05 # Adjust the margin if not detected correctly threshold = min_val + threshold_margin - # if there are no dead pixels, we don't need to do anything - if np.count_nonzero(frame_visible_float < threshold) == 0: + # if there are no dead pixels, we skip the dead pixel correction + if np.count_nonzero(frame_visible_float < threshold) != 0: self.dead_pixels_mask = cv2.inRange(frame_visible_float, 0, threshold).astype(np.uint8) if not quiet: @@ -441,6 +455,7 @@ def get_temp_table(self, correction, Airtmp, table_offset, distance_adjusted): n[np.isnan(n)] = 0.0 wtot = np.power(n - self.cal_a + self.ZEROC, 4) ttot = np.power((wtot - self.numerator_sub) / self.denominator, 0.25) - self.ZEROC + # TODO, ttot is being directly read out according to the decomp, how is it calculated here exactly? 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RyNcU>`I}p&{QTc~{vUca;DrDH literal 0 HcmV?d00001 diff --git a/registers_t2s.txt b/registers_t2s.txt new file mode 100644 index 0000000..b0c6f7e --- /dev/null +++ b/registers_t2s.txt @@ -0,0 +1,170 @@ +Registers of the 4 line params and what they mean for the T2S+ v2 +The values are specified from zero being the start of the 4 line params. + +Abbreviations: +FPA - Focal Plane Array + +--- LINE ZERO --- + +0: FPA average value +1: Temperate of the FPA? +2-15: ZERO +16: UNKNOWN (value: 15805) +17-255: ZERO + +--- LINE ONE --- + +256: cal_00? +257: Shutter Temperate +258: Core Temperate (reads 0 tho) +259-260: cal_01? +261-262: cal_02? +263-264: cal_03? +265-266: cal_04? +267-268: cal_05? +268-271: ZERO +272: UNKNOWN (value: 16840) +273: ZERO +274: UNKNOWN (value: 16840) +275: UNKNOWN (value: 26214) +276: UNKNOWN (value: 16102) +277: UNKNOWN (value: 57672) +278: UNKNOWN (value: 16250) +279: UNKNOWN (value: 1) +280-287: Software version string +288-289: ZERO +290-293: Serial Number? +294-295: ZERO +296: UNKNOWN (value: 12884) +297: UNKNOWN (value: 11091) +298: UNKNOWN (value: 13312) +299: UNKNOWN (value: 76) +300: UNKNOWN (value: 12371) +301: UNKNOWN (value: 57856) +302: UNKNOWN (value: 63430) +303-382: ZERO + +--- USER DATA --- + +383-384: Correction +385-386: Refltmp +387-388: Air temperate +389-390: Humidity +391-392: Emissivity +393-394: Distance +395-511: ZERO + +--- LINE TWO --- + +512: UNKNOWN (value: 17741) +513: UNKNOWN (value: 12849) +514: UNKNOWN (value: 14649) +515: UNKNOWN (value: 21504) +516: UNKNOWN (value: 21298) +517: UNKNOWN (value: 43) +518-519: ZERO +520: UNKNOWN (value: 12884) same as 296 +521: UNKNOWN (value: 11091) same as 297 +522: UNKNOWN (value: 13312) same as 298 +523: UNKNOWN (value: 76) same as 299 +524: UNKNOWN (value: 12371) same as 300 +525: UNKNOWN (value: 57856) same as 301 +526: UNKNOWN (value: 63430) same as 302 +527: ZERO +528: UNKNOWN (value: 48641) +529: UNKNOWN (value: 8965) +530: UNKNOWN (value: 256) +531: ZERO +532: UNKNOWN (value: 259) +533: UNKNOWN (value: 1) +534: UNKNOWN (value: 100) +535: UNKNOWN (value: 1) +536: UNKNOWN (value: 256) +537: UNKNOWN (value: 276) +538: UNKNOWN (value: 150) +539: ZERO +540: UNKNOWN (value: 258) +541: UNKNOWN (value: 1200) +542: UNKNOWN (value: 100) +543: UNKNOWN (value: 100) +544: UNKNOWN (value: 100) +545: UNKNOWN (value: 350) +546: UNKNOWN (value: 70) +547: UNKNOWN (value: 3072) +548: UNKNOWN (value: 768) +549: UNKNOWN (value: 65280) +550: UNKNOWN (value: 127) +551: ZERO +552: UNKNOWN (value: 513) +553: UNKNOWN (value: 3594) +554: UNKNOWN (value: 3331) +555: UNKNOWN (value: 20) +556-558: ZERO +559: UNKNOWN (value: 64000) +560: UNKNOWN (value: 21810) +561: UNKNOWN (value: 15984) +562: UNKNOWN (value: 28312) +563: UNKNOWN (value: 16889) +564: UNKNOWN (value: 50604) +565: UNKNOWN (value: 46887) +566: UNKNOWN (value: 22859) +567: UNKNOWN (value: 15366) +568: UNKNOWN (value: 47186) +569: UNKNOWN (value: 16190) +570-572: ZERO +573: UNKNOWN (value: 16840) +574: ZERO +575: UNKNOWN (value: 16840) +576: UNKNOWN (value: 26214) +577: UNKNOWN (value: 16102) +578: UNKNOWN (value: 57672) +579: UNKNOWN (value: 16250) +580: UNKNOWN (value: 1) +581: UNKNOWN (value: 12059) +582: UNKNOWN (value: 15581) +583: UNKNOWN (value: 33345) +584: UNKNOWN (value: 16314) +585: UNKNOWN (value: 50604) +586: UNKNOWN (value: 14375) +587: UNKNOWN (value: 65012) +588: UNKNOWN (value: 15316) +589: UNKNOWN (value: 65012) +590: UNKNOWN (value: 16132) +591: UNKNOWN (value: 17280) +592: UNKNOWN (value: 257) +593: UNKNOWN (value: 3156) +594: UNKNOWN (value: 8967) +595: UNKNOWN (value: 3875) +596: UNKNOWN (value: 8967) +597: UNKNOWN (value: 3137) +598: UNKNOWN (value: 7938) +599: UNKNOWN (value: 3875) +600: UNKNOWN (value: 7943) +601: UNKNOWN (value: 3137) +602: UNKNOWN (value: 7426) +603: UNKNOWN (value: 3875) +604: UNKNOWN (value: 7943) +605: UNKNOWN (value: 3393) +606: UNKNOWN (value: 7938) +607: UNKNOWN (value: 3875) +608: UNKNOWN (value: 7943) +609: UNKNOWN (value: 45442) +610: UNKNOWN (value: 59280) +611: UNKNOWN (value: 616) +612: UNKNOWN (value: 2113) +613: UNKNOWN (value: 45825) +614: UNKNOWN (value: 9955) +615: UNKNOWN (value: 24807) +616: UNKNOWN (value: 3968) +617: UNKNOWN (value: 14980) +618: UNKNOWN (value: 8132) +619: UNKNOWN (value: 2721) +620: ZERO +621-624: 65535 +624-767: ZERO + +--- LINE THREE --- +768-1023: ZERO + + + diff --git a/run.txt b/run.txt new file mode 100644 index 0000000000000000000000000000000000000000..018bc7e49d538f2acc988241f76d64fbfdbd5ae0 GIT binary patch literal 190306 zcmdVjYl%Zz80_dxK~{J z)V4n@PM)nF-jbIoNfUpb#7@%0Una4WH1XF->?BS6Fo~U{i61AilQi+uBzBS}exAfm z(!|w2J|fRqo_h2g&GPd4j$!*q^3-$teT?tFkIVau?Y!1pJIkAEcV4NT<*D6!rFOQb z<{dNdnt6vd-a}u%r(5rR{hn?+a=i0el4lK2^JhgkU)Xvh>pLV)&&hpfAH-1`XdwUGeQ_tP_DZU#& zO+8rWv+3RVY3jjJr+4G0sRv7aPdCm->5=@_$LmjT-B_Q<^gGo#%X>At2WzgK<*D6+ zrFNF5b`O@?S(^IuPB+e3p4vV5vK+0Q<*Dax{JgA@>_-1Q^dId207yshy>%zwC75oaL$AgD=Z*&sm<@Jy>dI zd207ysh#Di-GilemZx?PmfBgK+TTwswX;06d$82b^3?9ZQaj62y9Z0{EKU7&ryJ)i 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zohHiNmdKqZ%H5X8ohHiNmdKqZ%H5X8ohHiNmdKsv$>%E)m3&SU(cnMWT|=X`%gt?zTkkG*RxhMD8?E?zTkkG*RxhMD8?E z?zTkkG*RxhMD8?E?zTkkG*RxhMD8?E?zTkkG*3QXk*MTznkaW$B6pf7cUvNNnkaW$ zB6pf7cUvNNnkaW$B6pf7cUvNNnkaW$B6pf7cUvNNnkaW$B6pf6pRY(%@;ObEyDgDB zO_aMWkvmP4yDgDBO_aMWkvmP4yDgDBO_aMWkvmP4yDgDBO_aMWkvmP4yDgDB&6Cep zBr5rwCd%EG$ekw2-ImCmCd%EG$ekw2-ImCmCd%EG$ekw2-ImCmCd%EG$ekw2-ImCm zCd%EG$epIi>sktXS1Q`iGxhGwm)9#q{1|`jdFI%?*?Q-hbMNkKz4J`H`?K}VGxhG! z);rJCyGL8^JX7y3ZN2kMz5BHF&NKDy)Ydys)X�LO%5s zGw0r&+AGI-rrw>}dgqyXcWUdMXX@Rlt#_WOcc-@Ad8Xc-+Ir`idUtB;ohRz&YaF4U b^GyAI*M9mgy7tpS*Uow7+`ChI Date: Sun, 22 Sep 2024 20:14:14 +0200 Subject: [PATCH 08/27] added offset parameter and simplified reading frames from the camera library --- android_app_logs.txt | 11 +++++++++++ ht301_hacklib.py | 14 ++++++++++++-- pyplot.py | 26 +++++++++++++------------- 3 files changed, 36 insertions(+), 15 deletions(-) create mode 100644 android_app_logs.txt diff --git a/android_app_logs.txt b/android_app_logs.txt new file mode 100644 index 0000000..e238f11 --- /dev/null +++ b/android_app_logs.txt @@ -0,0 +1,11 @@ +libUVCCamera: [20119*serenegiant_usb_UVCCamera.cpp:226:nativeGetByteArrayTemperaturePara]:nativeGetByteArrayTemperaturePara:0,0,0,0,0 +jsonObject: {"doAction":1,"deviceSn":"ME1299","deviceModel":"google,Pixel 3","deviceNo":"T2S+","appVersion":"6.7.240509","osVersion":"Android12,level31"} +libUVCCamera: [20206*thermometry.c:367:EAthermometryT4Line]:EAthermometryT4Line start +libUVCCamera: [20206*thermometry.c:368:EAthermometryT4Line]:correction:0.000000, Refltmp:25.000000,Airtmp:25.000000 ,humi:0.450000,emiss:0.980000,distance:1 +libUVCCamera: [20206*thermometry.c:417:EAthermometryT4Line]:shutTemper:451 +libUVCCamera: [20206*thermometry.c:446:EAthermometryT4Line]:a:0.234700, b:31.179001, ka:-0.000010, kb:0.008200, kc:0.745000 +libUVCCamera: [20206*thermometry.c:458:EAthermometryT4Line]:correction:0.000000, Refltmp:25.000000, Airtmp:25.000000, humi:0.450000, emiss:0.980000, distance:1 +libUVCCamera: [20206*thermometry.c:486:EAthermometryT4Line]:WriteTable fpatemp:29.53, shuttemp:27.59, floatShutTemper:28.19, shutterFix:-0.60 +libUVCCamera: [20206*thermometry.c:549:EAthermometryT4Line]:EAthermometryT4Line end +MediaPlayerNative: pause called in state 8, mPlayer(0x78c52c1eb0) +MediaPlayerNative: error (-38, 0) \ No newline at end of file diff --git a/ht301_hacklib.py b/ht301_hacklib.py index f335118..4296376 100755 --- a/ht301_hacklib.py +++ b/ht301_hacklib.py @@ -62,7 +62,7 @@ class Camera: offset_mean = 0.0 dead_pixels_mask = None - def __init__(self, video_dev:cv2.VideoCapture|None=None, camera_raw = False) -> None: + def __init__(self, video_dev:cv2.VideoCapture|None=None, camera_raw = False, fixed_offset : float = 0.0) -> None: if video_dev is None: video_dev = self.find_device() if not video_dev: @@ -72,6 +72,7 @@ def __init__(self, video_dev:cv2.VideoCapture|None=None, camera_raw = False) -> self.height = int(self.cap.get(cv2.CAP_PROP_FRAME_HEIGHT))-ROWS_SPECIAL_DATA self.width = int(self.cap.get(cv2.CAP_PROP_FRAME_WIDTH)) + self.userOffset = fixed_offset self.fourLinePara = self.width * self.height self.init_parameters() @@ -210,6 +211,8 @@ def info(self) -> Tuple[dict, np.ndarray]: table_offset = cal_00 - (cal_00_corr if cal_00_corr > 0 else 0) temperatureTable = self.get_temp_table(correction, Airtmp, table_offset, distance_adjusted) + + temperatureTable = temperatureTable + self.userOffset ''' build infomation ''' info = { @@ -272,6 +275,13 @@ def read(self, raw = False) -> Tuple[bool, np.ndarray]: return ret, frame_visible + def get_frame(self) -> np.ndarray: + ret, frame = self.read() + info, lut = self.info() + lut_frame = lut[frame] + return lut_frame + + def set_correction(self, correction: float) -> None: self.sendFloatCommand(position=SET_CORRECTION, value=correction) @@ -477,7 +487,7 @@ def temperature_range_high(self): self.correction_coefficient_b = -40.9 def wait_for_range_application(self, timeout=20): - """Wait for the camera to apply the temperature range change, this is detected when the video stops being uniform""" + """Wait for the camera to apply the temperature range change""" print("Waiting for camera to stabilize...") start_time = time.time() done = False diff --git a/pyplot.py b/pyplot.py index 4315a36..719a0cd 100755 --- a/pyplot.py +++ b/pyplot.py @@ -26,6 +26,7 @@ parser = argparse.ArgumentParser(description='Thermal Camera Viewer') parser.add_argument('-r', '--rawcam', action='store_true', help='use the raw camera') parser.add_argument('-d', '--device', type=str, help='use the camera at camera_path') +parser.add_argument('-o', '--offset', type=float, help='set a fixed offset for the temperature data') parser.add_argument('file', nargs='?', type=str, help='use the emulator with the data in file.npy') args = parser.parse_args() @@ -42,6 +43,8 @@ camera_path = args.device cv2_cam = cv2.VideoCapture(camera_path) camera_kwargs['video_dev'] = cv2_cam + if args.offset: + camera_kwargs['fixed_offset'] = args.offset camera = ht301_hacklib.Camera(**camera_kwargs) #see https://matplotlib.org/tutorials/colors/colormaps.html @@ -51,8 +54,7 @@ matplotlib.rcParams['toolbar'] = 'None' # temporary fake frame -lut_frame = frame = np.full((camera.height, camera.width), 25.) -info = {} +frame = np.full((camera.height, camera.width), 25.) lut = None # will be defined later fig = plt.figure() @@ -64,7 +66,7 @@ pass ax = plt.gca() -im = ax.imshow(lut_frame, cmap=cmaps[cmaps_idx]) +im = ax.imshow(frame, cmap=cmaps[cmaps_idx]) divider = make_axes_locatable(ax) cax = divider.append_axes("right", size="5%", pad=0.05) cbar = plt.colorbar(im, cax=cax) @@ -122,21 +124,19 @@ def log_annotations_to_csv(annotation_frame): def animate_func(i): - global lut, frame, info, paused, update_colormap, exposure, im, diff, lut_frame - ret, frame = camera.read() + global frame, paused, update_colormap, exposure, im, diff + frame = camera.get_frame() if not paused: - info, lut = camera.info() - lut_frame = lut[frame] if diff['enabled']: - show_frame = lut_frame - diff['frame'] + show_frame = frame - diff['frame'] else: - show_frame = lut_frame + show_frame = frame if diff['annotation_enabled']: - annotation_frame = lut_frame - diff['frame'] + annotation_frame = frame - diff['frame'] else: - annotation_frame = lut_frame + annotation_frame = frame im.set_array(show_frame) @@ -184,10 +184,10 @@ def print_help(): #keyboard def press(event): global paused, exposure, update_colormap, cmaps_idx, draw_temp, temp_extra_annotations, csv_filename - global lut_frame, lut, frame, diff, annotations, roi + global lut, frame, diff, annotations, roi if event.key == 'h': print_help() if event.key == ' ': paused ^= True; print('paused:', paused) - if event.key == 'd': diff['frame'] = lut_frame; diff['annotation_enabled'] = diff['enabled'] = True; print('set diff') + if event.key == 'd': diff['frame'] = frame; diff['annotation_enabled'] = diff['enabled'] = True; print('set diff') if event.key == 'x': diff['enabled'] ^= True; print('enable diff:', diff['enabled']) if event.key == 'c': diff['annotation_enabled'] ^= True; print('enable annotation diff:', diff['annotation_enabled']) if event.key == 't': draw_temp ^= True; print('draw temp:', draw_temp) From c3f051b54e6bcb8b144b29655b016c3d34d88f9e Mon Sep 17 00:00:00 2001 From: dimonDDL Date: Sun, 22 Sep 2024 20:35:54 +0200 Subject: [PATCH 09/27] updated readme --- README.md | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/README.md b/README.md index bd6f898..b9442b7 100644 --- a/README.md +++ b/README.md @@ -38,11 +38,11 @@ mouse: right button - add user temperature annotation ``` -Alternatively if you can specify the video device directly with `-d` to skip the search routine. Also for T2S+ V2 users (where the camera sends raw data and doesn't do onboard processing) you can specify the `-r` option to tell the program to treat the camera stream as raw sensor data. +Alternatively if you can specify the video device directly with `-d` to skip the search routine. Also for T2S+ V2 users (where the camera sends raw data and doesn't do onboard processing) you can specify the `-r` option to tell the program to treat the camera stream as raw sensor data. There is also the `-o` parameter which adds an offset to the entire frames temperature values. This is useful for calibrating the camera. Example: ``` -./pyplot.py -d /dev/video14 -r +./pyplot.py -d /dev/video14 -r -o -12.3 ``` ![pyplot output](docs/pyplot-output1.png) From a723c3331fb074a5f49424b81c683a255b87a236 Mon Sep 17 00:00:00 2001 From: dimonDDL Date: Mon, 23 Sep 2024 22:05:35 +0200 Subject: [PATCH 10/27] proof of concept lock in thermometry implementation --- pyplot.py | 126 +++++++++++++++++++++++++++++++++++++++++++++++++++--- 1 file changed, 119 insertions(+), 7 deletions(-) diff --git a/pyplot.py b/pyplot.py index 719a0cd..966d064 100755 --- a/pyplot.py +++ b/pyplot.py @@ -6,12 +6,20 @@ import matplotlib.pyplot as plt import matplotlib.animation as animation import matplotlib.patches as patches -from matplotlib.backend_bases import MouseButton -from mpl_toolkits.axes_grid1 import make_axes_locatable -import ht301_hacklib import utils import time import sys +import csv +import math +import serial + +import ht301_hacklib + +from matplotlib.backend_bases import MouseButton +from mpl_toolkits.axes_grid1 import make_axes_locatable +from datetime import datetime + + fps = 40 exposure = {'auto': True, @@ -27,12 +35,22 @@ parser.add_argument('-r', '--rawcam', action='store_true', help='use the raw camera') parser.add_argument('-d', '--device', type=str, help='use the camera at camera_path') parser.add_argument('-o', '--offset', type=float, help='set a fixed offset for the temperature data') + +# lock in thermometry options (all of these are requred) +parser.add_argument('-l', '--lockin', type=float, help='enable lock-in thermometry with the given frequency (in Hz), ideally several times smaller than the camera fps') +parser.add_argument('-p', '--port', type=str, help='set the serial port for the power supply control (will send 1 to turn on the load, 0 to turn it off new line terminated) at 115200 baud') +parser.add_argument('-i', '--integration', type=float, help='set the integration time for the lock-in thermometry (in seconds)') + + + parser.add_argument('file', nargs='?', type=str, help='use the emulator with the data in file.npy') args = parser.parse_args() # Choose the camera class camera: ht301_hacklib.Camera +lockin = False + if args.file and args.file.endswith('.npy'): camera = ht301_hacklib.CameraEmulator(args.file) else: @@ -45,6 +63,19 @@ camera_kwargs['video_dev'] = cv2_cam if args.offset: camera_kwargs['fixed_offset'] = args.offset + + if args.lockin: + lockin = True + draw_temp = False + # check if all lock-in thermometry options are provided + if not args.port or not args.integration: + print('Error: lock-in thermometry also requires --port and --integration options') + sys.exit(1) + + fequency = args.lockin + port = args.port + integration = args.integration + camera = ht301_hacklib.Camera(**camera_kwargs) #see https://matplotlib.org/tutorials/colors/colormaps.html @@ -56,6 +87,7 @@ # temporary fake frame frame = np.full((camera.height, camera.width), 25.) lut = None # will be defined later +start_skips = 2 fig = plt.figure() @@ -92,8 +124,7 @@ 'frame': np.zeros(frame.shape) } -import csv -from datetime import datetime #to easily get miliseconds + csv_filename = None def log_annotations_to_csv(annotation_frame): anns_data = [] @@ -123,9 +154,90 @@ def log_annotations_to_csv(annotation_frame): writer.writerow([datetime.now()] + anns_data) + +def get_lockin_frame(freq, port, integration): + """This function will perform all of the lock-in thermometry operations, and return + the in-phase and quadrature frames after the integration time is up, while controlling + the load via serial communication based on the period of the signal.""" + + try: + ser = serial.Serial(port, 115200) # Open the serial port + except serial.SerialException as e: + print(f'Error: could not open serial port {port}') + sys.exit(1) + + start_time = time.time() + in_phase_sum = np.zeros((camera.height, camera.width)) + quadrature_sum = np.zeros((camera.height, camera.width)) + total_frames = 0 + + # Calculate the period of the signal + period = 1.0 / freq + half_period = period / 2.0 # Toggle every half period + load_on = True # Track whether the load is on or off + last_toggle_time = start_time # Track the last time we toggled the load + + while (time.time() - start_time) < integration: + current_time = time.time() - start_time # Time since the loop started + ret, frame = camera.read() + if not ret: + print('Error: could not read frame from camera') + sys.exit(1) + + total_frames += 1 + + if(total_frames % 10 == 0): + print(f'Frame: {total_frames}, Time: {current_time:.2f}/{integration:.2f}') # Debugging statement + + # Check if a half period has passed (i.e., time to toggle the load) + if current_time - (last_toggle_time - start_time) >= half_period: + # Toggle the load state + if load_on: + ser.write(b'0\n') # Send 0 to turn the load off + load_on = False + else: + ser.write(b'1\n') # Send 1 to turn the load on + load_on = True + + # print(f'Load state: {load_on}, Time: {current_time}') # Debugging statement + + # Update the last toggle time + last_toggle_time += half_period + + # Calculate the phase angle based on the current time and frequency + phase = 2 * math.pi * freq * current_time + + # Calculate sine and cosine factors + sin_weight = 2*math.sin(phase) + cos_weight = -2*math.cos(phase) + + # print(f"time: {current_time}, phase: {phase}, sin: {sin_weight}, cos: {cos_weight} , load: {load_on}") + + # Multiply the frame by sin and cos to get in-phase and quadrature components + in_phase = frame * sin_weight + quadrature = frame * cos_weight + + # Accumulate the sums + in_phase_sum += in_phase + quadrature_sum += quadrature + + # After integration time, normalize by the total frames (optional) + in_phase_sum /= total_frames + quadrature_sum /= total_frames + + return in_phase_sum, quadrature_sum + + def animate_func(i): - global frame, paused, update_colormap, exposure, im, diff - frame = camera.get_frame() + global frame, paused, update_colormap, exposure, im, diff, start_skips + if lockin and start_skips > 0: + frame = camera.get_frame() + start_skips -= 1 + elif lockin: + frame, quad_frame = get_lockin_frame(fequency, port, integration) + else: + frame = camera.get_frame() + if not paused: if diff['enabled']: From 3050c7cf8c46939a49df2eefd9ffeb4ac433fffa Mon Sep 17 00:00:00 2001 From: dimonDDL Date: Sat, 28 Sep 2024 23:57:46 +0200 Subject: [PATCH 11/27] added lock in thermography to the UI and documentation --- 2024-06-21_23-02-55.npy | Bin 100480 -> 0 bytes README.md | 41 +- android_app_logs.txt | 11 - docs/lock-in.png | Bin 0 -> 327290 bytes ht301_hacklib.py | 8 +- p.png | Bin 151049 -> 0 bytes pyplot.py | 131 +- registers_t2s.txt | 170 -- run.txt | Bin 190306 -> 0 bytes run1.txt | 5120 --------------------------------------- 10 files changed, 152 insertions(+), 5329 deletions(-) delete mode 100644 2024-06-21_23-02-55.npy delete mode 100644 android_app_logs.txt create mode 100644 docs/lock-in.png delete mode 100644 p.png delete mode 100644 registers_t2s.txt delete mode 100644 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zz>a$W_8Cl8Do#bI%u4^Fro1Ln-kbX99c9q7D)5!2)ZRAK`1c^La$vA%GQc+{wf2P9 zRl!q?0~0$Bg7c>*e4x`u1B@>?cZoJLp1Qp0z;9oyf#G_tN-R%GT{hz<&ujWxVkH>=(pZ_zK z=YN03|BS2t|8teq%jXR$@^9{+=Ye<`JUl%-;(B^|v~mB%(|FF|t>buZ_G-gd+ITeg ztl;61)FZCP@1cC%Gfv{j41?%TzKN9-xZ9xVLf=hb2#etMM}R@T$A zUeW{^GNee5AvkHA0R9Z%Pyc`ZO!lvTkJvKpNryPW2|c$x41CgZSc*|aj|GG$_VD=q WfB*A8m-62~|GNVJU4j3-0{;itz9;km diff --git a/README.md b/README.md index b9442b7..ec413a8 100644 --- a/README.md +++ b/README.md @@ -1,19 +1,19 @@ # ht301_hacklib -Thermal camera opencv python lib. +### Thermal camera python library Supported thermal cameras: - Hti HT-301 -- Xtherm T3S, thanks to Angel-1024! -- Xtherm T2L, T2S+, thanks to Christoph Mair +- Xtherm T3S, thanks to Angel-1024 +- Xtherm T2L, T2S+, thanks to Christoph Mair and DiminDDL It's a very simple hacked together lib, might be useful for somebody, uses `matplotlib` which is a little bit on the slow side, or pure `opencv` - much faster but without most features -Tested on ubuntu 20.04 and windows 11: +Upon startup the app automatically looks for supported cameras by matching the resolutions. ``` -$ ./pyplot.py +python ./pyplot.py keys: 'h' - help 'q' - quit @@ -38,11 +38,16 @@ mouse: right button - add user temperature annotation ``` -Alternatively if you can specify the video device directly with `-d` to skip the search routine. Also for T2S+ V2 users (where the camera sends raw data and doesn't do onboard processing) you can specify the `-r` option to tell the program to treat the camera stream as raw sensor data. There is also the `-o` parameter which adds an offset to the entire frames temperature values. This is useful for calibrating the camera. -Example: +Alternatively you can specify the video device directly with `-d` to skip the search routine. + +Also for T2S+ V2 users (and potentially for others, where the camera sends raw data and doesn't do onboard processing resulting in the image looking like a pixelated mess) you can specify the `-r` option to tell the program to treat the camera stream as raw sensor data. This will perform a few calibration routines and present you with a usable image doing the sensor processing in python. There is also the `-o` parameter which adds an offset to the entire frames temperature values. This is useful for calibrating the camera since the raw mode sometimes ends up with a constant offset to the image, but this is specific to the camera and thus can be found once and then used for subsequent runs. + +### Examples + +Example that reads device `/dev/video14` in raw mode and adds an offset of -12.3 to the temperature values: ``` -./pyplot.py -d /dev/video14 -r -o -12.3 +python ./pyplot.py -d /dev/video14 -r -o -12.3 ``` ![pyplot output](docs/pyplot-output1.png) @@ -50,14 +55,25 @@ Example: View saved ('r' key) raw data file: ``` -$ ./pyplot.py 2022-09-11_18-49-07.npy +python ./pyplot.py 2022-09-11_18-49-07.npy ``` -Opencv version: +### Lock In Thermography + +This feature allows you to use the camera in a lock-in mode. This allows for very precise measurements of hotspots on anything that can be modulated in some way. Examples include silicon dies, circuit boards, people (lock in based on heart rate) and potentially many others. + +As mentioned above the device under test needs to be stimulated on command from, the script sends commands into a provided serial port to do this. +A `1\n` indicates that we want to turn the modulation on, a `0\n` turns it off. The modulation frequency, serial port and integration time are all provided as command line arguments. + +For example, the below command will use a modulation frequency of 1Hz, an integration time of 10s and send the commands to `/dev/ttyACM0`: + ``` -$ ./opencv.py +python ./pyplot.py -l 1 -p /dev/ttyACM0 -i 10 ``` -![opencv output](docs/opencv-output.png) + +The modulation frequency should ideally be at least set 10x lower than the camera's frame rate, this is needed to get multiple samples as the sample heats up and cools down. The longer the integration time the more cycles will be "averaged" together, reducing noise, but the longer it takes to get a single frame. More info can be found in the paper linked below. + +![lockin output](docs/lock-in.png)
@@ -71,4 +87,5 @@ $ ./opencv.py ## Related materials - https://www.mdpi.com/1424-8220/17/8/1718 +- https://www-old.mpi-halle.mpg.de/mpi/publi/pdf/540_02.pdf diff --git a/android_app_logs.txt b/android_app_logs.txt deleted file mode 100644 index e238f11..0000000 --- a/android_app_logs.txt +++ /dev/null @@ -1,11 +0,0 @@ -libUVCCamera: [20119*serenegiant_usb_UVCCamera.cpp:226:nativeGetByteArrayTemperaturePara]:nativeGetByteArrayTemperaturePara:0,0,0,0,0 -jsonObject: {"doAction":1,"deviceSn":"ME1299","deviceModel":"google,Pixel 3","deviceNo":"T2S+","appVersion":"6.7.240509","osVersion":"Android12,level31"} -libUVCCamera: [20206*thermometry.c:367:EAthermometryT4Line]:EAthermometryT4Line start -libUVCCamera: [20206*thermometry.c:368:EAthermometryT4Line]:correction:0.000000, Refltmp:25.000000,Airtmp:25.000000 ,humi:0.450000,emiss:0.980000,distance:1 -libUVCCamera: [20206*thermometry.c:417:EAthermometryT4Line]:shutTemper:451 -libUVCCamera: [20206*thermometry.c:446:EAthermometryT4Line]:a:0.234700, b:31.179001, ka:-0.000010, kb:0.008200, kc:0.745000 -libUVCCamera: [20206*thermometry.c:458:EAthermometryT4Line]:correction:0.000000, Refltmp:25.000000, Airtmp:25.000000, humi:0.450000, emiss:0.980000, distance:1 -libUVCCamera: [20206*thermometry.c:486:EAthermometryT4Line]:WriteTable fpatemp:29.53, shuttemp:27.59, floatShutTemper:28.19, shutterFix:-0.60 -libUVCCamera: [20206*thermometry.c:549:EAthermometryT4Line]:EAthermometryT4Line end -MediaPlayerNative: pause called in state 8, mPlayer(0x78c52c1eb0) -MediaPlayerNative: error (-38, 0) \ No newline at end of file diff --git a/docs/lock-in.png b/docs/lock-in.png new file mode 100644 index 0000000000000000000000000000000000000000..786fbec2066f299caf68ec21b754d97822a81c54 GIT binary patch literal 327290 zcmeGDgL|A`)HV!HJTV*FHXAgy)5f-)#HUK~hkP#R8>XCEe>s@Om;r7;|e(pP&%kK_*DFcm+@DLzg zJ1iA}p{zohXc?3!YYcIyQWk?>VhpW@{-PB{nPKUJ##Ahdhl%^=>yT^;xnv`Ks3oU3 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cam, seperate visible frame from metadata def read(self, raw = False) -> Tuple[bool, np.ndarray]: + """Retunrs a raw frame from the camera""" ret, frame_raw = self.cap.read() self.frame_raw_u16: np.ndarray = frame_raw.view(np.uint16).ravel() frame_visible = self.frame_raw_u16[:self.fourLinePara].copy().reshape(self.height, self.width) @@ -276,11 +278,15 @@ def read(self, raw = False) -> Tuple[bool, np.ndarray]: return ret, frame_visible def get_frame(self) -> np.ndarray: + """Returns a frame with temperature values""" ret, frame = self.read() info, lut = self.info() lut_frame = lut[frame] return lut_frame - + + def convert_to_frame(self, frame_raw: np.ndarray, lut: np.ndarray) -> np.ndarray: + """Converts a raw frame to a frame with temperature values""" + return lut[frame_raw] def set_correction(self, correction: float) -> None: self.sendFloatCommand(position=SET_CORRECTION, value=correction) diff --git a/p.png b/p.png deleted file mode 100644 index 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RyNcU>`I}p&{QTc~{vUca;DrDH diff --git a/pyplot.py b/pyplot.py index 966d064..8733f92 100755 --- a/pyplot.py +++ b/pyplot.py @@ -12,6 +12,7 @@ import csv import math import serial +import threading import ht301_hacklib @@ -82,14 +83,61 @@ cmaps_idx = 1 cmaps = ['inferno', 'coolwarm', 'cividis', 'jet', 'nipy_spectral', 'binary', 'gray', 'tab10'] -matplotlib.rcParams['toolbar'] = 'None' +#matplotlib.rcParams['toolbar'] = 'None' # temporary fake frame frame = np.full((camera.height, camera.width), 25.) +quad_frame = np.full((camera.height, camera.width), 0.) +in_phase_frame = np.full((camera.height, camera.width), 0.) lut = None # will be defined later start_skips = 2 +is_capturing = False +lock = threading.Lock() +lock_in_thread = None + + +if lockin: + fig, axes = plt.subplots(nrows=2, ncols=2, layout='tight') + ax = axes[0][0] + im = axes[0][0].imshow(frame, cmap=cmaps[cmaps_idx]) + im_in_phase = axes[0][1].imshow(frame, cmap=cmaps[cmaps_idx]) + im_quadrature = axes[1][1].imshow(frame, cmap=cmaps[cmaps_idx]) + axes[0][0].set_title('Live') + axes[0][1].set_title('In-phase') + axes[1][1].set_title('Quadrature') + divider = make_axes_locatable(axes[0][0]) + divider_in_phase = make_axes_locatable(axes[0][1]) + divider_quadrature = make_axes_locatable(axes[1][1]) + cax = divider.append_axes("right", size="5%", pad=0.05) + cax_in_phase = divider_in_phase.append_axes("right", size="5%", pad=0.05) + cax_quadrature = divider_quadrature.append_axes("right", size="5%", pad=0.05) + cbar = plt.colorbar(im, cax=cax) + cbar_in_phase = plt.colorbar(im_in_phase, cax=cax_in_phase) + cbar_quadrature = plt.colorbar(im_quadrature, cax=cax_quadrature) + + axes[1][0].axis('off') + status_text = f""" +Frame: -, +Time: -/-, +Load: -, +Frequency: -Hz, +Integration Time: -s +Serial Port: - +""" + status_text_obj = axes[1][0].text(0.05, 0.95, status_text, + verticalalignment='top', + horizontalalignment='left', + transform=axes[1][0].transAxes, + fontsize=12, + color='black') -fig = plt.figure() +else: + fig = plt.figure() + ax = plt.gca() + im = ax.imshow(frame, cmap=cmaps[cmaps_idx]) + divider = make_axes_locatable(ax) + cax = divider.append_axes("right", size="5%", pad=0.05) + cbar = plt.colorbar(im, cax=cax) try: fig.canvas.set_window_title("Thermal Camera") @@ -97,12 +145,6 @@ # does not work on windows pass -ax = plt.gca() -im = ax.imshow(frame, cmap=cmaps[cmaps_idx]) -divider = make_axes_locatable(ax) -cax = divider.append_axes("right", size="5%", pad=0.05) -cbar = plt.colorbar(im, cax=cax) - annotations = utils.Annotations(ax, patches) temp_annotations = { 'std': { @@ -160,6 +202,8 @@ def get_lockin_frame(freq, port, integration): the in-phase and quadrature frames after the integration time is up, while controlling the load via serial communication based on the period of the signal.""" + global frame, is_capturing, status_text + try: ser = serial.Serial(port, 115200) # Open the serial port except serial.SerialException as e: @@ -179,15 +223,28 @@ def get_lockin_frame(freq, port, integration): while (time.time() - start_time) < integration: current_time = time.time() - start_time # Time since the loop started - ret, frame = camera.read() + ret, raw_frame = camera.read() + info, lut = camera.info() + + frame = camera.convert_to_frame(raw_frame, lut) + if not ret: print('Error: could not read frame from camera') sys.exit(1) total_frames += 1 - if(total_frames % 10 == 0): - print(f'Frame: {total_frames}, Time: {current_time:.2f}/{integration:.2f}') # Debugging statement + #if(total_frames % 10 == 0): + #print(f'Frame: {total_frames}, Time: {current_time:.2f}/{integration:.2f}') # Debugging statement + if True: + status_text = f""" +Frame: {total_frames}, +Time: {current_time:.2f}/{integration:.2f}, +Load: {load_on}, +Frequency: {freq:.2f}Hz, +Integration Time: {integration:.2f}s +Serial Port: {port} +""" # Check if a half period has passed (i.e., time to toggle the load) if current_time - (last_toggle_time - start_time) >= half_period: @@ -214,27 +271,58 @@ def get_lockin_frame(freq, port, integration): # print(f"time: {current_time}, phase: {phase}, sin: {sin_weight}, cos: {cos_weight} , load: {load_on}") # Multiply the frame by sin and cos to get in-phase and quadrature components - in_phase = frame * sin_weight - quadrature = frame * cos_weight + in_phase = raw_frame * sin_weight + quadrature = raw_frame * cos_weight # Accumulate the sums in_phase_sum += in_phase quadrature_sum += quadrature + if(is_capturing == False): + break + + ser.write(b'0\n') + ser.close() + # After integration time, normalize by the total frames (optional) in_phase_sum /= total_frames quadrature_sum /= total_frames + return in_phase_sum, quadrature_sum +def capture_lock_in(): + global is_capturing, quad_frame, in_phase_frame, lock, fequency, port, integration + + while is_capturing: + in_phase, quad = get_lockin_frame(fequency, port, integration) + if in_phase is not None and quad is not None: + with lock: + in_phase_frame = in_phase + quad_frame = quad + +def start_capture(): + global is_capturing + is_capturing = True + thread = threading.Thread(target=capture_lock_in) + thread.start() + return thread + +def stop_capture(thread): + global is_capturing + is_capturing = False + if thread is not None: + thread.join() def animate_func(i): - global frame, paused, update_colormap, exposure, im, diff, start_skips + global frame, in_phase_frame, quad_frame, paused, update_colormap, exposure, im, diff, start_skips, lock_in_thread if lockin and start_skips > 0: frame = camera.get_frame() start_skips -= 1 elif lockin: - frame, quad_frame = get_lockin_frame(fequency, port, integration) + if is_capturing == False: + lock_in_thread = start_capture() + #in_phase_frame, quad_frame = get_lockin_frame(fequency, port, integration) else: frame = camera.get_frame() @@ -251,12 +339,16 @@ def animate_func(i): annotation_frame = frame im.set_array(show_frame) + if lockin: + im_in_phase.set_array(in_phase_frame) + im_quadrature.set_array(quad_frame) annotations.update(temp_annotations, annotation_frame, draw_temp) if exposure['auto']: update_colormap = utils.autoExposure(update_colormap, exposure, show_frame) + # TODO deal with saving the lock in stuff to a file log_annotations_to_csv(annotation_frame) if update_colormap: @@ -265,6 +357,14 @@ def animate_func(i): update_colormap = False return [] + if lockin: + # adjust the color limits for the in-phase and quadrature frames + im_in_phase.set_clim(np.min(in_phase_frame), np.max(in_phase_frame)) + im_quadrature.set_clim(np.min(quad_frame), np.max(quad_frame)) + new_status_text = status_text + status_text_obj.set_text(new_status_text) + return [im, im_in_phase, im_quadrature, status_text_obj] + annotations.get() + return [im] + annotations.get() def print_help(): @@ -398,4 +498,5 @@ def onmotion(event): print_help() plt.show() +stop_capture(lock_in_thread) camera.release() diff --git a/registers_t2s.txt b/registers_t2s.txt deleted file mode 100644 index b0c6f7e..0000000 --- a/registers_t2s.txt +++ /dev/null @@ -1,170 +0,0 @@ -Registers of the 4 line params and what they mean for the T2S+ v2 -The values are specified from zero being the start of the 4 line params. - -Abbreviations: -FPA - Focal Plane Array - ---- LINE ZERO --- - -0: FPA average value -1: Temperate of the FPA? -2-15: ZERO -16: UNKNOWN (value: 15805) -17-255: ZERO - ---- LINE ONE --- - -256: cal_00? -257: Shutter Temperate -258: Core Temperate (reads 0 tho) -259-260: cal_01? -261-262: cal_02? -263-264: cal_03? -265-266: cal_04? -267-268: cal_05? -268-271: ZERO -272: UNKNOWN (value: 16840) -273: ZERO -274: UNKNOWN (value: 16840) -275: UNKNOWN (value: 26214) -276: UNKNOWN (value: 16102) -277: UNKNOWN (value: 57672) -278: UNKNOWN (value: 16250) -279: UNKNOWN (value: 1) -280-287: Software version string -288-289: ZERO -290-293: Serial Number? -294-295: ZERO -296: UNKNOWN (value: 12884) -297: UNKNOWN (value: 11091) -298: UNKNOWN (value: 13312) -299: UNKNOWN (value: 76) -300: UNKNOWN (value: 12371) -301: UNKNOWN (value: 57856) -302: UNKNOWN (value: 63430) -303-382: ZERO - ---- USER DATA --- - -383-384: Correction -385-386: Refltmp -387-388: Air temperate -389-390: Humidity -391-392: Emissivity -393-394: Distance -395-511: ZERO - ---- LINE TWO --- - -512: UNKNOWN (value: 17741) -513: UNKNOWN (value: 12849) -514: UNKNOWN (value: 14649) -515: UNKNOWN (value: 21504) -516: UNKNOWN (value: 21298) -517: UNKNOWN (value: 43) -518-519: ZERO -520: UNKNOWN (value: 12884) same as 296 -521: UNKNOWN (value: 11091) same as 297 -522: UNKNOWN (value: 13312) same as 298 -523: UNKNOWN (value: 76) same as 299 -524: UNKNOWN (value: 12371) same as 300 -525: UNKNOWN (value: 57856) same as 301 -526: UNKNOWN (value: 63430) same as 302 -527: ZERO -528: UNKNOWN (value: 48641) -529: UNKNOWN (value: 8965) -530: UNKNOWN (value: 256) -531: ZERO -532: UNKNOWN (value: 259) -533: UNKNOWN (value: 1) -534: UNKNOWN (value: 100) -535: UNKNOWN (value: 1) -536: UNKNOWN (value: 256) -537: UNKNOWN (value: 276) -538: UNKNOWN (value: 150) -539: ZERO -540: UNKNOWN (value: 258) -541: UNKNOWN (value: 1200) -542: UNKNOWN (value: 100) -543: UNKNOWN (value: 100) -544: UNKNOWN (value: 100) -545: UNKNOWN (value: 350) -546: UNKNOWN (value: 70) -547: UNKNOWN (value: 3072) -548: UNKNOWN (value: 768) -549: UNKNOWN (value: 65280) -550: UNKNOWN (value: 127) -551: ZERO -552: UNKNOWN (value: 513) -553: UNKNOWN (value: 3594) -554: UNKNOWN (value: 3331) -555: UNKNOWN (value: 20) -556-558: ZERO -559: UNKNOWN (value: 64000) -560: UNKNOWN (value: 21810) -561: UNKNOWN (value: 15984) -562: UNKNOWN (value: 28312) -563: UNKNOWN (value: 16889) -564: UNKNOWN (value: 50604) -565: UNKNOWN (value: 46887) -566: UNKNOWN (value: 22859) -567: UNKNOWN (value: 15366) -568: UNKNOWN (value: 47186) -569: UNKNOWN (value: 16190) -570-572: ZERO -573: UNKNOWN (value: 16840) -574: ZERO -575: UNKNOWN (value: 16840) -576: UNKNOWN (value: 26214) -577: UNKNOWN (value: 16102) -578: UNKNOWN (value: 57672) -579: UNKNOWN (value: 16250) -580: UNKNOWN (value: 1) -581: UNKNOWN (value: 12059) -582: UNKNOWN (value: 15581) -583: UNKNOWN (value: 33345) -584: UNKNOWN (value: 16314) -585: UNKNOWN (value: 50604) -586: UNKNOWN (value: 14375) -587: UNKNOWN (value: 65012) -588: UNKNOWN (value: 15316) -589: UNKNOWN (value: 65012) -590: UNKNOWN (value: 16132) -591: UNKNOWN (value: 17280) -592: UNKNOWN (value: 257) -593: UNKNOWN (value: 3156) -594: UNKNOWN (value: 8967) -595: UNKNOWN (value: 3875) -596: UNKNOWN (value: 8967) -597: UNKNOWN (value: 3137) -598: UNKNOWN (value: 7938) -599: UNKNOWN (value: 3875) -600: UNKNOWN (value: 7943) -601: UNKNOWN (value: 3137) -602: UNKNOWN (value: 7426) -603: UNKNOWN (value: 3875) -604: UNKNOWN (value: 7943) -605: UNKNOWN (value: 3393) -606: UNKNOWN (value: 7938) -607: UNKNOWN (value: 3875) -608: UNKNOWN (value: 7943) -609: UNKNOWN (value: 45442) -610: UNKNOWN (value: 59280) -611: UNKNOWN (value: 616) -612: UNKNOWN (value: 2113) -613: UNKNOWN (value: 45825) -614: UNKNOWN (value: 9955) -615: UNKNOWN (value: 24807) -616: UNKNOWN (value: 3968) -617: UNKNOWN (value: 14980) -618: UNKNOWN (value: 8132) -619: UNKNOWN (value: 2721) -620: ZERO -621-624: 65535 -624-767: ZERO - ---- LINE THREE --- -768-1023: ZERO - - - diff --git a/run.txt b/run.txt deleted file mode 100644 index 018bc7e49d538f2acc988241f76d64fbfdbd5ae0..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 190306 zcmdVjYl%Zz80_dxK~{J z)V4n@PM)nF-jbIoNfUpb#7@%0Una4WH1XF->?BS6Fo~U{i61AilQi+uBzBS}exAfm z(!|w2J|fRqo_h2g&GPd4j$!*q^3-$teT?tFkIVau?Y!1pJIkAEcV4NT<*D6!rFOQb z<{dNdnt6vd-a}u%r(5rR{hn?+a=i0el4lK2^JhgkU)Xvh>pLV)&&hpfAH-1`XdwUGeQ_tP_DZU#& zO+8rWv+3RVY3jjJr+4G0sRv7aPdCm->5=@_$LmjT-B_Q<^gGo#%X>At2WzgK<*D6+ zrFNF5b`O@?S(^IuPB+e3p4vV5vK+0Q<*Dax{JgA@>_-1Q^dId207yshy>%zwC75oaL$AgD=Z*&sm<@Jy>dI zd207ysh#Di-GilemZx?PmfBgK+TTwswX;06d$82b^3?9ZQaj62y9Z0{EKU7&ryJ)i zPwgIjS&ksi^3?9ZQaj62y9Z0{EKltoEVZ*dwR^DC&hpgm!BRWRQ@aOC?JQ629xS!9 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zB6pf7cUvNNnkaW$B6pf7cUvNNnkaW$B6pf7cUvNNnkaW$B6pf6pRY(%@;ObEyDgDB zO_aMWkvmP4yDgDBO_aMWkvmP4yDgDBO_aMWkvmP4yDgDBO_aMWkvmP4yDgDB&6Cep zBr5rwCd%EG$ekw2-ImCmCd%EG$ekw2-ImCmCd%EG$ekw2-ImCmCd%EG$ekw2-ImCm zCd%EG$epIi>sktXS1Q`iGxhGwm)9#q{1|`jdFI%?*?Q-hbMNkKz4J`H`?K}VGxhG! z);rJCyGL8^JX7y3ZN2kMz5BHF&NKDy)Ydys)X�LO%5s zGw0r&+AGI-rrw>}dgqyXcWUdMXX@Rlt#_WOcc-@Ad8Xc-+Ir`idUtB;ohRz&YaF4U b^GyAI*M9mgy7tpS*Uow7+`ChI Date: Sun, 29 Sep 2024 00:00:14 +0200 Subject: [PATCH 12/27] Update README.md --- README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/README.md b/README.md index ec413a8..cbc09cf 100644 --- a/README.md +++ b/README.md @@ -1,4 +1,4 @@ -# ht301_hacklib +# IRPyThermal ### Thermal camera python library Supported thermal cameras: From 6ac435339f7c9e259ea55bb4eceb4111eb3e36a6 Mon Sep 17 00:00:00 2001 From: dimonDDL Date: Sun, 29 Sep 2024 00:03:15 +0200 Subject: [PATCH 13/27] renamed the library --- example_simple.py | 4 ++-- ht301_hacklib.py => irpythermal.py | 0 opencv.py | 4 ++-- pyplot.py | 8 ++++---- 4 files changed, 8 insertions(+), 8 deletions(-) rename ht301_hacklib.py => irpythermal.py (100%) diff --git a/example_simple.py b/example_simple.py index 5f3777e..7698f2d 100755 --- a/example_simple.py +++ b/example_simple.py @@ -1,11 +1,11 @@ #!/usr/bin/python3 import time import numpy as np -import ht301_hacklib +import irpythermal # create camera object and do a initial calibration -cap = ht301_hacklib.HT301() +cap = irpythermal.HT301() # read frame (raw ADC data) ret, frame = cap.read() diff --git a/ht301_hacklib.py b/irpythermal.py similarity index 100% rename from ht301_hacklib.py rename to irpythermal.py diff --git a/opencv.py b/opencv.py index bcf9ae6..92fb773 100755 --- a/opencv.py +++ b/opencv.py @@ -2,7 +2,7 @@ #!/usr/bin/python3 import numpy as np import cv2 -import ht301_hacklib +import irpythermal import utils import time from skimage.exposure import rescale_intensity, equalize_hist @@ -10,7 +10,7 @@ draw_temp = True # cap = ht301_hacklib.HT301() -camera = ht301_hacklib.Camera() +camera = irpythermal.Camera() window_name = str(type(camera).__name__) cv2.namedWindow(window_name, cv2.WINDOW_NORMAL) diff --git a/pyplot.py b/pyplot.py index 8733f92..8542c56 100755 --- a/pyplot.py +++ b/pyplot.py @@ -14,7 +14,7 @@ import serial import threading -import ht301_hacklib +import irpythermal from matplotlib.backend_bases import MouseButton from mpl_toolkits.axes_grid1 import make_axes_locatable @@ -48,12 +48,12 @@ args = parser.parse_args() # Choose the camera class -camera: ht301_hacklib.Camera +camera: irpythermal.Camera lockin = False if args.file and args.file.endswith('.npy'): - camera = ht301_hacklib.CameraEmulator(args.file) + camera = irpythermal.CameraEmulator(args.file) else: camera_kwargs = {} if args.rawcam: @@ -77,7 +77,7 @@ port = args.port integration = args.integration - camera = ht301_hacklib.Camera(**camera_kwargs) + camera = irpythermal.Camera(**camera_kwargs) #see https://matplotlib.org/tutorials/colors/colormaps.html cmaps_idx = 1 From 227199dd7a220ecd11ccc705b62cefb94898f91d Mon Sep 17 00:00:00 2001 From: dimonDDL Date: Sun, 29 Sep 2024 00:04:23 +0200 Subject: [PATCH 14/27] updated readme --- README.md | 1 + 1 file changed, 1 insertion(+) diff --git a/README.md b/README.md index cbc09cf..e42027a 100644 --- a/README.md +++ b/README.md @@ -83,6 +83,7 @@ The modulation frequency should ideally be at least set 10x lower than the camer - https://github.com/MCMH2000/OpenHD_HT301_Driver - https://github.com/sumpster/ht301_viewer - https://github.com/cmair/ht301_hacklib +- https://github.com/stawel/ht301_hacklib - https://github.com/mcguire-steve/ht301_ircam ## Related materials From 7791e3ec3df757a580eeb5405196e2d6bdc75f74 Mon Sep 17 00:00:00 2001 From: Dima Date: Mon, 30 Sep 2024 14:30:41 +0200 Subject: [PATCH 15/27] Update README.md --- README.md | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/README.md b/README.md index e42027a..856b96b 100644 --- a/README.md +++ b/README.md @@ -62,8 +62,8 @@ python ./pyplot.py 2022-09-11_18-49-07.npy This feature allows you to use the camera in a lock-in mode. This allows for very precise measurements of hotspots on anything that can be modulated in some way. Examples include silicon dies, circuit boards, people (lock in based on heart rate) and potentially many others. -As mentioned above the device under test needs to be stimulated on command from, the script sends commands into a provided serial port to do this. -A `1\n` indicates that we want to turn the modulation on, a `0\n` turns it off. The modulation frequency, serial port and integration time are all provided as command line arguments. +As mentioned above the device under test needs to be stimulated on command, the script sends commands into a provided serial port to do this. +A `1\n` indicates that we want to turn the supply/stimulant on, a `0\n` turns it off. The modulation frequency, serial port and integration time are all provided as command line arguments. For example, the below command will use a modulation frequency of 1Hz, an integration time of 10s and send the commands to `/dev/ttyACM0`: From ed1364d97e7e2cc20c8cd6959933823e68c09ec1 Mon Sep 17 00:00:00 2001 From: Dima Date: Sun, 10 Nov 2024 14:54:15 +0100 Subject: [PATCH 16/27] Update README.md --- README.md | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/README.md b/README.md index 856b96b..ebf6c4d 100644 --- a/README.md +++ b/README.md @@ -12,8 +12,8 @@ or pure `opencv` - much faster but without most features Upon startup the app automatically looks for supported cameras by matching the resolutions. +Running `python ./pyplot.py` will start the camera stream and show the controls below: ``` -python ./pyplot.py keys: 'h' - help 'q' - quit @@ -37,8 +37,10 @@ mouse: left button - add Region Of Interest (ROI) right button - add user temperature annotation ``` +While the program is running you can use these controls in the camera view to control how it looks and behaves. -Alternatively you can specify the video device directly with `-d` to skip the search routine. + +You can specify the video device directly with `-d` to the startup command to skip the search routine. Also for T2S+ V2 users (and potentially for others, where the camera sends raw data and doesn't do onboard processing resulting in the image looking like a pixelated mess) you can specify the `-r` option to tell the program to treat the camera stream as raw sensor data. This will perform a few calibration routines and present you with a usable image doing the sensor processing in python. There is also the `-o` parameter which adds an offset to the entire frames temperature values. This is useful for calibrating the camera since the raw mode sometimes ends up with a constant offset to the image, but this is specific to the camera and thus can be found once and then used for subsequent runs. 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[PATCH 18/27] Auto-format using ruff, add ruff to project dependencies --- display.py | 47 +++-- example_simple.py | 54 ++++-- irpythermal.py | 434 +++++++++++++++++++++++++++---------------- opencv.py | 16 +- poetry.lock | 29 ++- pyplot.py | 455 ++++++++++++++++++++++++++++------------------ pyproject.toml | 3 + utils.py | 157 +++++++++------- 8 files changed, 748 insertions(+), 447 deletions(-) diff --git a/display.py b/display.py index 51d5f9b..3653650 100644 --- a/display.py +++ b/display.py @@ -1,9 +1,10 @@ -import numpy as np import matplotlib.pyplot as plt +import numpy as np from matplotlib.widgets import Button # Load the numpy file -data = np.load('./2024-06-21_23-02-55.npy') +data = np.load("./2024-06-21_23-02-55.npy") + # Function to get the pixel number def get_pixel_number(x, y, width, height, origin=(0, 0)): @@ -11,35 +12,42 @@ def get_pixel_number(x, y, width, height, origin=(0, 0)): pixel_number = (y - zero_y) * width + (x - zero_x) return pixel_number + # Click event handler def onclick(event): global arrow, rect x, y = int(event.xdata), int(event.ydata) height, width = data.shape - + if x >= 0 and y >= 0 and x < width and y < height: pixel_number = get_pixel_number(x, y, width, height, origin=(zero_x, zero_y)) pixel_value = data[y, x] - print(f'Pixel ({x}, {y}) has number: {pixel_number} and value: {pixel_value}') - + print(f"Pixel ({x}, {y}) has number: {pixel_number} and value: {pixel_value}") + # Clear the previous highlight if arrow: arrow.remove() if rect: rect.remove() - + # Draw an arrow pointing to the clicked pixel with detailed information - arrow = ax.annotate(f'({x}, {y})\nNumber: {pixel_number}\nValue: {pixel_value}', - xy=(x, y), xytext=(x+10, y+10), - arrowprops=dict(facecolor='red', shrink=0.05), - bbox=dict(boxstyle="round,pad=0.3", edgecolor='red', facecolor='white')) - + arrow = ax.annotate( + f"({x}, {y})\nNumber: {pixel_number}\nValue: {pixel_value}", + xy=(x, y), + xytext=(x + 10, y + 10), + arrowprops=dict(facecolor="red", shrink=0.05), + bbox=dict(boxstyle="round,pad=0.3", edgecolor="red", facecolor="white"), + ) + # Draw a rectangle around the clicked pixel - rect = plt.Rectangle((x-0.5, y-0.5), 1, 1, edgecolor='red', facecolor='none') + rect = plt.Rectangle( + (x - 0.5, y - 0.5), 1, 1, edgecolor="red", facecolor="none" + ) ax.add_patch(rect) - + fig.canvas.draw() + # Function to highlight all non-zero pixels def highlight_non_zero(event): global scatter @@ -49,14 +57,15 @@ def highlight_non_zero(event): else: non_zero_pixels = np.argwhere(data != 0) y, x = non_zero_pixels[:, 0], non_zero_pixels[:, 1] - scatter = ax.scatter(x, y, color='blue', s=10) - + scatter = ax.scatter(x, y, color="blue", s=10) + fig.canvas.draw() + # Load and display the image fig, ax = plt.subplots() plt.subplots_adjust(bottom=0.2) # Adjust to make space for the button -ax.imshow(data, cmap='gray') +ax.imshow(data, cmap="gray") # Define origin zero_x, zero_y = 0, 192 # Adjust these values to set a different origin @@ -67,13 +76,13 @@ def highlight_non_zero(event): scatter = None # Connect the click event -cid = fig.canvas.mpl_connect('button_press_event', onclick) +cid = fig.canvas.mpl_connect("button_press_event", onclick) # Add a button to highlight non-zero pixels ax_button = plt.axes([0.8, 0.05, 0.1, 0.075]) -btn = Button(ax_button, 'Toggle Non-Zero') +btn = Button(ax_button, "Toggle Non-Zero") btn.on_clicked(highlight_non_zero) # plt.tight_layout() -plt.show() \ No newline at end of file +plt.show() diff --git a/example_simple.py b/example_simple.py index 7698f2d..b62c8b1 100755 --- a/example_simple.py +++ b/example_simple.py @@ -1,8 +1,9 @@ #!/usr/bin/python3 import time + import numpy as np -import irpythermal +import irpythermal # create camera object and do a initial calibration cap = irpythermal.HT301() @@ -14,26 +15,49 @@ info, temperature_lookup_table = cap.info() point = (10, 20) -print('temperature at point:', point, 'is:', temperature_lookup_table[frame[point]], '°C', '[raw ADC value:', frame[point], ']') -#print('additional info:', info) - -time.sleep(5) # not needed -print('click, click') +print( + "temperature at point:", + point, + "is:", + temperature_lookup_table[frame[point]], + "°C", + "[raw ADC value:", + frame[point], + "]", +) +# print('additional info:', info) + +time.sleep(5) # not needed +print("click, click") cap.calibrate() -time.sleep(5) # not needed +time.sleep(5) # not needed # read next frame ret, frame = cap.read() info, temperature_lookup_table = cap.info() -print('temperature at point:', point, 'is:', temperature_lookup_table[frame[point]], '°C', '[raw ADC value:', frame[point], ']') -#print('additional info:', info) - -print('temperature at any point:', temperature_lookup_table[frame]) -print('frame shape:', frame.shape, 'data type:', frame.dtype) -#result: frame shape: (288, 384) data type: uint16 -print('T lut shape:', temperature_lookup_table.shape, 'data type:', temperature_lookup_table.dtype) -#result: T lut shape: (16384,) data type: float64 +print( + "temperature at point:", + point, + "is:", + temperature_lookup_table[frame[point]], + "°C", + "[raw ADC value:", + frame[point], + "]", +) +# print('additional info:', info) + +print("temperature at any point:", temperature_lookup_table[frame]) +print("frame shape:", frame.shape, "data type:", frame.dtype) +# result: frame shape: (288, 384) data type: uint16 +print( + "T lut shape:", + temperature_lookup_table.shape, + "data type:", + temperature_lookup_table.dtype, +) +# result: T lut shape: (16384,) data type: float64 # release camera object cap.release() diff --git a/irpythermal.py b/irpythermal.py index 4c37a13..2f6522a 100755 --- a/irpythermal.py +++ b/irpythermal.py @@ -1,35 +1,40 @@ #!/usr/bin/python3 import math -from sys import platform -from typing import Tuple import time +from sys import platform from time import sleep +from typing import Tuple import cv2 import numpy as np -SET_CORRECTION = 0 * 4 -SET_REFLECTION = 1 * 4 -SET_AMB = 2 * 4 -SET_HUMIDITY = 3 * 4 -SET_EMISSIVITY = 4 * 4 -SET_DISTANCE = 5 * 4 +SET_CORRECTION = 0 * 4 +SET_REFLECTION = 1 * 4 +SET_AMB = 2 * 4 +SET_HUMIDITY = 3 * 4 +SET_EMISSIVITY = 4 * 4 +SET_DISTANCE = 5 * 4 ROWS_SPECIAL_DATA = 4 + def read_u16(arr_u16, offset): - ''' arr: np.uint16 ''' + """arr: np.uint16""" return arr_u16[offset] + def read_f32(arr_u16, offset, step=2): - ''' arr: np.uint16 ''' - return arr_u16[offset:offset+step].view(np.float32)[0] + """arr: np.uint16""" + return arr_u16[offset : offset + step].view(np.float32)[0] + def read_u8(arr_u16, offset, step): - return arr_u16[offset:offset + step].view(np.uint8) + return arr_u16[offset : offset + step].view(np.uint8) + class Camera: """Class for reading data from the XTherm/HT301/InfiRay thermal cameras""" + supported_resolutions = {(240, 180), (256, 192), (384, 288), (640, 512)} ZEROC = 273.15 distance_multiplier = 1.0 @@ -39,37 +44,42 @@ class Camera: range = 120 cal_00_offset = 390.0 cal_00_fpamul = 7.05 - + correction_coefficient_m = 1 correction_coefficient_b = 0 - - height:int - width:int - frame_width:int - frame_height:int - frame:np.ndarray - frame_raw:np.ndarray - meta:np.ndarray - device_strings:Tuple[str, str, str, str, str, str] - userArea:int - amountPixels:int - fourLinePara:int - cap:cv2.VideoCapture - frame_raw_u16:np.ndarray + + height: int + width: int + frame_width: int + frame_height: int + frame: np.ndarray + frame_raw: np.ndarray + meta: np.ndarray + device_strings: Tuple[str, str, str, str, str, str] + userArea: int + amountPixels: int + fourLinePara: int + cap: cv2.VideoCapture + frame_raw_u16: np.ndarray camera_raw = False reference_frame = None offset_mean = 0.0 dead_pixels_mask = None - def __init__(self, video_dev:cv2.VideoCapture|None=None, camera_raw = False, fixed_offset : float = 0.0) -> None: + def __init__( + self, + video_dev: cv2.VideoCapture | None = None, + camera_raw=False, + fixed_offset: float = 0.0, + ) -> None: if video_dev is None: video_dev = self.find_device() if not video_dev: raise Exception("No video device found!") self.cap = video_dev self.camera_raw = camera_raw - self.height = int(self.cap.get(cv2.CAP_PROP_FRAME_HEIGHT))-ROWS_SPECIAL_DATA + self.height = int(self.cap.get(cv2.CAP_PROP_FRAME_HEIGHT)) - ROWS_SPECIAL_DATA self.width = int(self.cap.get(cv2.CAP_PROP_FRAME_WIDTH)) self.frame_rate = self.cap.get(cv2.CAP_PROP_FPS) @@ -78,14 +88,13 @@ def __init__(self, video_dev:cv2.VideoCapture|None=None, camera_raw = False, fix self.fourLinePara = self.width * self.height self.init_parameters() self.userArea = self.amountPixels + 127 - # Decide whether or not convert data to RGB self.cap.set(cv2.CAP_PROP_CONVERT_RGB, 0) - + # using Raw mode 16 bit data self.cap.set(cv2.CAP_PROP_ZOOM, 0x8004) - + # Wait for the camera to apply the temperature range change self.wait_for_range_application() @@ -97,125 +106,183 @@ def get_resolution(self) -> Tuple[int, int]: def find_device(cls) -> cv2.VideoCapture: """Find a supported thermal camera - - Optionally narrow down the resultion of the camera too look for.""" + + Optionally narrow down the resultion of the camera too look for.""" for i in range(10): try: - if platform.startswith('linux'): + if platform.startswith("linux"): cap = cv2.VideoCapture(i, cv2.CAP_V4L2) else: cap = cv2.VideoCapture(i) - + cap_width = cap.get(cv2.CAP_PROP_FRAME_WIDTH) cap_height = cap.get(cv2.CAP_PROP_FRAME_HEIGHT) - print(f"Found a camera {i} with resolution {int(cap_width)}x{int(cap_height)}") - - if (cap_width, cap_height-ROWS_SPECIAL_DATA) in cls.supported_resolutions: + print( + f"Found a camera {i} with resolution {int(cap_width)}x{int(cap_height)}" + ) + + if ( + cap_width, + cap_height - ROWS_SPECIAL_DATA, + ) in cls.supported_resolutions: return cap - except: pass - raise ValueError(f"Cannot find camera with a width of one of {cls.supported_resolutions} that also matches: {width=} and {height=}") + except: + pass + raise ValueError( + f"Cannot find camera with a width of one of {cls.supported_resolutions} that also matches: {width=} and {height=}" + ) def bin_to_twos_complement(self, binary: str) -> int: - if binary[0] == '1': - return int(binary, 2) - 2**len(binary) + if binary[0] == "1": + return int(binary, 2) - 2 ** len(binary) return int(binary, 2) def info(self) -> Tuple[dict, np.ndarray]: - shutTemper = read_u16(self.frame_raw_u16, self.fourLinePara + self.amountPixels + 1) # 257 + shutTemper = read_u16( + self.frame_raw_u16, self.fourLinePara + self.amountPixels + 1 + ) # 257 if self.camera_raw: if shutTemper < 2049: floatShutTemper = float(shutTemper) corrFactor = 0.625 else: - floatShutTemper = float(0xfff - shutTemper) + floatShutTemper = float(0xFFF - shutTemper) corrFactor = -0.625 - shutterFix = self.bin_to_twos_complement((bin(read_u16(self.frame_raw_u16, self.fourLinePara + self.amountPixels * 2 + 47))[2:].zfill(16))[:8]) / 10.0 # 559 + shutterFix = ( + self.bin_to_twos_complement( + ( + bin( + read_u16( + self.frame_raw_u16, + self.fourLinePara + self.amountPixels * 2 + 47, + ) + )[2:].zfill(16) + )[:8] + ) + / 10.0 + ) # 559 floatShutTemper = (floatShutTemper * corrFactor + 2731.5) / 10.0 + -273.15 floatShutTemper = floatShutTemper + shutterFix # TODO fix this readout for the T2S+ v2 # The temperature is indeed being red out, but the sensor is located in some weird place, # it gets hot super fast and causes the entire image to drift, I couldn't figure out how to deal with that # hard coding ~18C (room temp) works pretty good tho... - #floatShutTemper = 18.0 + # floatShutTemper = 18.0 else: floatShutTemper = shutTemper / 10.0 - self.ZEROC - coreTemper = read_u16(self.frame_raw_u16, self.fourLinePara + self.amountPixels + 2) # 258 + coreTemper = read_u16( + self.frame_raw_u16, self.fourLinePara + self.amountPixels + 2 + ) # 258 if self.camera_raw: # TODO fix this readout for the T2S+ v2 # I don't even think the v2 has a separate core and shutter temperature registers... - #floatCoreTemper = 18.0 + # floatCoreTemper = 18.0 floatCoreTemper = floatShutTemper - shutterFix - #floatShutTemper = 18.0 + # floatShutTemper = 18.0 else: floatCoreTemper = coreTemper / 10.0 - self.ZEROC # print(f"Shutter temperature: {floatShutTemper}°C, Core temperature: {coreTemper / 10.0 - self.ZEROC}°C") - + # TODO check all of these - cal_00 = float(read_u16(self.frame_raw_u16, self.fourLinePara + self.amountPixels)) # 256 - self.cal_01 = read_f32(self.frame_raw_u16, self.fourLinePara + self.amountPixels + 3) # 259 - cal_02 = read_f32(self.frame_raw_u16, self.fourLinePara + self.amountPixels + 5) # 261 - cal_03 = read_f32(self.frame_raw_u16, self.fourLinePara + self.amountPixels + 7) # 263 - cal_04 = read_f32(self.frame_raw_u16, self.fourLinePara + self.amountPixels + 9) # 265 - cal_05 = read_f32(self.frame_raw_u16, self.fourLinePara + self.amountPixels + 11) # 267 - - cameraSoftVersion: np.ndarray = read_u8(self.frame_raw_u16, self.fourLinePara + self.amountPixels + 24, step=8) # 280-287? + cal_00 = float( + read_u16(self.frame_raw_u16, self.fourLinePara + self.amountPixels) + ) # 256 + self.cal_01 = read_f32( + self.frame_raw_u16, self.fourLinePara + self.amountPixels + 3 + ) # 259 + cal_02 = read_f32( + self.frame_raw_u16, self.fourLinePara + self.amountPixels + 5 + ) # 261 + cal_03 = read_f32( + self.frame_raw_u16, self.fourLinePara + self.amountPixels + 7 + ) # 263 + cal_04 = read_f32( + self.frame_raw_u16, self.fourLinePara + self.amountPixels + 9 + ) # 265 + cal_05 = read_f32( + self.frame_raw_u16, self.fourLinePara + self.amountPixels + 11 + ) # 267 + + cameraSoftVersion: np.ndarray = read_u8( + self.frame_raw_u16, self.fourLinePara + self.amountPixels + 24, step=8 + ) # 280-287? cameraSoftVersion = cameraSoftVersion.tobytes().decode("ascii").rstrip("\x00") - + # this one is reading out incorrectly? - sn: np.ndarray = read_u8(self.frame_raw_u16, self.fourLinePara + self.amountPixels + 32, step=3) # 288-290? - sn = sn.tobytes().decode("ascii").rstrip("\x00") - - correction = read_f32(self.frame_raw_u16, self.fourLinePara + self.userArea) # 383 - Refltmp = read_f32(self.frame_raw_u16, self.fourLinePara + self.userArea + 2) # 385 - Airtmp = read_f32(self.frame_raw_u16, self.fourLinePara + self.userArea + 4) # 387 - humi = read_f32(self.frame_raw_u16, self.fourLinePara + self.userArea + 6) # 389 - emiss = read_f32(self.frame_raw_u16, self.fourLinePara + self.userArea + 8) # 391 - distance = read_u16(self.frame_raw_u16, self.fourLinePara + self.userArea + 10) # 393 - - fpa_avg = read_u16(self.frame_raw_u16, self.fourLinePara) # 0 - fpaTmp = read_u16(self.frame_raw_u16, self.fourLinePara + 1) # 1 - maxx1 = read_u16(self.frame_raw_u16, self.fourLinePara + 2) # 2 - maxy1 = read_u16(self.frame_raw_u16, self.fourLinePara + 3) # 3 - self.max_raw = read_u16(self.frame_raw_u16, self.fourLinePara + 4) # 4 - minx1 = read_u16(self.frame_raw_u16, self.fourLinePara + 5) # 5 - miny1 = read_u16(self.frame_raw_u16, self.fourLinePara + 6) # 6 - self.min_raw = read_u16(self.frame_raw_u16, self.fourLinePara + 7) # 7 - self.avg_raw = read_u16(self.frame_raw_u16, self.fourLinePara + 8) # 8 - + sn: np.ndarray = read_u8( + self.frame_raw_u16, self.fourLinePara + self.amountPixels + 32, step=3 + ) # 288-290? + sn = sn.tobytes().decode("ascii").rstrip("\x00") + + correction = read_f32( + self.frame_raw_u16, self.fourLinePara + self.userArea + ) # 383 + Refltmp = read_f32( + self.frame_raw_u16, self.fourLinePara + self.userArea + 2 + ) # 385 + Airtmp = read_f32( + self.frame_raw_u16, self.fourLinePara + self.userArea + 4 + ) # 387 + humi = read_f32( + self.frame_raw_u16, self.fourLinePara + self.userArea + 6 + ) # 389 + emiss = read_f32( + self.frame_raw_u16, self.fourLinePara + self.userArea + 8 + ) # 391 + distance = read_u16( + self.frame_raw_u16, self.fourLinePara + self.userArea + 10 + ) # 393 + + fpa_avg = read_u16(self.frame_raw_u16, self.fourLinePara) # 0 + fpaTmp = read_u16(self.frame_raw_u16, self.fourLinePara + 1) # 1 + maxx1 = read_u16(self.frame_raw_u16, self.fourLinePara + 2) # 2 + maxy1 = read_u16(self.frame_raw_u16, self.fourLinePara + 3) # 3 + self.max_raw = read_u16(self.frame_raw_u16, self.fourLinePara + 4) # 4 + minx1 = read_u16(self.frame_raw_u16, self.fourLinePara + 5) # 5 + miny1 = read_u16(self.frame_raw_u16, self.fourLinePara + 6) # 6 + self.min_raw = read_u16(self.frame_raw_u16, self.fourLinePara + 7) # 7 + self.avg_raw = read_u16(self.frame_raw_u16, self.fourLinePara + 8) # 8 + fpatmp_ = 20.0 - (float(fpaTmp) - self.fpa_off) / self.fpa_div - - center_raw = read_u16(self.frame_raw_u16, self.fourLinePara + 12) # 12 - user_raw00 = read_u16(self.frame_raw_u16, self.fourLinePara + 13) # 13 - user_raw01 = read_u16(self.frame_raw_u16, self.fourLinePara + 14) # 14 - user_raw02 = read_u16(self.frame_raw_u16, self.fourLinePara + 15) # 15 - - distance_adjusted = (20.0 if distance >= 20.0 else distance) * self.distance_multiplier + + center_raw = read_u16(self.frame_raw_u16, self.fourLinePara + 12) # 12 + user_raw00 = read_u16(self.frame_raw_u16, self.fourLinePara + 13) # 13 + user_raw01 = read_u16(self.frame_raw_u16, self.fourLinePara + 14) # 14 + user_raw02 = read_u16(self.frame_raw_u16, self.fourLinePara + 15) # 15 + + distance_adjusted = ( + 20.0 if distance >= 20.0 else distance + ) * self.distance_multiplier atm = self.atmt(humi, Airtmp, distance_adjusted) - self.numerator_sub = (1.0 - emiss) * atm * math.pow(Refltmp + self.ZEROC, 4) + (1.0 - atm) * math.pow(Airtmp + self.ZEROC, 4) + self.numerator_sub = (1.0 - emiss) * atm * math.pow(Refltmp + self.ZEROC, 4) + ( + 1.0 - atm + ) * math.pow(Airtmp + self.ZEROC, 4) self.denominator = emiss * atm - + ts = floatShutTemper + self.offset_temp_shutter tfpa = fpatmp_ + self.offset_temp_fpa - + self.cal_a = cal_02 / (self.cal_01 + self.cal_01) self.cal_b = cal_02 * cal_02 / (self.cal_01 * self.cal_01 * 4.0) self.cal_c = self.cal_01 * math.pow(ts, 2) + ts * cal_02 self.cal_d = cal_03 * math.pow(tfpa, 2) + cal_04 * tfpa + cal_05 cal_00_corr = 0 - + if self.range == 120: cal_00_corr = int(self.cal_00_offset - tfpa * self.cal_00_fpamul) - + table_offset = cal_00 - (cal_00_corr if cal_00_corr > 0 else 0) - - temperatureTable = self.get_temp_table(correction, Airtmp, table_offset, distance_adjusted) + + temperatureTable = self.get_temp_table( + correction, Airtmp, table_offset, distance_adjusted + ) temperatureTable = temperatureTable + self.userOffset - - ''' build infomation ''' + + """ build infomation """ info = { "temp_shutter": floatShutTemper, "temp_core": floatCoreTemper, @@ -245,7 +312,7 @@ def info(self) -> Tuple[dict, np.ndarray]: "temp_user_01": temperatureTable[user_raw01], "temp_user_02": temperatureTable[user_raw02], "Tmin_point": (minx1, miny1), - "Tmax_point": (maxx1, maxy1), + "Tmax_point": (maxx1, maxy1), "Tcenter_point": (self.width // 2, self.height // 2), "Tmin_C": temperatureTable[self.min_raw], "Tmax_C": temperatureTable[self.max_raw], @@ -253,13 +320,17 @@ def info(self) -> Tuple[dict, np.ndarray]: } return info, temperatureTable - + # read raw data from cam, seperate visible frame from metadata - def read(self, raw = False) -> Tuple[bool, np.ndarray]: + def read(self, raw=False) -> Tuple[bool, np.ndarray]: """Retunrs a raw frame from the camera""" ret, frame_raw = self.cap.read() self.frame_raw_u16: np.ndarray = frame_raw.view(np.uint16).ravel() - frame_visible = self.frame_raw_u16[:self.fourLinePara].copy().reshape(self.height, self.width) + frame_visible = ( + self.frame_raw_u16[: self.fourLinePara] + .copy() + .reshape(self.height, self.width) + ) if raw: return ret, frame_visible if self.reference_frame is not None: @@ -271,10 +342,15 @@ def read(self, raw = False) -> Tuple[bool, np.ndarray]: if self.dead_pixels_mask is not None: inpaint_radius = 3 - corrected_frame = cv2.inpaint(corrected_frame, self.dead_pixels_mask, inpaint_radius, cv2.INPAINT_TELEA) + corrected_frame = cv2.inpaint( + corrected_frame, + self.dead_pixels_mask, + inpaint_radius, + cv2.INPAINT_TELEA, + ) frame_visible = corrected_frame.astype(np.uint16) - + return ret, frame_visible def get_frame(self) -> np.ndarray: @@ -283,98 +359,103 @@ def get_frame(self) -> np.ndarray: info, lut = self.info() lut_frame = lut[frame] return lut_frame - + def convert_to_frame(self, frame_raw: np.ndarray, lut: np.ndarray) -> np.ndarray: """Converts a raw frame to a frame with temperature values""" - return lut[frame_raw] + return lut[frame_raw] def set_correction(self, correction: float) -> None: self.sendFloatCommand(position=SET_CORRECTION, value=correction) - + def set_reflection(self, reflection: float) -> None: self.sendFloatCommand(position=SET_REFLECTION, value=reflection) def set_amb(self, amb: float) -> None: self.sendFloatCommand(position=SET_AMB, value=amb) - + def set_humidity(self, humidity: float) -> None: self.sendFloatCommand(position=SET_HUMIDITY, value=humidity) - + def set_emissivity(self, emiss: float) -> None: self.sendFloatCommand(position=SET_EMISSIVITY, value=emiss) - + def set_distance(self, distance: int) -> None: self.sendUshortCommand(position=SET_DISTANCE, value=distance) - ''' Control methods''' + """ Control methods""" + # send command and a float value to camera def sendFloatCommand(self, position: int, value: float) -> None: # Split float to 4 bytes b0, b1, b2, b3 = np.array([value], dtype=np.float32).view(np.uint8) - - positionAndValue0 = (position << 8) | (0x000000ff & b0) + + positionAndValue0 = (position << 8) | (0x000000FF & b0) if not self.cap.set(cv2.CAP_PROP_ZOOM, positionAndValue0): print("Control fail {}".format(positionAndValue0)) - - positionAndValue1 = ((position + 1) << 8) | (0x000000ff & b1) + + positionAndValue1 = ((position + 1) << 8) | (0x000000FF & b1) if not self.cap.set(cv2.CAP_PROP_ZOOM, positionAndValue1): print("Control fail {}".format(positionAndValue1)) - - positionAndValue2 = ((position + 2) << 8) | (0x000000ff & b2) + + positionAndValue2 = ((position + 2) << 8) | (0x000000FF & b2) if not self.cap.set(cv2.CAP_PROP_ZOOM, positionAndValue2): print("Control fail {}".format(positionAndValue2)) - positionAndValue3 = ((position + 3) << 8) | (0x000000ff & b3) + positionAndValue3 = ((position + 3) << 8) | (0x000000FF & b3) if not self.cap.set(cv2.CAP_PROP_ZOOM, positionAndValue3): print("Control fail {}".format(positionAndValue3)) # send command and 16 bit value to camera def sendUshortCommand(self, position: int, value: int) -> None: value0, value1 = np.array([value], dtype=np.uint16).view(np.uint8) - positionAndValue0 = (position << 8) | (0x000000ff & value0) + positionAndValue0 = (position << 8) | (0x000000FF & value0) if not self.cap.set(cv2.CAP_PROP_ZOOM, positionAndValue0): print("Control fail {}".format(positionAndValue0)) - - positionAndValue1 = ((position + 1) << 8) | (0x000000ff & value1) + + positionAndValue1 = ((position + 1) << 8) | (0x000000FF & value1) if not self.cap.set(cv2.CAP_PROP_ZOOM, positionAndValue1): print("Control fail {}".format(positionAndValue1)) # send command and byte value to camera def sendByteCommand(self, position: int, value: int) -> None: value0 = np.array([value], dtype=np.uint8)[0] - psitionAndValue0 = (position << 8) | (0x000000ff & value0) + psitionAndValue0 = (position << 8) | (0x000000FF & value0) self.cap.set(cv2.CAP_PROP_ZOOM, psitionAndValue0) # save set parameters def save_parameters(self) -> None: - self.cap.set(cv2.CAP_PROP_ZOOM, 0x80ff) + self.cap.set(cv2.CAP_PROP_ZOOM, 0x80FF) # set custom point to measure temperature def set_point(self, x: int, y: int, index: int) -> None: match index: case 0: - x1 = 0xf000 + x - y1 = 0xf200 + y + x1 = 0xF000 + x + y1 = 0xF200 + y case 1: - x1 = 0xf400 + x - y1 = 0xf600 + y + x1 = 0xF400 + x + y1 = 0xF600 + y case 2: - x1 = 0xf800 + x - y1 = 0xfa00 + y + x1 = 0xF800 + x + y1 = 0xFA00 + y case _: - raise ValueError("Invalid index: {}.\nCan only set 3 custom points to measure temperature at indexes: {}, {}, {}".format(index, 0, 1, 2)) - + raise ValueError( + "Invalid index: {}.\nCan only set 3 custom points to measure temperature at indexes: {}, {}, {}".format( + index, 0, 1, 2 + ) + ) + self.cap.set(cv2.CAP_PROP_ZOOM, x1) self.cap.set(cv2.CAP_PROP_ZOOM, y1) def calibrate_raw(self, quiet=False) -> None: - '''Camera calibration for cameras that return raw data only''' + """Camera calibration for cameras that return raw data only""" self.reference_frame = None self.offset_mean = 0.0 self.dead_pixels_mask = None # uniformity correction sleep(0.5) - self.cap.set(cv2.CAP_PROP_ZOOM, 0x8000) # close shutter + self.cap.set(cv2.CAP_PROP_ZOOM, 0x8000) # close shutter sleep(0.3) # wait for the shutter to close self.flush_buffer() # by issuing this command faster than once per second, we can keep the shutter closed @@ -392,30 +473,34 @@ def calibrate_raw(self, quiet=False) -> None: min_val = np.min(frame_visible_float) max_val = np.max(frame_visible_float) print(f"Min: {min_val}, Max: {max_val}, Avg: {np.mean(frame_visible_float)}") - threshold_margin = (max_val - min_val) * 0.05 # Adjust the margin if not detected correctly + threshold_margin = ( + max_val - min_val + ) * 0.05 # Adjust the margin if not detected correctly threshold = min_val + threshold_margin # if there are no dead pixels, we skip the dead pixel correction if np.count_nonzero(frame_visible_float < threshold) != 0: - self.dead_pixels_mask = cv2.inRange(frame_visible_float, 0, threshold).astype(np.uint8) + self.dead_pixels_mask = cv2.inRange( + frame_visible_float, 0, threshold + ).astype(np.uint8) if not quiet: print(f"Found {np.count_nonzero(self.dead_pixels_mask)} dead pixels") print(f"At: {np.argwhere(self.dead_pixels_mask)}") def calibrate(self, quiet=False) -> None: - '''camera calibration''' + """camera calibration""" if self.camera_raw: self.calibrate_raw(quiet=quiet) else: self.cap.set(cv2.CAP_PROP_ZOOM, 0x8000) def release(self) -> None: - ''' Release cap opencv ''' + """Release cap opencv""" self.cap.release() def init_parameters(self) -> None: - ''' Initalize parameters based on thermal camera resolution ''' + """Initalize parameters based on thermal camera resolution""" match self.width: case 640: self.fpa_off = 6867 @@ -424,7 +509,7 @@ def init_parameters(self) -> None: case 384: self.fpa_off = 7800 self.fpa_div = 36.0 - self.amountPixels = self.width * 3 + self.amountPixels = self.width * 3 case 256: self.fpa_off = 8617 self.fpa_div = 37.682 @@ -435,45 +520,69 @@ def init_parameters(self) -> None: self.fpa_off = 7800 self.fpa_div = 36.0 self.amountPixels = self.width - case _: raise ValueError("{} does not match supported device".format(self.width)) - + case _: + raise ValueError( + "{} does not match supported device".format(self.width) + ) + + """ Temperature calculation """ - - ''' Temperature calculation ''' # Water vapor coefficient from humidity and ambient temperature def wvc(self, h: float, t_atm: float): h1 = 1.5587 h2 = 0.06939 h3 = -2.7816e-4 h4 = 6.8455e-7 - return h * math.exp(h1 + h2 * t_atm + h3 * math.pow(t_atm, 2) + h4 * math.pow(t_atm, 3)) + return h * math.exp( + h1 + h2 * t_atm + h3 * math.pow(t_atm, 2) + h4 * math.pow(t_atm, 3) + ) # Transmittance of the atmosphere from humitity, ambient temperature and distance. def atmt(self, h: float, t_atm: float, d: float): k_atm = 1.9 nsqd = -math.sqrt(d) sqw = math.sqrt(self.wvc(h, t_atm)) - - '''Athmospheric attenuation without water vapor''' + + """Athmospheric attenuation without water vapor""" a1 = 0.006569 a2 = 0.01262 - - '''Attenuation for water vapor.''' + + """Attenuation for water vapor.""" b1 = -0.002276 b2 = -0.00667 - return k_atm * math.exp(nsqd * (a1 + b1 * sqw)) + (1.0 - k_atm) * math.exp(nsqd * (a2 + b2 * sqw)) + return k_atm * math.exp(nsqd * (a1 + b1 * sqw)) + (1.0 - k_atm) * math.exp( + nsqd * (a2 + b2 * sqw) + ) - # calculate temperature table + # calculate temperature table # for each 16 bit value from frame data will return correspond temperture value def get_temp_table(self, correction, Airtmp, table_offset, distance_adjusted): - ''' x: uint16 ''' - n = np.sqrt(np.abs(((np.arange(16384, dtype=np.float32) - table_offset) * self.cal_d + self.cal_c) / self.cal_01 + self.cal_b)) - n[np.isnan(n)] = 0.0 + """x: uint16""" + n = np.sqrt( + np.abs( + ( + (np.arange(16384, dtype=np.float32) - table_offset) * self.cal_d + + self.cal_c + ) + / self.cal_01 + + self.cal_b + ) + ) + n[np.isnan(n)] = 0.0 wtot = np.power(n - self.cal_a + self.ZEROC, 4) - ttot = np.power((wtot - self.numerator_sub) / self.denominator, 0.25) - self.ZEROC + ttot = ( + np.power((wtot - self.numerator_sub) / self.denominator, 0.25) - self.ZEROC + ) # TODO, ttot is being directly read out according to the decomp, how is it calculated here exactly? (fVar7) offset ~269 - temperatureTable = ttot + (distance_adjusted * 0.85 - 1.125) * (ttot - Airtmp) / 100.0 + correction - return self.correction_coefficient_m * temperatureTable + self.correction_coefficient_b + temperatureTable = ( + ttot + + (distance_adjusted * 0.85 - 1.125) * (ttot - Airtmp) / 100.0 + + correction + ) + return ( + self.correction_coefficient_m * temperatureTable + + self.correction_coefficient_b + ) def temperature_range_normal(self): """Switch camera to the normal temperature range (-20°C to 120°C)""" @@ -525,16 +634,16 @@ def wait_for_range_application(self, timeout=20): if std > min_val and lowest - std < margin: print(f"Camera is stable with std: {std}") return True - + if std < lowest and std > min_val: lowest = std - - elif done: + + elif done: print("Camera is stable") return True return False - + def flush_buffer(self, num_reads=16): for i in range(num_reads): ret, frame_visible = self.read(raw=True) @@ -543,12 +652,12 @@ def flush_buffer(self, num_reads=16): class MockVidoCapture: def set(self, propId, value): setattr(self, str(propId), value) + def get(self, propId): return getattr(self, str(propId)) class CameraEmulator(Camera): - def __init__(self, filename): frame_raw_u16 = np.load(filename, allow_pickle=True) self.cap = MockVidoCapture() @@ -556,7 +665,12 @@ def __init__(self, filename): self.cap.set(cv2.CAP_PROP_FRAME_WIDTH, frame_raw_u16.shape[1]) self.frame_raw_u16 = frame_raw_u16.ravel() super().__init__(video_dev=self.cap) + def read(self) -> Tuple[bool, np.ndarray]: ret = True - frame_visible = self.frame_raw_u16[:self.fourLinePara].copy().reshape(self.height, self.width) + frame_visible = ( + self.frame_raw_u16[: self.fourLinePara] + .copy() + .reshape(self.height, self.width) + ) return ret, frame_visible diff --git a/opencv.py b/opencv.py index 92fb773..6fd5b6b 100755 --- a/opencv.py +++ b/opencv.py @@ -1,12 +1,14 @@ - #!/usr/bin/python3 -import numpy as np +import pickle +import time + import cv2 +import numpy as np +from skimage.exposure import equalize_hist, rescale_intensity + import irpythermal import utils -import time -from skimage.exposure import rescale_intensity, equalize_hist -import pickle + draw_temp = True # cap = ht301_hacklib.HT301() @@ -173,7 +175,7 @@ def get_fps(self): # some delay is needed before calibration for _ in range(50): camera.read() - 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+import cv2 +import matplotlib.animation as animation +import matplotlib.patches as patches +import matplotlib.pyplot as plt +import numpy as np +import serial from matplotlib.backend_bases import MouseButton from mpl_toolkits.axes_grid1 import make_axes_locatable -from datetime import datetime - +import irpythermal +import utils fps = 40 -exposure = {'auto': True, - 'auto_type': 'ends', # 'center' or 'ends' - 'T_min': 0., - 'T_max': 50., - 'T_margin': 2.0, +exposure = { + "auto": True, + "auto_type": "ends", # 'center' or 'ends' + "T_min": 0.0, + "T_max": 50.0, + "T_margin": 2.0, } draw_temp = True # Argument parsing -parser = argparse.ArgumentParser(description='Thermal Camera Viewer') -parser.add_argument('-r', '--rawcam', action='store_true', help='use the raw camera') -parser.add_argument('-d', '--device', type=str, help='use the camera at camera_path') -parser.add_argument('-o', '--offset', type=float, help='set a fixed offset for the temperature data') +parser = argparse.ArgumentParser(description="Thermal Camera Viewer") +parser.add_argument("-r", "--rawcam", action="store_true", help="use the raw camera") +parser.add_argument("-d", "--device", type=str, help="use the camera at camera_path") +parser.add_argument( + "-o", "--offset", type=float, help="set a fixed offset for the temperature data" +) # lock in thermometry options (all of these are requred) -parser.add_argument('-l', '--lockin', type=float, help='enable lock-in thermometry with the given frequency (in Hz), ideally several times smaller than the camera fps') -parser.add_argument('-p', '--port', type=str, help='set the serial port for the power supply control (will send 1 to turn on the load, 0 to turn it off new line terminated) at 115200 baud') -parser.add_argument('-i', '--integration', type=float, help='set the integration time for the lock-in thermometry (in seconds)') - - - -parser.add_argument('file', nargs='?', type=str, help='use the emulator with the data in file.npy') +parser.add_argument( + "-l", + "--lockin", + type=float, + help="enable lock-in thermometry with the given frequency (in Hz), ideally several times smaller than the camera fps", +) +parser.add_argument( + "-p", + "--port", + type=str, + help="set the serial port for the power supply control (will send 1 to turn on the load, 0 to turn it off new line terminated) at 115200 baud", +) +parser.add_argument( + "-i", + "--integration", + type=float, + help="set the integration time for the lock-in thermometry (in seconds)", +) + + +parser.add_argument( + "file", nargs="?", type=str, help="use the emulator with the data in file.npy" +) args = parser.parse_args() # Choose the camera class @@ -52,25 +69,27 @@ lockin = False -if args.file and args.file.endswith('.npy'): +if args.file and args.file.endswith(".npy"): camera = irpythermal.CameraEmulator(args.file) else: camera_kwargs = {} if args.rawcam: - camera_kwargs['camera_raw'] = True + camera_kwargs["camera_raw"] = True if args.device: camera_path = args.device cv2_cam = cv2.VideoCapture(camera_path) - camera_kwargs['video_dev'] = cv2_cam + camera_kwargs["video_dev"] = cv2_cam if args.offset: - camera_kwargs['fixed_offset'] = args.offset + camera_kwargs["fixed_offset"] = args.offset if args.lockin: lockin = True draw_temp = False # check if all lock-in thermometry options are provided if not args.port or not args.integration: - print('Error: lock-in thermometry also requires --port and --integration options') + print( + "Error: lock-in thermometry also requires --port and --integration options" + ) sys.exit(1) fequency = args.lockin @@ -79,17 +98,26 @@ camera = irpythermal.Camera(**camera_kwargs) -#see https://matplotlib.org/tutorials/colors/colormaps.html +# see https://matplotlib.org/tutorials/colors/colormaps.html cmaps_idx = 1 -cmaps = ['inferno', 'coolwarm', 'cividis', 'jet', 'nipy_spectral', 'binary', 'gray', 'tab10'] - -#matplotlib.rcParams['toolbar'] = 'None' +cmaps = [ + "inferno", + "coolwarm", + "cividis", + "jet", + "nipy_spectral", + "binary", + "gray", + "tab10", +] + +# matplotlib.rcParams['toolbar'] = 'None' # temporary fake frame -frame = np.full((camera.height, camera.width), 25.) -quad_frame = np.full((camera.height, camera.width), 0.) -in_phase_frame = np.full((camera.height, camera.width), 0.) -lut = None # will be defined later +frame = np.full((camera.height, camera.width), 25.0) +quad_frame = np.full((camera.height, camera.width), 0.0) +in_phase_frame = np.full((camera.height, camera.width), 0.0) +lut = None # will be defined later start_skips = 2 is_capturing = False lock = threading.Lock() @@ -97,14 +125,14 @@ if lockin: - fig, axes = plt.subplots(nrows=2, ncols=2, layout='tight') + fig, axes = plt.subplots(nrows=2, ncols=2, layout="tight") ax = axes[0][0] - im = axes[0][0].imshow(frame, cmap=cmaps[cmaps_idx]) - im_in_phase = axes[0][1].imshow(frame, cmap=cmaps[cmaps_idx]) - im_quadrature = axes[1][1].imshow(frame, cmap=cmaps[cmaps_idx]) - axes[0][0].set_title('Live') - axes[0][1].set_title('In-phase') - axes[1][1].set_title('Quadrature') + im = axes[0][0].imshow(frame, cmap=cmaps[cmaps_idx]) + im_in_phase = axes[0][1].imshow(frame, cmap=cmaps[cmaps_idx]) + im_quadrature = axes[1][1].imshow(frame, cmap=cmaps[cmaps_idx]) + axes[0][0].set_title("Live") + axes[0][1].set_title("In-phase") + axes[1][1].set_title("Quadrature") divider = make_axes_locatable(axes[0][0]) divider_in_phase = make_axes_locatable(axes[0][1]) divider_quadrature = make_axes_locatable(axes[1][1]) @@ -115,7 +143,7 @@ cbar_in_phase = plt.colorbar(im_in_phase, cax=cax_in_phase) cbar_quadrature = plt.colorbar(im_quadrature, cax=cax_quadrature) - axes[1][0].axis('off') + axes[1][0].axis("off") status_text = f""" Frame: -, Time: -/-, @@ -124,12 +152,16 @@ Integration Time: -s Serial Port: - """ - status_text_obj = axes[1][0].text(0.05, 0.95, status_text, - verticalalignment='top', - horizontalalignment='left', - transform=axes[1][0].transAxes, - fontsize=12, - color='black') + status_text_obj = axes[1][0].text( + 0.05, + 0.95, + status_text, + verticalalignment="top", + horizontalalignment="left", + transform=axes[1][0].transAxes, + fontsize=12, + color="black", + ) else: fig = plt.figure() @@ -146,81 +178,79 @@ pass annotations = utils.Annotations(ax, patches) -temp_annotations = { - 'std': { - 'Tmin': 'lightblue', - 'Tmax': 'red', - 'Tcenter': 'yellow' - }, - 'user': {} +temp_annotations = { + "std": {"Tmin": "lightblue", "Tmax": "red", "Tcenter": "yellow"}, + "user": {}, } # Add the patch to the Axes -roi = ((0,0),(0,0)) +roi = ((0, 0), (0, 0)) paused = False update_colormap = True -diff = { 'enabled': False, - 'annotation_enabled': False, - 'frame': np.zeros(frame.shape) -} +diff = {"enabled": False, "annotation_enabled": False, "frame": np.zeros(frame.shape)} csv_filename = None + + def log_annotations_to_csv(annotation_frame): anns_data = [] - for type in ['std', 'user']: + for type in ["std", "user"]: for ann_name in temp_annotations[type]: pos = annotations.get_pos(ann_name) val = round(annotations.get_val(ann_name, annotation_frame), 2) anns_data += [pos[0], pos[1], val] # store each position and value if csv_filename is not None: - with open(csv_filename, 'a', newline='') as f: + with open(csv_filename, "a", newline="") as f: writer = csv.writer(f) writer.writerow([datetime.now()] + anns_data) + import csv -from datetime import datetime #to easily get miliseconds +from datetime import datetime # to easily get miliseconds + csv_filename = None + + def log_annotations_to_csv(annotation_frame): anns_data = [] - for type in ['std', 'user']: + for type in ["std", "user"]: for ann_name in temp_annotations[type]: pos = annotations.get_pos(ann_name) val = round(annotations.get_val(ann_name, annotation_frame), 2) anns_data += [pos[0], pos[1], val] # store each position and value if csv_filename is not None: - with open(csv_filename, 'a', newline='') as f: + with open(csv_filename, "a", newline="") as f: writer = csv.writer(f) writer.writerow([datetime.now()] + anns_data) - def get_lockin_frame(freq, port, integration): - """This function will perform all of the lock-in thermometry operations, and return - the in-phase and quadrature frames after the integration time is up, while controlling + """This function will perform all of the lock-in thermometry operations, and return + the in-phase and quadrature frames after the integration time is up, while controlling the load via serial communication based on the period of the signal.""" - + global frame, is_capturing, status_text try: ser = serial.Serial(port, 115200) # Open the serial port except serial.SerialException as e: - print(f'Error: could not open serial port {port}') + print(f"Error: could not open serial port {port}") sys.exit(1) start_time = time.time() in_phase_sum = np.zeros((camera.height, camera.width)) quadrature_sum = np.zeros((camera.height, camera.width)) total_frames = 0 - + # Calculate the period of the signal period = 1.0 / freq half_period = period / 2.0 # Toggle every half period load_on = True # Track whether the load is on or off last_toggle_time = start_time # Track the last time we toggled the load - + while (time.time() - start_time) < integration: current_time = time.time() - start_time # Time since the loop started ret, raw_frame = camera.read() @@ -229,13 +259,13 @@ def get_lockin_frame(freq, port, integration): frame = camera.convert_to_frame(raw_frame, lut) if not ret: - print('Error: could not read frame from camera') + print("Error: could not read frame from camera") sys.exit(1) - + total_frames += 1 - - #if(total_frames % 10 == 0): - #print(f'Frame: {total_frames}, Time: {current_time:.2f}/{integration:.2f}') # Debugging statement + + # if(total_frames % 10 == 0): + # print(f'Frame: {total_frames}, Time: {current_time:.2f}/{integration:.2f}') # Debugging statement if True: status_text = f""" Frame: {total_frames}, @@ -250,47 +280,47 @@ def get_lockin_frame(freq, port, integration): if current_time - (last_toggle_time - start_time) >= half_period: # Toggle the load state if load_on: - ser.write(b'0\n') # Send 0 to turn the load off + ser.write(b"0\n") # Send 0 to turn the load off load_on = False else: - ser.write(b'1\n') # Send 1 to turn the load on + ser.write(b"1\n") # Send 1 to turn the load on load_on = True - + # print(f'Load state: {load_on}, Time: {current_time}') # Debugging statement - + # Update the last toggle time last_toggle_time += half_period - + # Calculate the phase angle based on the current time and frequency phase = 2 * math.pi * freq * current_time - + # Calculate sine and cosine factors - sin_weight = 2*math.sin(phase) - cos_weight = -2*math.cos(phase) - + sin_weight = 2 * math.sin(phase) + cos_weight = -2 * math.cos(phase) + # print(f"time: {current_time}, phase: {phase}, sin: {sin_weight}, cos: {cos_weight} , load: {load_on}") # Multiply the frame by sin and cos to get in-phase and quadrature components in_phase = raw_frame * sin_weight quadrature = raw_frame * cos_weight - + # Accumulate the sums in_phase_sum += in_phase quadrature_sum += quadrature - if(is_capturing == False): + if is_capturing == False: break - ser.write(b'0\n') + ser.write(b"0\n") ser.close() # After integration time, normalize by the total frames (optional) in_phase_sum /= total_frames quadrature_sum /= total_frames - return in_phase_sum, quadrature_sum + def capture_lock_in(): global is_capturing, quad_frame, in_phase_frame, lock, fequency, port, integration @@ -301,6 +331,7 @@ def capture_lock_in(): in_phase_frame = in_phase quad_frame = quad + def start_capture(): global is_capturing is_capturing = True @@ -308,33 +339,44 @@ def start_capture(): thread.start() return thread + def stop_capture(thread): global is_capturing is_capturing = False if thread is not None: thread.join() + def animate_func(i): - global frame, in_phase_frame, quad_frame, paused, update_colormap, exposure, im, diff, start_skips, lock_in_thread + global \ + frame, \ + in_phase_frame, \ + quad_frame, \ + paused, \ + update_colormap, \ + exposure, \ + im, \ + diff, \ + start_skips, \ + lock_in_thread if lockin and start_skips > 0: frame = camera.get_frame() start_skips -= 1 elif lockin: if is_capturing == False: lock_in_thread = start_capture() - #in_phase_frame, quad_frame = get_lockin_frame(fequency, port, integration) + # in_phase_frame, quad_frame = get_lockin_frame(fequency, port, integration) else: frame = camera.get_frame() if not paused: - - if diff['enabled']: - show_frame = frame - diff['frame'] + if diff["enabled"]: + show_frame = frame - diff["frame"] else: show_frame = frame - if diff['annotation_enabled']: - annotation_frame = frame - diff['frame'] + if diff["annotation_enabled"]: + annotation_frame = frame - diff["frame"] else: annotation_frame = frame @@ -345,14 +387,14 @@ def animate_func(i): annotations.update(temp_annotations, annotation_frame, draw_temp) - if exposure['auto']: + if exposure["auto"]: update_colormap = utils.autoExposure(update_colormap, exposure, show_frame) # TODO deal with saving the lock in stuff to a file log_annotations_to_csv(annotation_frame) if update_colormap: - im.set_clim(exposure['T_min'], exposure['T_max']) + im.set_clim(exposure["T_min"], exposure["T_max"]) fig.canvas.draw_idle() # force update all, even with blit=True update_colormap = False return [] @@ -367,8 +409,9 @@ def animate_func(i): return [im] + annotations.get() + def print_help(): - print('''keys: + print("""keys: 'h' - help 'q' - quit ' ' - pause, resume @@ -383,118 +426,174 @@ def print_help(): 'v' - record annotations data to file date.csv ',', '.' - change color map 'a', 'z' - auto exposure on/off, auto exposure type - 'k', 'l' - set the thermal range to normal/high (supported by T2S+/T2L) + 'k', 'l' - set the thermal range to normal/high (supported by T2S+/T2L) left, right, up, down - set exposure limits mouse: left button - add Region Of Interest (ROI) right button - add user temperature annotation -''') +""") + FILE_NAME_FORMAT = "%Y-%m-%d_%H-%M-%S" -#keyboard + +# keyboard def press(event): - global paused, exposure, update_colormap, cmaps_idx, draw_temp, temp_extra_annotations, csv_filename + global \ + paused, \ + exposure, \ + update_colormap, \ + cmaps_idx, \ + draw_temp, \ + temp_extra_annotations, \ + csv_filename global lut, frame, diff, annotations, roi - if event.key == 'h': print_help() - if event.key == ' ': paused ^= True; print('paused:', paused) - if event.key == 'd': diff['frame'] = frame; diff['annotation_enabled'] = diff['enabled'] = True; print('set diff') - if event.key == 'x': diff['enabled'] ^= True; print('enable diff:', diff['enabled']) - if event.key == 'c': diff['annotation_enabled'] ^= True; print('enable annotation diff:', diff['annotation_enabled']) - if event.key == 't': draw_temp ^= True; print('draw temp:', draw_temp) - if event.key == 'e': - print('removing user annotations: ', len(temp_annotations['user'])) - annotations.remove(temp_annotations['user']) - if event.key == 'u': print('calibrate'); camera.calibrate() - if event.key == 'a': exposure['auto'] ^= True; print('auto exposure:', exposure['auto'], ', type:', exposure['auto_type']) - if event.key == 'z': - types = ['center', 'ends'] - exposure['auto_type'] = types[types.index(exposure['auto_type'])-1] - print('auto exposure:', exposure['auto'], ', type:', exposure['auto_type']) - if event.key == 'w': - filename = time.strftime(FILE_NAME_FORMAT) + '.png' + if event.key == "h": + print_help() + if event.key == " ": + paused ^= True + print("paused:", paused) + if event.key == "d": + diff["frame"] = frame + diff["annotation_enabled"] = diff["enabled"] = True + print("set diff") + if event.key == "x": + diff["enabled"] ^= True + print("enable diff:", diff["enabled"]) + if event.key == "c": + diff["annotation_enabled"] ^= True + print("enable annotation diff:", diff["annotation_enabled"]) + if event.key == "t": + draw_temp ^= True + print("draw temp:", draw_temp) + if event.key == "e": + print("removing user annotations: ", len(temp_annotations["user"])) + annotations.remove(temp_annotations["user"]) + if event.key == "u": + print("calibrate") + camera.calibrate() + if event.key == "a": + exposure["auto"] ^= True + print("auto exposure:", exposure["auto"], ", type:", exposure["auto_type"]) + if event.key == "z": + types = ["center", "ends"] + exposure["auto_type"] = types[types.index(exposure["auto_type"]) - 1] + print("auto exposure:", exposure["auto"], ", type:", exposure["auto_type"]) + if event.key == "w": + filename = time.strftime(FILE_NAME_FORMAT) + ".png" plt.savefig(filename) - print('saved to:', filename) - if event.key == 'r': - filename = time.strftime(FILE_NAME_FORMAT) + '.npy' - np.save(filename, camera.frame_raw_u16.reshape(camera.height+4, camera.width)) - print('saved to:', filename) - if event.key == 'v': + print("saved to:", filename) + if event.key == "r": + filename = time.strftime(FILE_NAME_FORMAT) + ".npy" + np.save(filename, camera.frame_raw_u16.reshape(camera.height + 4, camera.width)) + print("saved to:", filename) + if event.key == "v": if csv_filename is None: - csv_filename = time.strftime(FILE_NAME_FORMAT) + '.csv' - with open(csv_filename, 'w', newline='') as f: + csv_filename = time.strftime(FILE_NAME_FORMAT) + ".csv" + with open(csv_filename, "w", newline="") as f: header = ["time"] - header += [f'{a} {x}' for a in temp_annotations['std'].keys() for x in ['x', 'y', 'val']] #t, tmin x, tmin y, tmin val, etc - header += [f'Point{i} {x}' for i, key in enumerate(temp_annotations['user'].keys()) for x in ['x', 'y', 'val']] + header += [ + f"{a} {x}" + for a in temp_annotations["std"].keys() + for x in ["x", "y", "val"] + ] # t, tmin x, tmin y, tmin val, etc + header += [ + f"Point{i} {x}" + for i, key in enumerate(temp_annotations["user"].keys()) + for x in ["x", "y", "val"] + ] csv.writer(f).writerow(header) - print('Annotation recording started in:', csv_filename) + print("Annotation recording started in:", csv_filename) else: - print('Annotation recording saved in:', csv_filename) + print("Annotation recording saved in:", csv_filename) csv_filename = None - - if event.key in [',', '.']: - if event.key == '.': cmaps_idx= (cmaps_idx + 1) % len(cmaps) - else: cmaps_idx= (cmaps_idx - 1) % len(cmaps) - print('color map:', cmaps[cmaps_idx]) + + if event.key in [",", "."]: + if event.key == ".": + cmaps_idx = (cmaps_idx + 1) % len(cmaps) + else: + cmaps_idx = (cmaps_idx - 1) % len(cmaps) + print("color map:", cmaps[cmaps_idx]) im.set_cmap(cmaps[cmaps_idx]) update_colormap = True - if event.key in ['k', 'l']: - if event.key == 'k': + if event.key in ["k", "l"]: + if event.key == "k": camera.temperature_range_normal() else: camera.temperature_range_high() - camera.wait_for_range_application() # this takes care of calibration as well + camera.wait_for_range_application() # this takes care of calibration as well update_colormap = True - if event.key in ['left', 'right', 'up', 'down']: - exposure['auto'] = False - T_cent = int((exposure['T_min'] + exposure['T_max'])/2) - d = int(exposure['T_max'] - T_cent) - if event.key == 'up': T_cent += exposure['T_margin']/2 - if event.key == 'down': T_cent -= exposure['T_margin']/2 - if event.key == 'left': d -= exposure['T_margin']/2 - if event.key == 'right': d += exposure['T_margin']/2 - d = max(d, exposure['T_margin']) - exposure['T_min'] = T_cent - d - exposure['T_max'] = T_cent + d - print('auto exposure off, T_min:', exposure['T_min'], 'T_cent:', T_cent, 'T_max:', exposure['T_max']) + if event.key in ["left", "right", "up", "down"]: + exposure["auto"] = False + T_cent = int((exposure["T_min"] + exposure["T_max"]) / 2) + d = int(exposure["T_max"] - T_cent) + if event.key == "up": + T_cent += exposure["T_margin"] / 2 + if event.key == "down": + T_cent -= exposure["T_margin"] / 2 + if event.key == "left": + d -= exposure["T_margin"] / 2 + if event.key == "right": + d += exposure["T_margin"] / 2 + d = max(d, exposure["T_margin"]) + exposure["T_min"] = T_cent - d + exposure["T_max"] = T_cent + d + print( + "auto exposure off, T_min:", + exposure["T_min"], + "T_cent:", + T_cent, + "T_max:", + exposure["T_max"], + ) update_colormap = True -mouse_action_pos = (0,0) + +mouse_action_pos = (0, 0) mouse_action = None + + def onclick(event): global mouse_action, mouse_action_pos if event.inaxes == ax: pos = (int(event.xdata), int(event.ydata)) if event.button == MouseButton.RIGHT: - print('add user temperature annotation at pos:', pos) - temp_annotations['user'][pos] = 'white' + print("add user temperature annotation at pos:", pos) + temp_annotations["user"][pos] = "white" if event.button == MouseButton.LEFT: if utils.inRoi(annotations.roi, pos, frame.shape): - mouse_action = 'move_roi' - mouse_action_pos = (annotations.roi[0][0] - pos[0], annotations.roi[0][1] - pos[1]) + mouse_action = "move_roi" + mouse_action_pos = ( + annotations.roi[0][0] - pos[0], + annotations.roi[0][1] - pos[1], + ) else: - mouse_action = 'create_roi' + mouse_action = "create_roi" mouse_action_pos = pos - annotations.set_roi((pos, (0,0))) + annotations.set_roi((pos, (0, 0))) + def onmotion(event): global mouse_action, mouse_action_pos, roi if event.inaxes == ax and event.button == MouseButton.LEFT: pos = (int(event.xdata), int(event.ydata)) - if mouse_action == 'create_roi': - w,h = pos[0] - mouse_action_pos[0], pos[1] - mouse_action_pos[1] - roi = (mouse_action_pos, (w,h)) + if mouse_action == "create_roi": + w, h = pos[0] - mouse_action_pos[0], pos[1] - mouse_action_pos[1] + roi = (mouse_action_pos, (w, h)) annotations.set_roi(roi) - if mouse_action == 'move_roi': - roi = ((pos[0] + mouse_action_pos[0], pos[1] + mouse_action_pos[1]), annotations.roi[1]) + if mouse_action == "move_roi": + roi = ( + (pos[0] + mouse_action_pos[0], pos[1] + mouse_action_pos[1]), + annotations.roi[1], + ) annotations.set_roi(roi) -anim = animation.FuncAnimation(fig, animate_func, interval = 1000 / fps, blit=True) -fig.canvas.mpl_connect('button_press_event', onclick) -fig.canvas.mpl_connect('motion_notify_event', onmotion) -fig.canvas.mpl_connect('key_press_event', press) +anim = animation.FuncAnimation(fig, animate_func, interval=1000 / fps, blit=True) +fig.canvas.mpl_connect("button_press_event", onclick) +fig.canvas.mpl_connect("motion_notify_event", onmotion) +fig.canvas.mpl_connect("key_press_event", press) print_help() plt.show() diff --git a/pyproject.toml b/pyproject.toml index 5e91180..652de57 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -13,6 +13,9 @@ opencv-python = "^4.10.0.84" matplotlib = "^3.9.2" pyserial = "^3.5" +[tool.poetry.group.dev.dependencies] +ruff = "^0.7.3" + [build-system] requires = ["poetry-core>=1.0.0"] build-backend = "poetry.core.masonry.api" diff --git a/utils.py b/utils.py index 02d2ede..99defbc 100755 --- a/utils.py +++ b/utils.py @@ -1,110 +1,132 @@ -import numpy as np import cv2 +import numpy as np - - -def drawTemperature(img, point, T, color = (0,0,0)): +def drawTemperature(img, point, T, color=(0, 0, 0)): d1, d2 = 2, 5 dsize = 1 font = cv2.FONT_HERSHEY_PLAIN (x, y) = point - t = '%.2fC' % T - cv2.line(img,(x+d1, y),(x+d2,y),color, dsize) - cv2.line(img,(x-d1, y),(x-d2,y),color, dsize) - cv2.line(img,(x, y+d1),(x,y+d2),color, dsize) - cv2.line(img,(x, y-d1),(x,y-d2),color, dsize) + t = "%.2fC" % T + cv2.line(img, (x + d1, y), (x + d2, y), color, dsize) + cv2.line(img, (x - d1, y), (x - d2, y), color, dsize) + cv2.line(img, (x, y + d1), (x, y + d2), color, dsize) + cv2.line(img, (x, y - d1), (x, y - d2), color, dsize) text_size = cv2.getTextSize(t, font, 1, dsize)[0] - tx, ty = x+d1, y+d1+text_size[1] - if tx + text_size[0] > img.shape[1]: tx = x-d1-text_size[0] - if ty > img.shape[0]: ty = y-d1 + tx, ty = x + d1, y + d1 + text_size[1] + if tx + text_size[0] > img.shape[1]: + tx = x - d1 - text_size[0] + if ty > img.shape[0]: + ty = y - d1 + + cv2.putText(img, t, (tx, ty), font, 1, color, dsize, cv2.LINE_8) - cv2.putText(img, t, (tx,ty), font, 1, color, dsize, cv2.LINE_8) def autoExposure(update, exposure, frame): # Sketchy auto-exposure lmin, lmax = frame.min(), frame.max() - T_min, T_max, T_margin = exposure['T_min'], exposure['T_max'], exposure['T_margin'] - if exposure['auto_type'] == 'center': - T_cent = int((T_min+T_max)/2) - d = int(max(T_cent-lmin, lmax-T_cent, 0) + T_margin) - if lmin < T_min or T_max < lmax or (T_min + 2 * T_margin < lmin and T_max - 2 * T_margin > lmax): -# print('d:',d, 'lmin:', lmin, 'lmax:', lmax) + T_min, T_max, T_margin = exposure["T_min"], exposure["T_max"], exposure["T_margin"] + if exposure["auto_type"] == "center": + T_cent = int((T_min + T_max) / 2) + d = int(max(T_cent - lmin, lmax - T_cent, 0) + T_margin) + if ( + lmin < T_min + or T_max < lmax + or (T_min + 2 * T_margin < lmin and T_max - 2 * T_margin > lmax) + ): + # print('d:',d, 'lmin:', lmin, 'lmax:', lmax) update = True T_min, T_max = T_cent - d, T_cent + d -# print('T_min:', T_min, 'T_cent:', T_cent, 'T_max:', T_max) - if exposure['auto_type'] == 'ends': - if T_min > lmin: update, T_min = True, lmin-T_margin - if T_min + 2 * T_margin < lmin: update, T_min = True, lmin-T_margin - if T_max < lmax: update, T_max = True, lmax+T_margin - if T_max - 2 * T_margin > lmax: update, T_max = True, lmax+T_margin - - exposure['T_min'] = T_min - exposure['T_max'] = T_max + # print('T_min:', T_min, 'T_cent:', T_cent, 'T_max:', T_max) + if exposure["auto_type"] == "ends": + if T_min > lmin: + update, T_min = True, lmin - T_margin + if T_min + 2 * T_margin < lmin: + update, T_min = True, lmin - T_margin + if T_max < lmax: + update, T_max = True, lmax + T_margin + if T_max - 2 * T_margin > lmax: + update, T_max = True, lmax + T_margin + + exposure["T_min"] = T_min + exposure["T_max"] = T_max return update + def correctRoi(roi, shape): - ((x,y),(w,h)) = roi -# if w == 0 and h == 0: -# ((x,y),(w,h)) = ((0,0), shape) - x1,x2 = max(0, min(x,x+w)), max(0, x,x+w) - y1,y2 = max(0, min(y,y+h)), max(0, y,y+h) -# if x1 == x2: x2 += 1 -# if y1 == y2: y2 += 1 - return ((x1,y1),(x2,y2)) + ((x, y), (w, h)) = roi + # if w == 0 and h == 0: + # ((x,y),(w,h)) = ((0,0), shape) + x1, x2 = max(0, min(x, x + w)), max(0, x, x + w) + y1, y2 = max(0, min(y, y + h)), max(0, y, y + h) + # if x1 == x2: x2 += 1 + # if y1 == y2: y2 += 1 + return ((x1, y1), (x2, y2)) def inRoi(roi, point, shape): result = False - ((x1,y1),(x2,y2)) = correctRoi(roi, shape) + ((x1, y1), (x2, y2)) = correctRoi(roi, shape) if x1 < point[0] and point[0] < x2: if y1 < point[1] and point[1] < y2: result = True return result -def subdict(d, l): - return dict((k,d[k]) for k in l if k in d) - - +def subdict(d, l): + return dict((k, d[k]) for k in l if k in d) class Annotations: def __init__(self, ax, patches): self.ax = ax - self.astyle = dict(text='', xy=(0, 0), xytext=(0, 0), textcoords='offset pixels', arrowprops=dict(facecolor='black', arrowstyle="->")) + self.astyle = dict( + text="", + xy=(0, 0), + xytext=(0, 0), + textcoords="offset pixels", + arrowprops=dict(facecolor="black", arrowstyle="->"), + ) self.anns = {} - self.roi_patch = ax.add_patch(patches.Rectangle((0, 0), 0, 0, linewidth=1, edgecolor='black', facecolor='none')) - self.set_roi(((0,0),(0,0))) + self.roi_patch = ax.add_patch( + patches.Rectangle( + (0, 0), 0, 0, linewidth=1, edgecolor="black", facecolor="none" + ) + ) + self.set_roi(((0, 0), (0, 0))) def set_roi(self, roi): self.roi = roi - ((x,y), (w,h)) = roi - self.roi_patch.xy = (x,y) + ((x, y), (w, h)) = roi + self.roi_patch.xy = (x, y) self.roi_patch.set_width(w) self.roi_patch.set_height(h) - self.roi_patch.set_visible(w!=0 and h!=0) + self.roi_patch.set_visible(w != 0 and h != 0) def get_ann(self, name, color): if name not in self.anns: - self.anns[name] = self.ax.annotate(**self.astyle, bbox=dict(boxstyle='square', fc=color, alpha=0.3, lw=0)) + self.anns[name] = self.ax.annotate( + **self.astyle, bbox=dict(boxstyle="square", fc=color, alpha=0.3, lw=0) + ) return self.anns[name] def get_pos(self, name): pos = self.get_ann(name, "").xy return pos - + def get_val(self, name, annotation_frame): annotation_pos = self.get_pos(name) val = annotation_frame[annotation_pos[::-1]] return val def update(self, temp_annotations, annotation_frame, draw_temp): - l = temp_annotations['std'].items() | temp_annotations['user'].items() + l = temp_annotations["std"].items() | temp_annotations["user"].items() for name, color in l: pos = self._get_pos(name, annotation_frame, self.roi) - self._ann_set_temp(self.get_ann(name, color), pos, annotation_frame, draw_temp) + self._ann_set_temp( + self.get_ann(name, color), pos, annotation_frame, draw_temp + ) def get(self): return list(self.anns.values()) + [self.roi_patch] @@ -117,31 +139,32 @@ def remove(self, d): d.clear() def _ann_set_temp(self, ann, pos, annotation_frame, draw_temp): - (x,y) = pos - ann.xy = pos + (x, y) = pos + ann.xy = pos value = annotation_frame[pos[1], pos[0]] - ann.set_text('%.2f$^\circ$C' % value) + ann.set_text("%.2f$^\circ$C" % value) ann.set_visible(draw_temp) - tx,ty = 20, 15 - if x > annotation_frame.shape[1]-50: tx = -80 - if y < 30: ty = -15 + tx, ty = 20, 15 + if x > annotation_frame.shape[1] - 50: + tx = -80 + if y < 30: + ty = -15 ann.xyann = (tx, ty) - def _get_pos(self, name, annotation_frame, roi): - ((x1,y1),(x2,y2)) = correctRoi(roi, annotation_frame.shape) - roi_frame = annotation_frame[y1:y2,x1:x2] + ((x1, y1), (x2, y2)) = correctRoi(roi, annotation_frame.shape) + roi_frame = annotation_frame[y1:y2, x1:x2] if roi_frame.size <= 0: - x1,y1 = 0, 0 + x1, y1 = 0, 0 roi_frame = annotation_frame - if name == 'Tmin': + if name == "Tmin": pos = np.unravel_index(roi_frame.argmin(), roi_frame.shape) - pos = (pos[1]+x1, pos[0]+y1) - elif name == 'Tmax': + pos = (pos[1] + x1, pos[0] + y1) + elif name == "Tmax": pos = np.unravel_index(roi_frame.argmax(), roi_frame.shape) - pos = (pos[1]+x1, pos[0]+y1) - elif name == 'Tcenter': - pos = (annotation_frame.shape[1]//2, annotation_frame.shape[0]//2) + pos = (pos[1] + x1, pos[0] + y1) + elif name == "Tcenter": + pos = (annotation_frame.shape[1] // 2, annotation_frame.shape[0] // 2) else: pos = name return pos From 0d0fb370597beaf1b3432cf66f59b968df4ee814 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Frans=20F=C3=BCrst?= Date: Mon, 11 Nov 2024 04:28:29 +0100 Subject: [PATCH 19/27] fix variable names in f-strings --- irpythermal.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/irpythermal.py b/irpythermal.py index 2f6522a..ef1d100 100755 --- a/irpythermal.py +++ b/irpythermal.py @@ -129,7 +129,7 @@ def find_device(cls) -> cv2.VideoCapture: except: pass raise ValueError( - f"Cannot find camera with a width of one of {cls.supported_resolutions} that also matches: {width=} and {height=}" + f"Cannot find camera with a width of one of {cls.supported_resolutions} that also matches: {cap_width=} and {cap_height=}" ) def bin_to_twos_complement(self, binary: str) -> int: From 760a266e65ce72ce2f1f98bad5372dc12dd80c40 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Frans=20F=C3=BCrst?= Date: Mon, 11 Nov 2024 06:11:37 +0100 Subject: [PATCH 20/27] fix ruff findings --- .gitignore | 2 ++ README.md | 10 +++++----- display.py | 2 ++ example_simple.py | 6 ++---- irpythermal.py | 3 ++- opencv.py | 3 ++- pyplot.py | 29 +++++------------------------ utils.py | 11 +++++------ 8 files changed, 25 insertions(+), 41 deletions(-) diff --git a/.gitignore b/.gitignore index 4c0245b..a6da9e2 100644 --- a/.gitignore +++ b/.gitignore @@ -2,3 +2,5 @@ __pycache__ .vscode *.wpr *.wpu +*.npy +*.csv diff --git a/README.md b/README.md index ebf6c4d..abc545f 100644 --- a/README.md +++ b/README.md @@ -6,8 +6,8 @@ Supported thermal cameras: - Xtherm T3S, thanks to Angel-1024 - Xtherm T2L, T2S+, thanks to Christoph Mair and DiminDDL -It's a very simple hacked together lib, might be useful for somebody, -uses `matplotlib` which is a little bit on the slow side, +It's a very simple hacked together lib, might be useful for somebody, +uses `matplotlib` which is a little bit on the slow side, or pure `opencv` - much faster but without most features Upon startup the app automatically looks for supported cameras by matching the resolutions. @@ -30,7 +30,7 @@ keys: 'a', 'z' - auto exposure on/off, auto exposure type 'k', 'l' - set the thermal range to normal/high (only for the TS2+) 'o' - change the camera orientation (rotate 90 degs CW). Only in OpenCV - + left, right, up, down - set exposure limits mouse: @@ -40,7 +40,7 @@ mouse: While the program is running you can use these controls in the camera view to control how it looks and behaves. -You can specify the video device directly with `-d` to the startup command to skip the search routine. +You can specify the video device directly with `-d` to the startup command to skip the search routine. Also for T2S+ V2 users (and potentially for others, where the camera sends raw data and doesn't do onboard processing resulting in the image looking like a pixelated mess) you can specify the `-r` option to tell the program to treat the camera stream as raw sensor data. This will perform a few calibration routines and present you with a usable image doing the sensor processing in python. There is also the `-o` parameter which adds an offset to the entire frames temperature values. This is useful for calibrating the camera since the raw mode sometimes ends up with a constant offset to the image, but this is specific to the camera and thus can be found once and then used for subsequent runs. @@ -62,7 +62,7 @@ python ./pyplot.py 2022-09-11_18-49-07.npy ### Lock In Thermography -This feature allows you to use the camera in a lock-in mode. This allows for very precise measurements of hotspots on anything that can be modulated in some way. Examples include silicon dies, circuit boards, people (lock in based on heart rate) and potentially many others. +This feature allows you to use the camera in a lock-in mode. This allows for very precise measurements of hotspots on anything that can be modulated in some way. Examples include silicon dies, circuit boards, people (lock in based on heart rate) and potentially many others. As mentioned above the device under test needs to be stimulated on command, the script sends commands into a provided serial port to do this. A `1\n` indicates that we want to turn the supply/stimulant on, a `0\n` turns it off. The modulation frequency, serial port and integration time are all provided as command line arguments. diff --git a/display.py b/display.py index 3653650..2fd4604 100644 --- a/display.py +++ b/display.py @@ -1,3 +1,5 @@ +#!/usr/bin/env python3 + import matplotlib.pyplot as plt import numpy as np from matplotlib.widgets import Button diff --git a/example_simple.py b/example_simple.py index b62c8b1..fcde291 100755 --- a/example_simple.py +++ b/example_simple.py @@ -1,8 +1,6 @@ -#!/usr/bin/python3 -import time - -import numpy as np +#!/usr/bin/env python3 +import time import irpythermal # create camera object and do a initial calibration diff --git a/irpythermal.py b/irpythermal.py index ef1d100..64013b9 100755 --- a/irpythermal.py +++ b/irpythermal.py @@ -1,4 +1,5 @@ -#!/usr/bin/python3 +#!/usr/bin/env python3 + import math import time from sys import platform diff --git a/opencv.py b/opencv.py index 6fd5b6b..da7c2bb 100755 --- a/opencv.py +++ b/opencv.py @@ -1,4 +1,5 @@ -#!/usr/bin/python3 +#!/usr/bin/env python3 + import pickle import time diff --git a/pyplot.py b/pyplot.py index c3ab871..8055672 100755 --- a/pyplot.py +++ b/pyplot.py @@ -144,7 +144,7 @@ cbar_quadrature = plt.colorbar(im_quadrature, cax=cax_quadrature) axes[1][0].axis("off") - status_text = f""" + status_text = """ Frame: -, Time: -/-, Load: -, @@ -195,25 +195,6 @@ csv_filename = None -def log_annotations_to_csv(annotation_frame): - anns_data = [] - for type in ["std", "user"]: - for ann_name in temp_annotations[type]: - pos = annotations.get_pos(ann_name) - val = round(annotations.get_val(ann_name, annotation_frame), 2) - anns_data += [pos[0], pos[1], val] # store each position and value - if csv_filename is not None: - with open(csv_filename, "a", newline="") as f: - writer = csv.writer(f) - writer.writerow([datetime.now()] + anns_data) - - -import csv -from datetime import datetime # to easily get miliseconds - -csv_filename = None - - def log_annotations_to_csv(annotation_frame): anns_data = [] for type in ["std", "user"]: @@ -236,8 +217,8 @@ def get_lockin_frame(freq, port, integration): try: ser = serial.Serial(port, 115200) # Open the serial port - except serial.SerialException as e: - print(f"Error: could not open serial port {port}") + except serial.SerialException as exc: + print(f"Error: could not open serial port {port} ({exc})") sys.exit(1) start_time = time.time() @@ -308,7 +289,7 @@ def get_lockin_frame(freq, port, integration): in_phase_sum += in_phase quadrature_sum += quadrature - if is_capturing == False: + if not is_capturing: break ser.write(b"0\n") @@ -363,7 +344,7 @@ def animate_func(i): frame = camera.get_frame() start_skips -= 1 elif lockin: - if is_capturing == False: + if not is_capturing: lock_in_thread = start_capture() # in_phase_frame, quad_frame = get_lockin_frame(fequency, port, integration) else: diff --git a/utils.py b/utils.py index 99defbc..7373b32 100755 --- a/utils.py +++ b/utils.py @@ -1,3 +1,5 @@ +#!/usr/bin/env python3 + import cv2 import numpy as np @@ -74,10 +76,6 @@ def inRoi(roi, point, shape): return result -def subdict(d, l): - return dict((k, d[k]) for k in l if k in d) - - class Annotations: def __init__(self, ax, patches): self.ax = ax @@ -121,8 +119,9 @@ def get_val(self, name, annotation_frame): return val def update(self, temp_annotations, annotation_frame, draw_temp): - l = temp_annotations["std"].items() | temp_annotations["user"].items() - for name, color in l: + for name, color in ( + temp_annotations["std"].items() | temp_annotations["user"].items() + ): pos = self._get_pos(name, annotation_frame, self.roi) self._ann_set_temp( self.get_ann(name, color), pos, annotation_frame, draw_temp From 206349b9b65a64449ef1961fffcb4d6044215899 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Frans=20F=C3=BCrst?= Date: Mon, 11 Nov 2024 06:12:20 +0100 Subject: [PATCH 21/27] fix OpenCV::inRange type error error was ``` cv2.error: OpenCV(4.10.0) :-1: error: (-5:Bad argument) in function 'inRange' > Overload resolution failed: > - upperb is not a numpy array, neither a scalar > - Expected Ptr for argument 'upperb' ``` --- irpythermal.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/irpythermal.py b/irpythermal.py index 64013b9..37ab115 100755 --- a/irpythermal.py +++ b/irpythermal.py @@ -482,7 +482,7 @@ def calibrate_raw(self, quiet=False) -> None: # if there are no dead pixels, we skip the dead pixel correction if np.count_nonzero(frame_visible_float < threshold) != 0: self.dead_pixels_mask = cv2.inRange( - frame_visible_float, 0, threshold + frame_visible_float, 0, float(threshold) ).astype(np.uint8) if not quiet: From eec01bfef39975bbb57a74ccfc8285976167a8a9 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Frans=20F=C3=BCrst?= Date: Tue, 19 Nov 2024 07:22:53 +0100 Subject: [PATCH 22/27] Big non-functional refactoring: get rid of stray global variables + fix ruff findings Introduces an "AppState" as an intermediate solution for global variables. 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datetime import datetime import cv2 -import matplotlib.animation as animation -import matplotlib.patches as patches import matplotlib.pyplot as plt import numpy as np import serial +from matplotlib import animation, patches from matplotlib.backend_bases import MouseButton from mpl_toolkits.axes_grid1 import make_axes_locatable import irpythermal import utils -fps = 40 -exposure = { - "auto": True, - "auto_type": "ends", # 'center' or 'ends' - "T_min": 0.0, - "T_max": 50.0, - "T_margin": 2.0, -} -draw_temp = True - -# Argument parsing -parser = argparse.ArgumentParser(description="Thermal Camera Viewer") -parser.add_argument("-r", "--rawcam", action="store_true", help="use the raw camera") -parser.add_argument("-d", "--device", type=str, help="use the camera at camera_path") -parser.add_argument( - "-o", "--offset", type=float, help="set a fixed offset for the temperature data" -) - -# lock in thermometry options (all of these are requred) -parser.add_argument( - "-l", - "--lockin", - type=float, - help="enable lock-in thermometry with the given frequency (in Hz), ideally several times smaller than the camera fps", -) -parser.add_argument( - "-p", - "--port", - type=str, - help="set the serial port for the power supply control (will send 1 to turn on the load, 0 to turn it off new line terminated) at 115200 baud", -) -parser.add_argument( - "-i", - "--integration", - type=float, - help="set the integration time for the lock-in thermometry (in seconds)", -) - - -parser.add_argument( - "file", nargs="?", type=str, help="use the emulator with the data in file.npy" -) -args = parser.parse_args() - -# Choose the camera class -camera: irpythermal.Camera - -lockin = False - -if args.file and args.file.endswith(".npy"): - camera = irpythermal.CameraEmulator(args.file) -else: - camera_kwargs = {} - if args.rawcam: - camera_kwargs["camera_raw"] = True - if args.device: - camera_path = args.device - cv2_cam = cv2.VideoCapture(camera_path) - camera_kwargs["video_dev"] = cv2_cam - if args.offset: - camera_kwargs["fixed_offset"] = args.offset - - if args.lockin: - lockin = True - draw_temp = False - # check if all lock-in thermometry options are provided - if not args.port or not args.integration: - print( - "Error: lock-in thermometry also requires --port and --integration options" - ) - sys.exit(1) - - fequency = args.lockin - port = args.port - integration = args.integration - - camera = irpythermal.Camera(**camera_kwargs) +# TODO(frans): We should get rid of those +# ruff: noqa: PTH123 # use Path.open +# ruff: noqa: ANN201,ANN001 # type annotations +# ruff: noqa: DTZ005 # timezone missing +# ruff: noqa: RUF005 # tuple / list concatenation +# ruff: noqa: D100,D101,D103 # documentation missing +# ruff: noqa: PLR0915 # too many statements +# ruff: noqa: C901 # function too complex +# ruff: noqa: PLR0912 # too many branches +# ruff: noqa: FIX002 # fix instead of TODO +# ruff: noqa: ERA001 # commented out code +# ruff: noqa: SIM105,S110,E722 # exceptions # see https://matplotlib.org/tutorials/colors/colormaps.html -cmaps_idx = 1 -cmaps = [ +CMAP_NAMES = [ "inferno", + "plasma", "coolwarm", "cividis", "jet", @@ -111,110 +45,221 @@ "tab10", ] -# matplotlib.rcParams['toolbar'] = 'None' - -# temporary fake frame -frame = np.full((camera.height, camera.width), 25.0) -quad_frame = np.full((camera.height, camera.width), 0.0) -in_phase_frame = np.full((camera.height, camera.width), 0.0) -lut = None # will be defined later -start_skips = 2 -is_capturing = False -lock = threading.Lock() -lock_in_thread = None - - -if lockin: - fig, axes = plt.subplots(nrows=2, ncols=2, layout="tight") - ax = axes[0][0] - im = axes[0][0].imshow(frame, cmap=cmaps[cmaps_idx]) - im_in_phase = axes[0][1].imshow(frame, cmap=cmaps[cmaps_idx]) - im_quadrature = axes[1][1].imshow(frame, cmap=cmaps[cmaps_idx]) - axes[0][0].set_title("Live") - axes[0][1].set_title("In-phase") - axes[1][1].set_title("Quadrature") - divider = make_axes_locatable(axes[0][0]) - divider_in_phase = make_axes_locatable(axes[0][1]) - divider_quadrature = make_axes_locatable(axes[1][1]) - cax = divider.append_axes("right", size="5%", pad=0.05) - cax_in_phase = divider_in_phase.append_axes("right", size="5%", pad=0.05) - cax_quadrature = divider_quadrature.append_axes("right", size="5%", pad=0.05) - cbar = plt.colorbar(im, cax=cax) - cbar_in_phase = plt.colorbar(im_in_phase, cax=cax_in_phase) - cbar_quadrature = plt.colorbar(im_quadrature, cax=cax_quadrature) - - axes[1][0].axis("off") - status_text = """ -Frame: -, -Time: -/-, -Load: -, -Frequency: -Hz, -Integration Time: -s -Serial Port: - -""" - status_text_obj = axes[1][0].text( - 0.05, - 0.95, - status_text, - verticalalignment="top", - horizontalalignment="left", - transform=axes[1][0].transAxes, - fontsize=12, - color="black", + +def parse_arguments() -> argparse.Namespace: + """Parse command line arguments.""" + parser = argparse.ArgumentParser(description="Thermal Camera Viewer") + parser.add_argument( + "-r", "--rawcam", action="store_true", help="use the raw camera" + ) + parser.add_argument( + "-d", "--device", type=str, help="use the camera at camera_path" + ) + parser.add_argument( + "-o", + "--offset", + type=float, + help="set a fixed offset for the temperature data", + ) + + # lock in thermometry options (all of these are requred) + parser.add_argument( + "-l", + "--lockin", + type=float, + help=( + "enable lock-in thermometry with the given frequency (in Hz)," + " ideally several times smaller than the camera fps" + ), + ) + parser.add_argument( + "-p", + "--port", + type=str, + help=( + "set the serial port for the power supply control (will send 1 to turn on" + " the load, 0 to turn it off new line terminated) at 115200 baud" + ), ) + parser.add_argument( + "-i", + "--integration", + type=float, + help="set the integration time for the lock-in thermometry (in seconds)", + ) + parser.add_argument( + "file", nargs="?", type=str, help="use the emulator with the data in file.npy" + ) + return parser.parse_args() + -else: - fig = plt.figure() - ax = plt.gca() - im = ax.imshow(frame, cmap=cmaps[cmaps_idx]) - divider = make_axes_locatable(ax) - cax = divider.append_axes("right", size="5%", pad=0.05) - cbar = plt.colorbar(im, cax=cax) +args = parse_arguments() -try: - fig.canvas.set_window_title("Thermal Camera") -except: - # does not work on windows - pass -annotations = utils.Annotations(ax, patches) -temp_annotations = { - "std": {"Tmin": "lightblue", "Tmax": "red", "Tcenter": "yellow"}, - "user": {}, -} +class AppState: + def __init__(self, args: argparse.Namespace) -> None: + """Set up a default application state.""" + self.fps = 40 + self.exposure = { + "auto": True, + "auto_type": "ends", # 'center' or 'ends' + "T_min": 0.0, + "T_max": 50.0, + "T_margin": 2.0, + } + self.draw_temp = True + + # Choose the camera class + self.camera: irpythermal.Camera + self.lockin = False + + if args.file and args.file.endswith(".npy"): + self.camera = irpythermal.CameraEmulator(args.file) + else: + camera_kwargs = {} + if args.rawcam: + camera_kwargs["camera_raw"] = True + if args.device: + camera_path = args.device + cv2_cam = cv2.VideoCapture(camera_path) + camera_kwargs["video_dev"] = cv2_cam + if args.offset: + camera_kwargs["fixed_offset"] = args.offset + + if args.lockin: + self.lockin = True + self.draw_temp = False + # check if all lock-in thermometry options are provided + if not args.port or not args.integration: + print( + "Error: lock-in thermometry also requires --port and" + " --integration options" + ) + sys.exit(1) + + self.fequency = args.lockin + self.port = args.port + self.integration = args.integration + + self.camera = irpythermal.Camera(**camera_kwargs) + + self.cmaps_idx = 1 + + # matplotlib.rcParams['toolbar'] = 'None' + + # temporary fake frame + self.frame = np.full((self.camera.height, self.camera.width), 25.0) + self.quad_frame = np.full((self.camera.height, self.camera.width), 0.0) + self.in_phase_frame = np.full((self.camera.height, self.camera.width), 0.0) + self.lut = None # will be defined later + self.start_skips = 2 + self.is_capturing = False + self.lock = threading.Lock() + self.lock_in_thread = None + + if self.lockin: + self.fig, self.axes = plt.subplots(nrows=2, ncols=2, layout="tight") + axes = self.axes + self.ax = axes[0][0] + self.im = axes[0][0].imshow(self.frame, cmap=CMAP_NAMES[self.cmaps_idx]) + im_in_phase = axes[0][1].imshow(self.frame, cmap=CMAP_NAMES[self.cmaps_idx]) + im_quadrature = axes[1][1].imshow( + self.frame, cmap=CMAP_NAMES[self.cmaps_idx] + ) + axes[0][0].set_title("Live") + axes[0][1].set_title("In-phase") + axes[1][1].set_title("Quadrature") + divider = make_axes_locatable(axes[0][0]) + divider_in_phase = make_axes_locatable(axes[0][1]) + divider_quadrature = make_axes_locatable(axes[1][1]) + cax = divider.append_axes("right", size="5%", pad=0.05) + cax_in_phase = divider_in_phase.append_axes("right", size="5%", pad=0.05) + cax_quadrature = divider_quadrature.append_axes( + "right", size="5%", pad=0.05 + ) + plt.colorbar(self.im, cax=cax) + self.cbar_in_phase = plt.colorbar(im_in_phase, cax=cax_in_phase) + self.cbar_quadrature = plt.colorbar(im_quadrature, cax=cax_quadrature) + + axes[1][0].axis("off") + status_text = """ + Frame: -, + Time: -/-, + Load: -, + Frequency: -Hz, + Integration Time: -s + Serial Port: - + """ + self.status_text_obj = axes[1][0].text( + 0.05, + 0.95, + status_text, + verticalalignment="top", + horizontalalignment="left", + transform=axes[1][0].transAxes, + fontsize=12, + color="black", + ) + + else: + self.fig = plt.figure() + self.ax = plt.gca() + self.im = self.ax.imshow(self.frame, cmap=CMAP_NAMES[self.cmaps_idx]) + divider = make_axes_locatable(self.ax) + cax = divider.append_axes("right", size="5%", pad=0.05) + plt.colorbar(self.im, cax=cax) -# Add the patch to the Axes -roi = ((0, 0), (0, 0)) + try: + self.fig.canvas.set_window_title("Thermal Camera") + except: + # does not work on windows + pass + self.annotations = utils.Annotations(self.ax, patches) + self.temp_annotations = { + "std": {"Tmin": "lightblue", "Tmax": "red", "Tcenter": "yellow"}, + "user": {}, + } -paused = False -update_colormap = True -diff = {"enabled": False, "annotation_enabled": False, "frame": np.zeros(frame.shape)} + # Add the patch to the Axes + self.roi = ((0, 0), (0, 0)) + self.paused = False + self.update_colormap = True + self.diff = { + "enabled": False, + "annotation_enabled": False, + "frame": np.zeros(self.frame.shape), + } -csv_filename = None + self.csv_filename = None + self.mouse_action_pos = (0, 0) + self.mouse_action = None -def log_annotations_to_csv(annotation_frame): +app_state = AppState(args) + + +def log_annotations_to_csv(annotation_frame) -> None: anns_data = [] - for type in ["std", "user"]: - for ann_name in temp_annotations[type]: - pos = annotations.get_pos(ann_name) - val = round(annotations.get_val(ann_name, annotation_frame), 2) + for ann_type in ["std", "user"]: + for ann_name in app_state.temp_annotations[ann_type]: + pos = app_state.annotations.get_pos(ann_name) + val = round(app_state.annotations.get_val(ann_name, annotation_frame), 2) anns_data += [pos[0], pos[1], val] # store each position and value - if csv_filename is not None: - with open(csv_filename, "a", newline="") as f: + if app_state.csv_filename is not None: + with open(app_state.csv_filename, "a", newline="") as f: writer = csv.writer(f) writer.writerow([datetime.now()] + anns_data) def get_lockin_frame(freq, port, integration): - """This function will perform all of the lock-in thermometry operations, and return - the in-phase and quadrature frames after the integration time is up, while controlling - the load via serial communication based on the period of the signal.""" - - global frame, is_capturing, status_text + """ + Perform all of the lock-in thermometry operations. + Returns the in-phase and quadrature frames after the integration time is up, while + controlling the load via serial communication based on the period of the signal. + """ try: ser = serial.Serial(port, 115200) # Open the serial port except serial.SerialException as exc: @@ -222,8 +267,8 @@ def get_lockin_frame(freq, port, integration): sys.exit(1) start_time = time.time() - in_phase_sum = np.zeros((camera.height, camera.width)) - quadrature_sum = np.zeros((camera.height, camera.width)) + in_phase_sum = np.zeros((app_state.camera.height, app_state.camera.width)) + quadrature_sum = np.zeros((app_state.camera.height, app_state.camera.width)) total_frames = 0 # Calculate the period of the signal @@ -234,10 +279,10 @@ def get_lockin_frame(freq, port, integration): while (time.time() - start_time) < integration: current_time = time.time() - start_time # Time since the loop started - ret, raw_frame = camera.read() - info, lut = camera.info() + ret, raw_frame = app_state.camera.read() + info, lut = app_state.camera.info() - frame = camera.convert_to_frame(raw_frame, lut) + app_state.frame = app_state.camera.convert_to_frame(raw_frame, lut) if not ret: print("Error: could not read frame from camera") @@ -246,9 +291,9 @@ def get_lockin_frame(freq, port, integration): total_frames += 1 # if(total_frames % 10 == 0): - # print(f'Frame: {total_frames}, Time: {current_time:.2f}/{integration:.2f}') # Debugging statement + # print(f'Frame: {total_frames}, Time: {current_time:.2f}/{integration:.2f}') if True: - status_text = f""" + app_state.status_text = f""" Frame: {total_frames}, Time: {current_time:.2f}/{integration:.2f}, Load: {load_on}, @@ -267,7 +312,7 @@ def get_lockin_frame(freq, port, integration): ser.write(b"1\n") # Send 1 to turn the load on load_on = True - # print(f'Load state: {load_on}, Time: {current_time}') # Debugging statement + # print(f'Load state: {load_on}, Time: {current_time}') # debugging # Update the last toggle time last_toggle_time += half_period @@ -279,7 +324,8 @@ def get_lockin_frame(freq, port, integration): sin_weight = 2 * math.sin(phase) cos_weight = -2 * math.cos(phase) - # print(f"time: {current_time}, phase: {phase}, sin: {sin_weight}, cos: {cos_weight} , load: {load_on}") + # print(f"time: {current_time}, phase: {phase}" + # f", sin: {sin_weight}, cos: {cos_weight} , load: {load_on}") # Multiply the frame by sin and cos to get in-phase and quadrature components in_phase = raw_frame * sin_weight @@ -289,7 +335,7 @@ def get_lockin_frame(freq, port, integration): in_phase_sum += in_phase quadrature_sum += quadrature - if not is_capturing: + if not app_state.is_capturing: break ser.write(b"0\n") @@ -303,92 +349,94 @@ def get_lockin_frame(freq, port, integration): def capture_lock_in(): - global is_capturing, quad_frame, in_phase_frame, lock, fequency, port, integration - - while is_capturing: - in_phase, quad = get_lockin_frame(fequency, port, integration) + while app_state.is_capturing: + in_phase, quad = get_lockin_frame( + app_state.fequency, app_state.port, app_state.integration + ) if in_phase is not None and quad is not None: - with lock: - in_phase_frame = in_phase - quad_frame = quad + with app_state.lock: + app_state.in_phase_frame = in_phase + app_state.quad_frame = quad def start_capture(): - global is_capturing - is_capturing = True + app_state.is_capturing = True thread = threading.Thread(target=capture_lock_in) thread.start() return thread def stop_capture(thread): - global is_capturing - is_capturing = False + app_state.is_capturing = False if thread is not None: thread.join() -def animate_func(i): - global \ - frame, \ - in_phase_frame, \ - quad_frame, \ - paused, \ - update_colormap, \ - exposure, \ - im, \ - diff, \ - start_skips, \ - lock_in_thread - if lockin and start_skips > 0: - frame = camera.get_frame() - start_skips -= 1 - elif lockin: - if not is_capturing: - lock_in_thread = start_capture() +def animate_func(_frame: int) -> None: + if app_state.lockin and app_state.start_skips > 0: + app_state.frame = app_state.camera.get_frame() + app_state.start_skips -= 1 + elif app_state.lockin: + if not app_state.is_capturing: + app_state.lock_in_thread = start_capture() # in_phase_frame, quad_frame = get_lockin_frame(fequency, port, integration) else: - frame = camera.get_frame() + app_state.frame = app_state.camera.get_frame() - if not paused: - if diff["enabled"]: - show_frame = frame - diff["frame"] + if not app_state.paused: + if app_state.diff["enabled"]: + show_frame = app_state.frame - app_state.diff["frame"] else: - show_frame = frame + show_frame = app_state.frame - if diff["annotation_enabled"]: - annotation_frame = frame - diff["frame"] + if app_state.diff["annotation_enabled"]: + annotation_frame = app_state.frame - app_state.diff["frame"] else: - annotation_frame = frame + annotation_frame = app_state.frame - im.set_array(show_frame) - if lockin: - im_in_phase.set_array(in_phase_frame) - im_quadrature.set_array(quad_frame) + app_state.im.set_array(show_frame) + if app_state.lockin: + app_state.im_in_phase.set_array(app_state.in_phase_frame) + app_state.im_quadrature.set_array(app_state.quad_frame) - annotations.update(temp_annotations, annotation_frame, draw_temp) + app_state.annotations.update( + app_state.temp_annotations, annotation_frame, app_state.draw_temp + ) - if exposure["auto"]: - update_colormap = utils.autoExposure(update_colormap, exposure, show_frame) + if app_state.exposure["auto"]: + app_state.update_colormap = utils.autoExposure( + app_state.update_colormap, app_state.exposure, show_frame + ) - # TODO deal with saving the lock in stuff to a file + # TODO: deal with saving the lock in stuff to a file log_annotations_to_csv(annotation_frame) - if update_colormap: - im.set_clim(exposure["T_min"], exposure["T_max"]) - fig.canvas.draw_idle() # force update all, even with blit=True - update_colormap = False + if app_state.update_colormap: + app_state.im.set_clim( + app_state.exposure["T_min"], app_state.exposure["T_max"] + ) + app_state.fig.canvas.draw_idle() # force update all, even with blit=True + app_state.update_colormap = False return [] - if lockin: + if app_state.lockin: # adjust the color limits for the in-phase and quadrature frames - im_in_phase.set_clim(np.min(in_phase_frame), np.max(in_phase_frame)) - im_quadrature.set_clim(np.min(quad_frame), np.max(quad_frame)) - new_status_text = status_text - status_text_obj.set_text(new_status_text) - return [im, im_in_phase, im_quadrature, status_text_obj] + annotations.get() + app_state.im_in_phase.set_clim( + np.min(app_state.in_phase_frame), np.max(app_state.in_phase_frame) + ) + app_state.im_quadrature.set_clim( + np.min(app_state.quad_frame), np.max(app_state.quad_frame) + ) + new_status_text = app_state.status_text + app_state.status_text_obj.set_text(new_status_text) + return [ + app_state.im, + app_state.im_in_phase, + app_state.im_quadrature, + app_state.status_text_obj, + ] + app_state.annotations.get() - return [im] + annotations.get() + return [app_state.im] + app_state.annotations.get() def print_help(): @@ -421,67 +469,75 @@ def print_help(): # keyboard def press(event): - global \ - paused, \ - exposure, \ - update_colormap, \ - cmaps_idx, \ - draw_temp, \ - temp_extra_annotations, \ - csv_filename - global lut, frame, diff, annotations, roi if event.key == "h": print_help() if event.key == " ": - paused ^= True - print("paused:", paused) + app_state.paused ^= True + print("paused:", app_state.paused) if event.key == "d": - diff["frame"] = frame - diff["annotation_enabled"] = diff["enabled"] = True + app_state.diff["frame"] = app_state.frame + app_state.diff["annotation_enabled"] = app_state.diff["enabled"] = True print("set diff") if event.key == "x": - diff["enabled"] ^= True - print("enable diff:", diff["enabled"]) + app_state.diff["enabled"] ^= True + print("enable diff:", app_state.diff["enabled"]) if event.key == "c": - diff["annotation_enabled"] ^= True - print("enable annotation diff:", diff["annotation_enabled"]) + app_state.diff["annotation_enabled"] ^= True + print("enable annotation diff:", app_state.diff["annotation_enabled"]) if event.key == "t": - draw_temp ^= True - print("draw temp:", draw_temp) + app_state.draw_temp ^= True + print("draw temp:", app_state.draw_temp) if event.key == "e": - print("removing user annotations: ", len(temp_annotations["user"])) - annotations.remove(temp_annotations["user"]) + print("removing user annotations: ", len(app_state.temp_annotations["user"])) + app_state.annotations.remove(app_state.temp_annotations["user"]) if event.key == "u": print("calibrate") - camera.calibrate() + app_state.camera.calibrate() if event.key == "a": - exposure["auto"] ^= True - print("auto exposure:", exposure["auto"], ", type:", exposure["auto_type"]) + app_state.exposure["auto"] ^= True + print( + "auto exposure:", + app_state.exposure["auto"], + ", type:", + app_state.exposure["auto_type"], + ) if event.key == "z": types = ["center", "ends"] - exposure["auto_type"] = types[types.index(exposure["auto_type"]) - 1] - print("auto exposure:", exposure["auto"], ", type:", exposure["auto_type"]) + app_state.exposure["auto_type"] = types[ + types.index(app_state.exposure["auto_type"]) - 1 + ] + print( + "auto exposure:", + app_state.exposure["auto"], + ", type:", + app_state.exposure["auto_type"], + ) if event.key == "w": filename = time.strftime(FILE_NAME_FORMAT) + ".png" plt.savefig(filename) print("saved to:", filename) if event.key == "r": filename = time.strftime(FILE_NAME_FORMAT) + ".npy" - np.save(filename, camera.frame_raw_u16.reshape(camera.height + 4, camera.width)) + np.save( + filename, + app_state.camera.frame_raw_u16.reshape( + app_state.camera.height + 4, app_state.camera.width + ), + ) print("saved to:", filename) if event.key == "v": - if csv_filename is None: + if app_state.csv_filename is None: csv_filename = time.strftime(FILE_NAME_FORMAT) + ".csv" with open(csv_filename, "w", newline="") as f: header = ["time"] header += [ f"{a} {x}" - for a in temp_annotations["std"].keys() + for a in app_state.temp_annotations["std"] for x in ["x", "y", "val"] ] # t, tmin x, tmin y, tmin val, etc header += [ f"Point{i} {x}" - for i, key in enumerate(temp_annotations["user"].keys()) + for i, key in enumerate(app_state.temp_annotations["user"].keys()) for x in ["x", "y", "val"] ] csv.writer(f).writerow(header) @@ -492,91 +548,99 @@ def press(event): if event.key in [",", "."]: if event.key == ".": - cmaps_idx = (cmaps_idx + 1) % len(cmaps) + app_state.cmaps_idx = (app_state.cmaps_idx + 1) % len(CMAP_NAMES) else: - cmaps_idx = (cmaps_idx - 1) % len(cmaps) - print("color map:", cmaps[cmaps_idx]) - im.set_cmap(cmaps[cmaps_idx]) - update_colormap = True + app_state.cmaps_idx = (app_state.cmaps_idx - 1) % len(CMAP_NAMES) + print("color map:", CMAP_NAMES[app_state.cmaps_idx]) + app_state.im.set_cmap(CMAP_NAMES[app_state.cmaps_idx]) + app_state.update_colormap = True if event.key in ["k", "l"]: if event.key == "k": - camera.temperature_range_normal() + app_state.camera.temperature_range_normal() else: - camera.temperature_range_high() - camera.wait_for_range_application() # this takes care of calibration as well - update_colormap = True + app_state.camera.temperature_range_high() + # this takes care of calibration as well + app_state.camera.wait_for_range_application() + app_state.update_colormap = True if event.key in ["left", "right", "up", "down"]: - exposure["auto"] = False - T_cent = int((exposure["T_min"] + exposure["T_max"]) / 2) - d = int(exposure["T_max"] - T_cent) + app_state.exposure["auto"] = False + t_cent = int((app_state.exposure["T_min"] + app_state.exposure["T_max"]) / 2) + d = int(app_state.exposure["T_max"] - t_cent) if event.key == "up": - T_cent += exposure["T_margin"] / 2 + t_cent += app_state.exposure["T_margin"] / 2 if event.key == "down": - T_cent -= exposure["T_margin"] / 2 + t_cent -= app_state.exposure["T_margin"] / 2 if event.key == "left": - d -= exposure["T_margin"] / 2 + d -= app_state.exposure["T_margin"] / 2 if event.key == "right": - d += exposure["T_margin"] / 2 - d = max(d, exposure["T_margin"]) - exposure["T_min"] = T_cent - d - exposure["T_max"] = T_cent + d + d += app_state.exposure["T_margin"] / 2 + d = max(d, app_state.exposure["T_margin"]) + app_state.exposure["T_min"] = t_cent - d + app_state.exposure["T_max"] = t_cent + d print( "auto exposure off, T_min:", - exposure["T_min"], + app_state.exposure["T_min"], "T_cent:", - T_cent, + t_cent, "T_max:", - exposure["T_max"], + app_state.exposure["T_max"], ) - update_colormap = True - - -mouse_action_pos = (0, 0) -mouse_action = None + app_state.update_colormap = True def onclick(event): - global mouse_action, mouse_action_pos - if event.inaxes == ax: + if event.inaxes == app_state.ax: pos = (int(event.xdata), int(event.ydata)) if event.button == MouseButton.RIGHT: print("add user temperature annotation at pos:", pos) - temp_annotations["user"][pos] = "white" + app_state.temp_annotations["user"][pos] = "white" if event.button == MouseButton.LEFT: - if utils.inRoi(annotations.roi, pos, frame.shape): - mouse_action = "move_roi" - mouse_action_pos = ( - annotations.roi[0][0] - pos[0], - annotations.roi[0][1] - pos[1], + if utils.inRoi(app_state.annotations.roi, pos, app_state.frame.shape): + app_state.mouse_action = "move_roi" + app_state.mouse_action_pos = ( + app_state.annotations.roi[0][0] - pos[0], + app_state.annotations.roi[0][1] - pos[1], ) else: - mouse_action = "create_roi" - mouse_action_pos = pos - annotations.set_roi((pos, (0, 0))) + app_state.mouse_action = "create_roi" + app_state.mouse_action_pos = pos + app_state.annotations.set_roi((pos, (0, 0))) def onmotion(event): - global mouse_action, mouse_action_pos, roi - if event.inaxes == ax and event.button == MouseButton.LEFT: + if event.inaxes == app_state.ax and event.button == MouseButton.LEFT: pos = (int(event.xdata), int(event.ydata)) - if mouse_action == "create_roi": - w, h = pos[0] - mouse_action_pos[0], pos[1] - mouse_action_pos[1] - roi = (mouse_action_pos, (w, h)) - annotations.set_roi(roi) - if mouse_action == "move_roi": - roi = ( - (pos[0] + mouse_action_pos[0], pos[1] + mouse_action_pos[1]), - annotations.roi[1], + if app_state.mouse_action == "create_roi": + w, h = ( + pos[0] - app_state.mouse_action_pos[0], + pos[1] - app_state.mouse_action_pos[1], + ) + app_state.roi = (app_state.mouse_action_pos, (w, h)) + app_state.annotations.set_roi(app_state.roi) + if app_state.mouse_action == "move_roi": + app_state.roi = ( + ( + pos[0] + app_state.mouse_action_pos[0], + pos[1] + app_state.mouse_action_pos[1], + ), + app_state.annotations.roi[1], ) - annotations.set_roi(roi) + app_state.annotations.set_roi(app_state.roi) + + +def main() -> None: + _keep_me_anim = animation.FuncAnimation( + app_state.fig, animate_func, interval=1000 / app_state.fps, blit=True + ) + app_state.fig.canvas.mpl_connect("button_press_event", onclick) + app_state.fig.canvas.mpl_connect("motion_notify_event", onmotion) + app_state.fig.canvas.mpl_connect("key_press_event", press) + print_help() + plt.show() + stop_capture(app_state.lock_in_thread) + app_state.camera.release() -anim = animation.FuncAnimation(fig, animate_func, interval=1000 / fps, blit=True) -fig.canvas.mpl_connect("button_press_event", onclick) -fig.canvas.mpl_connect("motion_notify_event", onmotion) -fig.canvas.mpl_connect("key_press_event", press) -print_help() -plt.show() -stop_capture(lock_in_thread) -camera.release() +if __name__ == "__main__": + main() diff --git a/pyproject.toml b/pyproject.toml index 652de57..612132a 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -20,3 +20,14 @@ ruff = "^0.7.3" requires = ["poetry-core>=1.0.0"] build-backend = "poetry.core.masonry.api" +[tool.ruff.lint] +select = ["ALL"] +ignore = [ + "ISC001", + "COM812", # trailing comma missing + "D203", # one-blank-line-before-class + "D212", # multi-line-summary-first-line + "T201", # print-found + "TD002", # issue author missing + "TD003", # issue link missing + ] From edf7d5619f77c18c54d7c618fa9ea3f78bdf02d6 Mon Sep 17 00:00:00 2001 From: DiminDDL Date: Thu, 9 Oct 2025 21:45:10 +0200 Subject: [PATCH 23/27] added inverted output mode to lock in, and improved bugs where cv2 sometimes returns wrong values during startup --- irpythermal.py | 42 ++++++++++++++++++++++++++++++++++-------- pyplot.py | 44 ++++++++++++++++++++++++++++++++++---------- 2 files changed, 68 insertions(+), 18 deletions(-) diff --git a/irpythermal.py b/irpythermal.py index 37ab115..915e3f7 100755 --- a/irpythermal.py +++ b/irpythermal.py @@ -323,15 +323,41 @@ def info(self) -> Tuple[dict, np.ndarray]: return info, temperatureTable # read raw data from cam, seperate visible frame from metadata - def read(self, raw=False) -> Tuple[bool, np.ndarray]: - """Retunrs a raw frame from the camera""" - ret, frame_raw = self.cap.read() + def read(self, raw=False, max_retries=5, retry_delay=0.5) -> Tuple[bool, np.ndarray]: + """Returns a raw frame from the camera, retrying if the frame is incomplete.""" + for attempt in range(max_retries): + ret, frame_raw = self.cap.read() + if not ret or frame_raw is None: + time.sleep(retry_delay) + continue + + frame_data = frame_raw.view(np.uint16).ravel() + expected_size = self.height * self.width + if frame_data.size < expected_size: + # Incomplete frame, wait and retry + print( + f"[warn] Incomplete frame (got {frame_data.size}, expected {expected_size}), retrying {attempt+1}/{max_retries}" + ) + time.sleep(retry_delay) + continue + + try: + frame_visible = frame_data[: self.fourLinePara].copy().reshape( + self.height, self.width + ) + break + except ValueError: + print( + f"[warn] Reshape failed (array size {frame_data.size}), retrying {attempt+1}/{max_retries}" + ) + time.sleep(retry_delay) + continue + else: + # If we exit the loop without success + raise RuntimeError("Failed to read a complete frame from camera") + self.frame_raw_u16: np.ndarray = frame_raw.view(np.uint16).ravel() - frame_visible = ( - self.frame_raw_u16[: self.fourLinePara] - .copy() - .reshape(self.height, self.width) - ) + if raw: return ret, frame_visible if self.reference_frame is not None: diff --git a/pyplot.py b/pyplot.py index 523db7f..231dade 100755 --- a/pyplot.py +++ b/pyplot.py @@ -87,6 +87,12 @@ def parse_arguments() -> argparse.Namespace: type=float, help="set the integration time for the lock-in thermometry (in seconds)", ) + parser.add_argument( + "-n", + "--negate", + action='store_true', + help="negate the signal send to the switch device, (useful for NO switches, or N-FETs)", + ) parser.add_argument( "file", nargs="?", type=str, help="use the emulator with the data in file.npy" ) @@ -129,6 +135,7 @@ def __init__(self, args: argparse.Namespace) -> None: if args.lockin: self.lockin = True self.draw_temp = False + self.negate = False # check if all lock-in thermometry options are provided if not args.port or not args.integration: print( @@ -137,6 +144,9 @@ def __init__(self, args: argparse.Namespace) -> None: ) sys.exit(1) + if args.negate: + self.negate = True + self.fequency = args.lockin self.port = args.port self.integration = args.integration @@ -162,8 +172,8 @@ def __init__(self, args: argparse.Namespace) -> None: axes = self.axes self.ax = axes[0][0] self.im = axes[0][0].imshow(self.frame, cmap=CMAP_NAMES[self.cmaps_idx]) - im_in_phase = axes[0][1].imshow(self.frame, cmap=CMAP_NAMES[self.cmaps_idx]) - im_quadrature = axes[1][1].imshow( + self.im_in_phase = axes[0][1].imshow(self.frame, cmap=CMAP_NAMES[self.cmaps_idx]) + self.im_quadrature = axes[1][1].imshow( self.frame, cmap=CMAP_NAMES[self.cmaps_idx] ) axes[0][0].set_title("Live") @@ -178,8 +188,8 @@ def __init__(self, args: argparse.Namespace) -> None: "right", size="5%", pad=0.05 ) plt.colorbar(self.im, cax=cax) - self.cbar_in_phase = plt.colorbar(im_in_phase, cax=cax_in_phase) - self.cbar_quadrature = plt.colorbar(im_quadrature, cax=cax_quadrature) + self.cbar_in_phase = plt.colorbar(self.im_in_phase, cax=cax_in_phase) + self.cbar_quadrature = plt.colorbar(self.im_quadrature, cax=cax_quadrature) axes[1][0].axis("off") status_text = """ @@ -200,6 +210,14 @@ def __init__(self, args: argparse.Namespace) -> None: fontsize=12, color="black", ) + self.status_text = """ + Frame: -, + Time: -/-, + Load: -, + Frequency: -Hz, + Integration Time: -s + Serial Port: - + """ else: self.fig = plt.figure() @@ -253,7 +271,7 @@ def log_annotations_to_csv(annotation_frame) -> None: writer.writerow([datetime.now()] + anns_data) -def get_lockin_frame(freq, port, integration): +def get_lockin_frame(freq, port, integration, invert = False): """ Perform all of the lock-in thermometry operations. @@ -306,10 +324,16 @@ def get_lockin_frame(freq, port, integration): if current_time - (last_toggle_time - start_time) >= half_period: # Toggle the load state if load_on: - ser.write(b"0\n") # Send 0 to turn the load off + if invert: + ser.write(b"1\n") # Send 1 to turn the load on + else: + ser.write(b"0\n") # Send 0 to turn the load off load_on = False else: - ser.write(b"1\n") # Send 1 to turn the load on + if invert: + ser.write(b"0\n") # Send 0 to turn the load off + else: + ser.write(b"1\n") # Send 1 to turn the load on load_on = True # print(f'Load state: {load_on}, Time: {current_time}') # debugging @@ -351,7 +375,7 @@ def get_lockin_frame(freq, port, integration): def capture_lock_in(): while app_state.is_capturing: in_phase, quad = get_lockin_frame( - app_state.fequency, app_state.port, app_state.integration + app_state.fequency, app_state.port, app_state.integration, app_state.negate ) if in_phase is not None and quad is not None: with app_state.lock: @@ -427,7 +451,7 @@ def animate_func(_frame: int) -> None: app_state.im_quadrature.set_clim( np.min(app_state.quad_frame), np.max(app_state.quad_frame) ) - new_status_text = app_state.status_text + new_status_text = getattr(app_state, "status_text", "") app_state.status_text_obj.set_text(new_status_text) return [ app_state.im, @@ -630,7 +654,7 @@ def onmotion(event): def main() -> None: _keep_me_anim = animation.FuncAnimation( - app_state.fig, animate_func, interval=1000 / app_state.fps, blit=True + app_state.fig, animate_func, interval=1000 / app_state.fps, blit=True, cache_frame_data=False ) app_state.fig.canvas.mpl_connect("button_press_event", onclick) app_state.fig.canvas.mpl_connect("motion_notify_event", onmotion) From 30bc6aebc363fb820322eb132880e6f4e19e0199 Mon Sep 17 00:00:00 2001 From: Thijs Damsma Date: Tue, 24 Mar 2026 11:01:12 +0100 Subject: [PATCH 24/27] Add hot pixel detection and persistent calibration irpythermal.py changes: - calibrate_raw() now detects both cold AND hot stuck pixels using symmetric 5% threshold (previously only detected cold pixels) Source: diminDDL/IR-Py-Thermal PR #4 https://github.com/diminDDL/IR-Py-Thermal/pull/4 - Add save_calibration() and load_calibration() methods to persist reference frame and dead pixel mask as .npy files across restarts Source: MCMH2000/OpenHD_HT301_Driver noise_pattern_calibration.npy approach https://github.com/MCMH2000/OpenHD_HT301_Driver - Fix resource leak in find_device(): release cameras that don't match supported resolutions instead of leaving them open - Replace bare except with except Exception --- irpythermal.py | 66 ++++++++++++++++++++++++++++++++++++++------------ 1 file changed, 51 insertions(+), 15 deletions(-) diff --git a/irpythermal.py b/irpythermal.py index 915e3f7..272a163 100755 --- a/irpythermal.py +++ b/irpythermal.py @@ -6,6 +6,8 @@ from time import sleep from typing import Tuple +import os + import cv2 import numpy as np @@ -67,6 +69,7 @@ class Camera: reference_frame = None offset_mean = 0.0 dead_pixels_mask = None + calibration_path = None def __init__( self, @@ -127,7 +130,8 @@ def find_device(cls) -> cv2.VideoCapture: cap_height - ROWS_SPECIAL_DATA, ) in cls.supported_resolutions: return cap - except: + cap.release() + except Exception: pass raise ValueError( f"Cannot find camera with a width of one of {cls.supported_resolutions} that also matches: {cap_width=} and {cap_height=}" @@ -495,25 +499,37 @@ def calibrate_raw(self, quiet=False) -> None: else: raise RuntimeError("Failed to capture reference frame") - # dead pixel correction + # dead/hot pixel correction using symmetric threshold frame_visible_float = frame_visible.astype(np.float32) min_val = np.min(frame_visible_float) max_val = np.max(frame_visible_float) - print(f"Min: {min_val}, Max: {max_val}, Avg: {np.mean(frame_visible_float)}") - threshold_margin = ( - max_val - min_val - ) * 0.05 # Adjust the margin if not detected correctly - threshold = min_val + threshold_margin - - # if there are no dead pixels, we skip the dead pixel correction - if np.count_nonzero(frame_visible_float < threshold) != 0: - self.dead_pixels_mask = cv2.inRange( - frame_visible_float, 0, float(threshold) - ).astype(np.uint8) + val_range = max_val - min_val + if not quiet: + print(f"Min: {min_val}, Max: {max_val}, Avg: {np.mean(frame_visible_float)}") + threshold_margin = val_range * 0.05 + + low_threshold = min_val + threshold_margin + high_threshold = max_val - threshold_margin + + # detect cold/dead pixels AND hot/stuck pixels + cold_mask = cv2.inRange( + frame_visible_float, 0, float(low_threshold) + ).astype(np.uint8) + hot_mask = cv2.inRange( + frame_visible_float, float(high_threshold), float(max_val + 1) + ).astype(np.uint8) + combined_mask = cold_mask | hot_mask + + if np.count_nonzero(combined_mask) > 0: + self.dead_pixels_mask = combined_mask if not quiet: - print(f"Found {np.count_nonzero(self.dead_pixels_mask)} dead pixels") - print(f"At: {np.argwhere(self.dead_pixels_mask)}") + n_cold = np.count_nonzero(cold_mask) + n_hot = np.count_nonzero(hot_mask) + print(f"Found {n_cold} dead pixels, {n_hot} hot pixels") + + if self.calibration_path: + self.save_calibration(self.calibration_path) def calibrate(self, quiet=False) -> None: """camera calibration""" @@ -675,6 +691,26 @@ def flush_buffer(self, num_reads=16): for i in range(num_reads): ret, frame_visible = self.read(raw=True) + def save_calibration(self, path) -> None: + """Save calibration data (reference frame + dead pixel mask) to disk.""" + np.save(f"{path}_reference.npy", self.reference_frame) + if self.dead_pixels_mask is not None: + np.save(f"{path}_deadpixels.npy", self.dead_pixels_mask) + print(f"Calibration saved to {path}_*.npy") + + def load_calibration(self, path) -> bool: + """Load calibration data from disk. Returns True if successful.""" + ref_file = f"{path}_reference.npy" + if not os.path.exists(ref_file): + return False + self.reference_frame = np.load(ref_file) + self.offset_mean = float(np.mean(self.reference_frame)) + dp_file = f"{path}_deadpixels.npy" + if os.path.exists(dp_file): + self.dead_pixels_mask = np.load(dp_file) + print(f"Calibration loaded from {path}_*.npy") + return True + class MockVidoCapture: def set(self, propId, value): From 0d0d10152a9f8fcfd0b7386ed2dec54fc6bc8244 Mon Sep 17 00:00:00 2001 From: Thijs Damsma Date: Tue, 24 Mar 2026 11:01:18 +0100 Subject: [PATCH 25/27] Fix OpenCV int cast errors in drawTemperature Cast x, y, tx, ty coordinates to int() before passing to cv2.line() and cv2.putText(). OpenCV requires integer coordinates and fails with float values from numpy operations. Source: uncommitted fix found on remote machine /home/daniel/git/t2s/ --- utils.py | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/utils.py b/utils.py index 7373b32..ee67aea 100755 --- a/utils.py +++ b/utils.py @@ -8,7 +8,7 @@ def drawTemperature(img, point, T, color=(0, 0, 0)): d1, d2 = 2, 5 dsize = 1 font = cv2.FONT_HERSHEY_PLAIN - (x, y) = point + (x, y) = int(point[0]), int(point[1]) t = "%.2fC" % T cv2.line(img, (x + d1, y), (x + d2, y), color, dsize) cv2.line(img, (x - d1, y), (x - d2, y), color, dsize) @@ -16,11 +16,11 @@ def drawTemperature(img, point, T, color=(0, 0, 0)): cv2.line(img, (x, y - d1), (x, y - d2), color, dsize) text_size = cv2.getTextSize(t, font, 1, dsize)[0] - tx, ty = x + d1, y + d1 + text_size[1] + tx, ty = int(x + d1), int(y + d1 + text_size[1]) if tx + text_size[0] > img.shape[1]: - tx = x - d1 - text_size[0] + tx = int(x - d1 - text_size[0]) if ty > img.shape[0]: - ty = y - d1 + ty = int(y - d1) cv2.putText(img, t, (tx, ty), font, 1, color, dsize, cv2.LINE_8) From f3fa5b0fd33e8138df8aadbbec1feb550c2a16ca Mon Sep 17 00:00:00 2001 From: Thijs Damsma Date: Tue, 24 Mar 2026 11:01:23 +0100 Subject: [PATCH 26/27] Replace skimage with cv2 for auto-exposure in opencv.py Replace skimage.exposure.equalize_hist + rescale_intensity with cv2.normalize + cv2.equalizeHist. Same visual result, eliminates the scikit-image dependency (and its transitive deps) making deployment on headless Linux machines simpler. --- opencv.py | 8 +++----- 1 file changed, 3 insertions(+), 5 deletions(-) diff --git a/opencv.py b/opencv.py index da7c2bb..b820153 100755 --- a/opencv.py +++ b/opencv.py @@ -5,7 +5,6 @@ import cv2 import numpy as np -from skimage.exposure import equalize_hist, rescale_intensity import irpythermal import utils @@ -100,10 +99,9 @@ def get_fps(self): info, lut = camera.info() frame = frame.astype(np.float32) - # Sketchy auto-exposure - frame = rescale_intensity( - equalize_hist(frame), in_range="image", out_range=(0, 255) - ).astype(np.uint8) + # Auto-exposure: normalize + histogram equalization + frame = cv2.normalize(frame, None, 0, 255, cv2.NORM_MINMAX).astype(np.uint8) + frame = cv2.equalizeHist(frame) frame = cv2.applyColorMap(frame, cv2.COLORMAP_INFERNO) From da0c35a0e32425c12a79c5f336328cc07a078179 Mon Sep 17 00:00:00 2001 From: Thijs Damsma Date: Tue, 24 Mar 2026 11:01:28 +0100 Subject: [PATCH 27/27] Migrate pyproject.toml from poetry to uv format Convert build system from poetry-core to uv/PEP 621 project format. Add missing runtime dependencies (av, opencv-python, pyusb, imageio). --- pyproject.toml | 35 +++++++++++++++++++++-------------- 1 file changed, 21 insertions(+), 14 deletions(-) diff --git a/pyproject.toml b/pyproject.toml index 612132a..42b8689 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -1,24 +1,31 @@ -[tool.poetry] +[project] name = "ir-py-thermal" version = "0.1.0" description = "ir-py-thermal" -authors = ["Dima "] -repository = "https://github.com/diminDDL/IR-Py-Thermal" +authors = [{name = "Dima", email = "me@dmytroengineering.com"}] readme = "README.md" -package-mode = false +requires-python = ">=3.10.4" +dependencies = [ + "matplotlib>=3.9.2", + "pyserial>=3.5", + "scikit-image>=0.25.2", + "imageio-ffmpeg>=0.6.0", + "imageio>=2.37.2", + "pyusb>=1.3.1", + "av>=16.0.1", + "opencv-python>=4.12.0.88", +] -[tool.poetry.dependencies] -python = "^3.10.4" -opencv-python = "^4.10.0.84" -matplotlib = "^3.9.2" -pyserial = "^3.5" +[project.urls] +repository = "https://github.com/diminDDL/IR-Py-Thermal" -[tool.poetry.group.dev.dependencies] -ruff = "^0.7.3" +[dependency-groups] +dev = [ + "ruff>=0.7.3", +] -[build-system] -requires = ["poetry-core>=1.0.0"] -build-backend = "poetry.core.masonry.api" +[tool.uv] +package = false [tool.ruff.lint] select = ["ALL"]