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bootstrap.sh
#!/bin/bash
set -x
# Crate a virtual environment:
python3 -m venv .venv
# Update pip:
.venv/bin/pip install -U pip
# Install https://pypi.org/project/opencv-python/ in virtual environment:
.venv/bin/pip install -U opencv-python "numpy<=2.0"
# Tested with:
# numpy==1.26.4
# opencv-python==4.9.0.80
# Run https://github.com/leswright1977/PyThermalCamera script:
# CHANGE DEVICE NUMBER!
.venv/bin/python3 ./src/tc001v4.2.py --device 4
Raw
tc001v4.2.py
#!/usr/bin/env python3
'''
Les Wright 21 June 2023
https://youtube.com/leslaboratory
A Python program to read, parse and display thermal data from the Topdon TC001 Thermal camera!
'''
print('Les Wright 21 June 2023')
print('https://youtube.com/leslaboratory')
print('A Python program to read, parse and display thermal data from the Topdon TC001 Thermal camera!')
print('')
print('Tested on Debian all features are working correctly')
print('This will work on the Pi However a number of workarounds are implemented!')
print('Seemingly there are bugs in the compiled version of cv2 that ships with the Pi!')
print('')
print('Key Bindings:')
print('')
print('1 2: Increase/Decrease min temperature range')
print('3 4: Increase/Decrease max temperature range')
print('a z: Increase/Decrease Blur')
print('s x: Floating High and Low Temp Label Threshold')
print('d c: Change Interpolated scale Note: This will not change the window size on the Pi')
print('f v: Contrast')
print('q w: Fullscreen Windowed (note going back to windowed does not seem to work on the Pi!)')
print('r t: Record and Stop')
print('p : Snapshot')
print('m : Cycle through ColorMaps')
print('h : Toggle HUD')
import cv2
import numpy as np
import argparse
import time
# We need to know if we are running on the Pi, because openCV behaves a little oddly on all the builds!
# https://raspberrypi.stackexchange.com/questions/5100/detect-that-a-python-program-is-running-on-the-pi
def is_raspberrypi():
try:
with open('/sys/firmware/devicetree/base/model') as m:
if 'raspberry pi' in m.read().lower():
return True
except Exception:
pass
return False
isPi = is_raspberrypi()
parser = argparse.ArgumentParser()
parser.add_argument("--device", type=int, default=0, help="Video Device number e.g. 0, use v4l2-ctl --list-devices")
args = parser.parse_args()
if args.device:
dev = args.device
else:
dev = 0
# init video
cap = cv2.VideoCapture('/dev/video' + str(dev), cv2.CAP_V4L)
width = cap.get(cv2.CAP_PROP_FRAME_WIDTH)
print(f'{width=}')
height = cap.get(cv2.CAP_PROP_FRAME_HEIGHT)
print(f'{height=}')
# cap = cv2.VideoCapture(0)
# pull in the video but do NOT automatically convert to RGB, else it breaks the temperature data!
# https://stackoverflow.com/questions/63108721/opencv-setting-videocap-property-to-cap-prop-convert-rgb-generates-weird-boolean
if isPi == True:
cap.set(cv2.CAP_PROP_CONVERT_RGB, 0.0)
else:
cap.set(cv2.CAP_PROP_CONVERT_RGB, 0.0)
# 256x192 General settings
width = 256 # Sensor width
height = 192 # sensor height
scale = 3 # scale multiplier
newWidth = width * scale
newHeight = height * scale
alpha = 1.0 # Contrast control (1.0-3.0)
colormap = 0
font = cv2.FONT_HERSHEY_SIMPLEX
dispFullscreen = False
cv2.namedWindow('Thermal', cv2.WINDOW_GUI_NORMAL)
cv2.resizeWindow('Thermal', newWidth, newHeight)
rad = 0 # blur radius
threshold = 2
hud = True
recording = False
elapsed = "00:00:00"
snaptime = "None"
# Scale to 0-50°C -> 0-255
min_celcius = 0
max_celcius = 50
def rec():
now = time.strftime("%Y%m%d--%H%M%S")
# do NOT use mp4 here, it is flakey!
videoOut = cv2.VideoWriter(now + 'output.avi', cv2.VideoWriter_fourcc(*'XVID'), 25, (newWidth, newHeight))
return videoOut
def snapshot(heatmap):
# I would put colons in here, but it Win throws a fit if you try and open them!
now = time.strftime("%Y%m%d-%H%M%S")
snaptime = time.strftime("%H:%M:%S")
cv2.imwrite("TC001" + now + ".png", heatmap)
return snaptime
while cap.isOpened():
# Capture frame-by-frame
ret, frame = cap.read()
if ret == True:
imdata, thdata = np.array_split(frame, 2)
# now parse the data from the bottom frame and convert to temp!
# https://www.eevblog.com/forum/thermal-imaging/infiray-and-their-p2-pro-discussion/200/
# Huge props to LeoDJ for figuring out how the data is stored and how to compute temp from it.
# grab data from the center pixel...
hi = thdata[96][128][0]
lo = thdata[96][128][1]
# print(f'{hi=},{lo=}')
lo = lo * 256
rawtemp = hi + lo
# print(f'{rawtemp/64=}')
temp = (rawtemp / 64) - 273.15
temp = round(temp, 2)
# print(temp)
# break
# find the max temperature in the frame
lomax = thdata[..., 1].max()
posmax = thdata[..., 1].argmax()
# since argmax returns a linear index, convert back to row and col
mcol, mrow = divmod(posmax, width)
himax = thdata[mcol][mrow][0]
lomax = lomax * 256
maxtemp = himax + lomax
maxtemp = (maxtemp / 64) - 273.15
maxtemp = round(maxtemp, 2)
# find the lowest temperature in the frame
lomin = thdata[..., 1].min()
posmin = thdata[..., 1].argmin()
# since argmax returns a linear index, convert back to row and col
lcol, lrow = divmod(posmin, width)
try:
himin = thdata[lcol][lrow][0]
except IndexError:
print(f'IndexError: {lcol=} {lrow=}')
continue
lomin = lomin * 256
mintemp = himin + lomin
mintemp = (mintemp / 64) - 273.15
mintemp = round(mintemp, 2)
# find the average temperature in the frame
loavg = thdata[..., 1].mean()
hiavg = thdata[..., 0].mean()
loavg = loavg * 256
avgtemp = loavg + hiavg
avgtemp = (avgtemp / 64) - 273.15
avgtemp = round(avgtemp, 2)
# Convert the real image to RGB
# bgr = cv2.cvtColor(imdata, cv2.COLOR_YUV2BGR_YUYV)
# bgr = cv2.cvtColor(thdata, cv2.COLOR_YUV2BGR_YUYV)
thdata_64bit = (thdata[..., 0] + thdata[..., 1] * 256) / 64 - 273.15
# Scale to min_celcius - max_celcius°C -> 0-255
thdata_64bit = (thdata_64bit - min_celcius) / (max_celcius - min_celcius) * 255
thdata_64bit = np.clip(thdata_64bit, 0, 255)
thdata_8bit = np.uint8(thdata_64bit)
bgr = cv2.cvtColor(thdata_8bit, cv2.COLOR_GRAY2BGR)
# Contrast
bgr = cv2.convertScaleAbs(bgr, alpha=alpha) # Contrast
# bicubic interpolate, upscale and blur
bgr = cv2.resize(bgr, (newWidth, newHeight), interpolation=cv2.INTER_CUBIC) # Scale up!
if rad > 0:
bgr = cv2.blur(bgr, (rad, rad))
# apply colormap
if colormap == 0:
heatmap = cv2.applyColorMap(bgr, cv2.COLORMAP_JET)
cmapText = 'Jet'
if colormap == 1:
heatmap = cv2.applyColorMap(bgr, cv2.COLORMAP_HOT)
cmapText = 'Hot'
if colormap == 2:
heatmap = cv2.applyColorMap(bgr, cv2.COLORMAP_MAGMA)
cmapText = 'Magma'
if colormap == 3:
heatmap = cv2.applyColorMap(bgr, cv2.COLORMAP_INFERNO)
cmapText = 'Inferno'
if colormap == 4:
heatmap = cv2.applyColorMap(bgr, cv2.COLORMAP_PLASMA)
cmapText = 'Plasma'
if colormap == 5:
heatmap = cv2.applyColorMap(bgr, cv2.COLORMAP_BONE)
cmapText = 'Bone'
if colormap == 6:
heatmap = cv2.applyColorMap(bgr, cv2.COLORMAP_SPRING)
cmapText = 'Spring'
if colormap == 7:
heatmap = cv2.applyColorMap(bgr, cv2.COLORMAP_AUTUMN)
cmapText = 'Autumn'
if colormap == 8:
heatmap = cv2.applyColorMap(bgr, cv2.COLORMAP_VIRIDIS)
cmapText = 'Viridis'
if colormap == 9:
heatmap = cv2.applyColorMap(bgr, cv2.COLORMAP_PARULA)
cmapText = 'Parula'
if colormap == 10:
heatmap = cv2.applyColorMap(bgr, cv2.COLORMAP_RAINBOW)
heatmap = cv2.cvtColor(heatmap, cv2.COLOR_BGR2RGB)
cmapText = 'Inv Rainbow'
# print(heatmap.shape)
# draw crosshairs
cv2.line(
heatmap,
(int(newWidth / 2), int(newHeight / 2) + 20),
(int(newWidth / 2), int(newHeight / 2) - 20),
(255, 255, 255),
2,
) # vline
cv2.line(
heatmap,
(int(newWidth / 2) + 20, int(newHeight / 2)),
(int(newWidth / 2) - 20, int(newHeight / 2)),
(255, 255, 255),
2,
) # hline
cv2.line(
heatmap,
(int(newWidth / 2), int(newHeight / 2) + 20),
(int(newWidth / 2), int(newHeight / 2) - 20),
(0, 0, 0),
1,
) # vline
cv2.line(
heatmap,
(int(newWidth / 2) + 20, int(newHeight / 2)),
(int(newWidth / 2) - 20, int(newHeight / 2)),
(0, 0, 0),
1,
) # hline
# show temp
cv2.putText(
heatmap,
str(temp) + ' C',
(int(newWidth / 2) + 10, int(newHeight / 2) - 10),
cv2.FONT_HERSHEY_SIMPLEX,
0.45,
(0, 0, 0),
2,
cv2.LINE_AA,
)
cv2.putText(
heatmap,
str(temp) + ' C',
(int(newWidth / 2) + 10, int(newHeight / 2) - 10),
cv2.FONT_HERSHEY_SIMPLEX,
0.45,
(0, 255, 255),
1,
cv2.LINE_AA,
)
if hud == True:
# display black box for our data
cv2.rectangle(heatmap, (0, 0), (160, 120), (0, 0, 0), -1)
# put text in the box
cv2.putText(
heatmap,
'Avg Temp: ' + str(avgtemp) + ' C',
(10, 14),
cv2.FONT_HERSHEY_SIMPLEX,
0.4,
(0, 255, 255),
1,
cv2.LINE_AA,
)
cv2.putText(
heatmap,
'Label Threshold: ' + str(threshold) + ' C',
(10, 28),
cv2.FONT_HERSHEY_SIMPLEX,
0.4,
(0, 255, 255),
1,
cv2.LINE_AA,
)
cv2.putText(
heatmap,
'Colormap: ' + cmapText,
(10, 42),
cv2.FONT_HERSHEY_SIMPLEX,
0.4,
(0, 255, 255),
1,
cv2.LINE_AA,
)
cv2.putText(
heatmap,
'Blur: ' + str(rad) + ' ',
(10, 56),
cv2.FONT_HERSHEY_SIMPLEX,
0.4,
(0, 255, 255),
1,
cv2.LINE_AA,
)
cv2.putText(
heatmap,
'Scaling: ' + str(scale) + ' ',
(10, 70),
cv2.FONT_HERSHEY_SIMPLEX,
0.4,
(0, 255, 255),
1,
cv2.LINE_AA,
)
cv2.putText(
heatmap,
'Contrast: ' + str(alpha) + ' ',
(10, 84),
cv2.FONT_HERSHEY_SIMPLEX,
0.4,
(0, 255, 255),
1,
cv2.LINE_AA,
)
cv2.putText(
heatmap,
'Snapshot: ' + snaptime + ' ',
(10, 98),
cv2.FONT_HERSHEY_SIMPLEX,
0.4,
(0, 255, 255),
1,
cv2.LINE_AA,
)
if recording == False:
cv2.putText(
heatmap,
'Recording: ' + elapsed,
(10, 112),
cv2.FONT_HERSHEY_SIMPLEX,
0.4,
(200, 200, 200),
1,
cv2.LINE_AA,
)
if recording == True:
cv2.putText(
heatmap,
'Recording: ' + elapsed,
(10, 112),
cv2.FONT_HERSHEY_SIMPLEX,
0.4,
(40, 40, 255),
1,
cv2.LINE_AA,
)
# Yeah, this looks like we can probably do this next bit more efficiently!
# display floating max temp
if maxtemp > avgtemp + threshold:
cv2.circle(heatmap, (mrow * scale, mcol * scale), 5, (0, 0, 0), 2)
cv2.circle(heatmap, (mrow * scale, mcol * scale), 5, (0, 0, 255), -1)
cv2.putText(
heatmap,
str(maxtemp) + ' C',
((mrow * scale) + 10, (mcol * scale) + 5),
cv2.FONT_HERSHEY_SIMPLEX,
0.45,
(0, 0, 0),
2,
cv2.LINE_AA,
)
cv2.putText(
heatmap,
str(maxtemp) + ' C',
((mrow * scale) + 10, (mcol * scale) + 5),
cv2.FONT_HERSHEY_SIMPLEX,
0.45,
(0, 255, 255),
1,
cv2.LINE_AA,
)
# display floating min temp
if mintemp < avgtemp - threshold:
cv2.circle(heatmap, (lrow * scale, lcol * scale), 5, (0, 0, 0), 2)
cv2.circle(heatmap, (lrow * scale, lcol * scale), 5, (255, 0, 0), -1)
cv2.putText(
heatmap,
str(mintemp) + ' C',
((lrow * scale) + 10, (lcol * scale) + 5),
cv2.FONT_HERSHEY_SIMPLEX,
0.45,
(0, 0, 0),
2,
cv2.LINE_AA,
)
cv2.putText(
heatmap,
str(mintemp) + ' C',
((lrow * scale) + 10, (lcol * scale) + 5),
cv2.FONT_HERSHEY_SIMPLEX,
0.45,
(0, 255, 255),
1,
cv2.LINE_AA,
)
# display image
cv2.imshow('Thermal', heatmap)
if recording == True:
elapsed = time.time() - start
elapsed = time.strftime("%H:%M:%S", time.gmtime(elapsed))
# print(elapsed)
videoOut.write(heatmap)
keyPress = cv2.waitKey(1)
if keyPress == ord('1'):
min_celcius -= 1
print(f'{min_celcius=}')
if keyPress == ord('2'):
min_celcius += 1
print(f'{min_celcius=}')
if keyPress == ord('3'):
max_celcius -= 1
print(f'{max_celcius=}')
if keyPress == ord('4'):
max_celcius += 1
print(f'{max_celcius=}')
if keyPress == ord('a'): # Increase blur radius
rad += 1
if keyPress == ord('z'): # Decrease blur radius
rad -= 1
if rad <= 0:
rad = 0
if keyPress == ord('s'): # Increase threshold
threshold += 1
if keyPress == ord('x'): # Decrease threashold
threshold -= 1
if threshold <= 0:
threshold = 0
if keyPress == ord('d'): # Increase scale
scale += 1
if scale >= 5:
scale = 5
newWidth = width * scale
newHeight = height * scale
if dispFullscreen == False and isPi == False:
cv2.resizeWindow('Thermal', newWidth, newHeight)
if keyPress == ord('c'): # Decrease scale
scale -= 1
if scale <= 1:
scale = 1
newWidth = width * scale
newHeight = height * scale
if dispFullscreen == False and isPi == False:
cv2.resizeWindow('Thermal', newWidth, newHeight)
if keyPress == ord('q'): # enable fullscreen
dispFullscreen = True
cv2.namedWindow('Thermal', cv2.WND_PROP_FULLSCREEN)
cv2.setWindowProperty('Thermal', cv2.WND_PROP_FULLSCREEN, cv2.WINDOW_FULLSCREEN)
if keyPress == ord('w'): # disable fullscreen
dispFullscreen = False
cv2.namedWindow('Thermal', cv2.WINDOW_GUI_NORMAL)
cv2.setWindowProperty('Thermal', cv2.WND_PROP_AUTOSIZE, cv2.WINDOW_GUI_NORMAL)
cv2.resizeWindow('Thermal', newWidth, newHeight)
if keyPress == ord('f'): # contrast+
alpha += 0.1
alpha = round(alpha, 1) # fix round error
if alpha >= 3.0:
alpha = 3.0
if keyPress == ord('v'): # contrast-
alpha -= 0.1
alpha = round(alpha, 1) # fix round error
if alpha <= 0:
alpha = 0.0
if keyPress == ord('h'):
if hud == True:
hud = False
elif hud == False:
hud = True
if keyPress == ord('m'): # m to cycle through color maps
colormap += 1
if colormap == 11:
colormap = 0
if keyPress == ord('r') and recording == False: # r to start reording
videoOut = rec()
recording = True
start = time.time()
if keyPress == ord('t'): # f to finish reording
recording = False
elapsed = "00:00:00"
if keyPress == ord('p'): # f to finish reording
snaptime = snapshot(heatmap)
if keyPress == ord('q'):
break
capture.release()
cv2.destroyAllWindows()
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