RVC3 thermal example

examples/Thermal/thermal.py

@@ -0,0 +1,62 @@
+import depthai as dai
+import cv2
+import numpy as np
+
+mouse_x, mouse_y = 0, 0
+
+
+def mouse_callback(event, x, y, flags, param):
+    if event == cv2.EVENT_MOUSEMOVE:
+        global mouse_x, mouse_y
+        mouse_x, mouse_y = x, y
+
+
+WINDOW_NAME_IMAGE = "thermal_image"
+WINDOW_NAME_TEMP = "thermal_temperature"
+
+with dai.Device() as device:
+    pipeline = dai.Pipeline()
+    thermal = pipeline.createColorCamera()
+    thermal.setBoardSocket(dai.CameraBoardSocket.CAM_B)
+    xlink = pipeline.createXLinkOut()
+    xlink.setStreamName("thermal_image")
+    thermal.preview.link(xlink.input)
+
+    xlink_raw = pipeline.createXLinkOut()
+    xlink_raw.setStreamName("thermal_temperature")
+    thermal.raw.link(xlink_raw.input)
+    device.startPipeline(pipeline)
+    q = device.getOutputQueue("thermal_image", 5, False)
+    q_raw = device.getOutputQueue("thermal_temperature", 5, False)
+    cv2.namedWindow(WINDOW_NAME_IMAGE)
+    cv2.namedWindow(WINDOW_NAME_TEMP)
+    cv2.setMouseCallback(WINDOW_NAME_TEMP, mouse_callback)
+    while True:
+        inFrame = q.get()
+        frame = inFrame.getCvFrame()
+        cv2.imshow(WINDOW_NAME_IMAGE, frame)
+        inFrameRaw = q_raw.tryGet()
+        if inFrameRaw is not None:
+            frameRaw = (
+                np.array(inFrameRaw.getCvFrame()).view(np.float32).reshape((192, 256))
+            )
+            frameRaw += 96
+            min_val, max_val = frameRaw.min(), frameRaw.max()
+            normalized_frame = (frameRaw - min_val) / (max_val - min_val)
+            frame_8bit = np.uint8(normalized_frame * 255)
+            colored_frame = cv2.applyColorMap(frame_8bit, cv2.COLORMAP_JET)
+            colored_frame = cv2.circle(
+                colored_frame, (mouse_x, mouse_y), 5, (0, 0, 0), -1
+            )
+            colored_frame = cv2.putText(
+                colored_frame,
+                f"{frameRaw[mouse_y, mouse_x]:.2f} °C",
+                (mouse_x + 10, mouse_y - 10),
+                cv2.FONT_HERSHEY_SIMPLEX,
+                0.5,
+                (0, 0, 0),
+            )
+            cv2.imshow(WINDOW_NAME_TEMP, colored_frame)
+
+        if cv2.waitKey(1) == ord("q"):
+            break