110 lines
3.9 KiB
Python
110 lines
3.9 KiB
Python
import os
|
|
import subprocess
|
|
from typing import Optional, Tuple
|
|
|
|
from platypush.plugins import action
|
|
from platypush.plugins.camera import CameraPlugin, Camera
|
|
|
|
|
|
class CameraIrMlx90640Plugin(CameraPlugin):
|
|
"""
|
|
Plugin to interact with a `ML90640 <https://shop.pimoroni.com/products/mlx90640-thermal-camera-breakout>`_
|
|
infrared thermal camera.
|
|
|
|
In order to use this plugin you'll need to download and compile the
|
|
`mlx90640 <https://github.com/pimoroni/mlx90640-library>`_ C++ bindings and examples for the device.
|
|
Instructions on Raspbian::
|
|
|
|
# Install the dependencies
|
|
$ [sudo] apt-get install libi2c-dev
|
|
$ cd $PLATYPUSH_SRC_DIR
|
|
$ git submodule init
|
|
$ git submodule update
|
|
$ cd platypush/plugins/camera/ir/mlx90640/lib
|
|
$ make clean
|
|
$ make bcm2835
|
|
$ make examples/rawrgb I2C_MODE=LINUX
|
|
|
|
Requires:
|
|
|
|
* **mlx90640-library** installation (see instructions above)
|
|
* **PIL** image library (``pip install Pillow``)
|
|
|
|
"""
|
|
|
|
def __init__(self, rawrgb_path: Optional[str] = None, resolution: Tuple[int, int] = (32, 24),
|
|
warmup_frames: Optional[int] = 5, **kwargs):
|
|
"""
|
|
:param rawrgb_path: Specify it if the rawrgb executable compiled from
|
|
https://github.com/pimoroni/mlx90640-library is in another folder than
|
|
`<directory of this file>/lib/examples`.
|
|
:param resolution: Device resolution (default: 32x24).
|
|
:param warmup_frames: Number of frames to be skipped on sensor initialization/warmup (default: 2).
|
|
:param kwargs: Extra parameters to be passed to :class:`platypush.plugins.camera.CameraPlugin`.
|
|
"""
|
|
super().__init__(device='mlx90640', resolution=resolution, warmup_frames=warmup_frames, **kwargs)
|
|
|
|
if not rawrgb_path:
|
|
rawrgb_path = os.path.join(os.path.dirname(os.path.abspath(__file__)), 'lib', 'examples', 'rawrgb')
|
|
rawrgb_path = os.path.abspath(os.path.expanduser(rawrgb_path))
|
|
|
|
assert os.path.isfile(rawrgb_path),\
|
|
'rawrgb executable not found. Please follow the documentation of this plugin to build it'
|
|
|
|
self.rawrgb_path = rawrgb_path
|
|
self._capture_proc = None
|
|
|
|
def _is_capture_running(self):
|
|
return self._capture_proc is not None and self._capture_proc.poll() is None
|
|
|
|
def prepare_device(self, device: Camera):
|
|
if not self._is_capture_running():
|
|
self._capture_proc = subprocess.Popen([self.rawrgb_path, '{}'.format(device.info.fps)],
|
|
stdin=subprocess.PIPE, stdout=subprocess.PIPE)
|
|
|
|
return self._capture_proc
|
|
|
|
def release_device(self, device: Camera):
|
|
if not self._is_capture_running():
|
|
return
|
|
|
|
self._capture_proc.terminate()
|
|
self._capture_proc.kill()
|
|
self._capture_proc.wait()
|
|
self._capture_proc = None
|
|
|
|
def capture_frame(self, device: Camera, *args, **kwargs):
|
|
from PIL import Image
|
|
|
|
camera = self.prepare_device(device)
|
|
frame = camera.stdout.read(device.info.resolution[0] * device.info.resolution[1] * 3)
|
|
return Image.frombytes('RGB', device.info.resolution, frame)
|
|
|
|
def to_grayscale(self, image):
|
|
from PIL import Image
|
|
new_image = Image.new('L', image.size)
|
|
|
|
for i in range(0, image.size[0]):
|
|
for j in range(0, image.size[1]):
|
|
r, g, b = image.getpixel((i, j))
|
|
value = int(2.0 * r - 1.125 * g - 1.75 * b)
|
|
|
|
if value > 255:
|
|
value = 255
|
|
if value < 0:
|
|
value = 0
|
|
|
|
new_image.putpixel((i, j), value)
|
|
|
|
return new_image
|
|
|
|
@action
|
|
def capture(self, output_file=None, *args, **kwargs):
|
|
"""
|
|
Back-compatibility alias for :meth:`.capture_image`.
|
|
"""
|
|
return self.capture_image(image_file=output_file, *args, **kwargs)
|
|
|
|
|
|
# vim:sw=4:ts=4:et:
|