Support for OAK-T

cmake/Depthai/DepthaiDeviceSideConfig.cmake

@@ -2,7 +2,7 @@
 set(DEPTHAI_DEVICE_SIDE_MATURITY "snapshot")
 
 # "full commit hash of device side binary"
-set(DEPTHAI_DEVICE_SIDE_COMMIT "9a26c8a19c1dbd741f10c7dce498561f4843db48")
+set(DEPTHAI_DEVICE_SIDE_COMMIT "d86f2efa04753e0e47c153db678753afa9a630a0")
 
 # "version if applicable"
 set(DEPTHAI_DEVICE_SIDE_VERSION "")

examples/CMakeLists.txt

@@ -230,6 +230,9 @@ dai_add_example(rgb_preview ColorCamera/rgb_preview.cpp ON)
 dai_add_example(rgb_video ColorCamera/rgb_video.cpp ON)
 dai_add_example(rgb_isp_scale ColorCamera/rgb_isp_scale.cpp ON)
 
+# Camera
+dai_add_example(thermal_cam Camera/thermal_cam.cpp OFF)
+
 # EdgeDetector
 dai_add_example(edge_detector EdgeDetector/edge_detector.cpp ON)
 

examples/Camera/thermal_cam.cpp

@@ -0,0 +1,102 @@
+/*
+    Thermal camera example.
+    Streams temperature and thermal image from thermal sensor and displays them.
+*/
+#include <algorithm>
+#include <cstdio>
+
+#include "depthai/depthai.hpp"
+
+volatile int mouseX, mouseY = 0;
+void mouseCallback(int event, int x, int y, int flags, void* userdata) {
+    mouseX = x;
+    mouseY = y;
+}
+
+const cv::Scalar WHITE(255, 255, 255);
+
+int main() {
+    dai::Device d;
+    dai::Pipeline pipeline;
+    auto thermal = pipeline.create<dai::node::Camera>();
+    // Find the sensor width, height.
+    int width, height;
+    bool thermal_found = false;
+    for (auto &features : d.getConnectedCameraFeatures()) {
+        if (std::find_if(features.supportedTypes.begin(), features.supportedTypes.end(), [](const dai::CameraSensorType &type) {
+            return type == dai::CameraSensorType::THERMAL;
+        }) != features.supportedTypes.end()) {
+            thermal->setBoardSocket(features.socket); // Thermal will always be on CAM_E
+            width = features.width;
+            height = features.height;
+            thermal_found = true;
+        }
+    }
+    if (!thermal_found) {
+        throw std::runtime_error("Thermal camera not found!");
+    }
+    thermal->setPreviewSize(width, height);
+    auto xlink = pipeline.create<dai::node::XLinkOut>();
+    auto xlinkRaw = pipeline.create<dai::node::XLinkOut>();
+    // Output preview,video, isp: RGB or NV12 or YUV420 thermal image.
+    thermal->preview.link(xlink->input);
+    // Output raw: FP16 temperature data (degrees Celsius)
+    thermal->raw.link(xlinkRaw->input);
+
+    xlinkRaw->setStreamName("thermal_raw");
+    xlink->setStreamName("thermal");
+    d.startPipeline(pipeline);
+    auto q = d.getOutputQueue("thermal", 2, false);
+    auto qRaw = d.getOutputQueue("thermal_raw", 2, false);
+
+    const char* tempWindow = "temperature";
+    const char* imageWindow = "image";
+    cv::namedWindow(tempWindow, cv::WINDOW_NORMAL);
+    cv::setMouseCallback(tempWindow, mouseCallback);
+    cv::namedWindow(imageWindow, cv::WINDOW_NORMAL);
+    cv::setMouseCallback(imageWindow, mouseCallback);
+    // Scale 4x and position one next to another
+    cv::moveWindow(tempWindow, 0, 0);
+    cv::resizeWindow(tempWindow, width * 4, height * 4);
+    cv::moveWindow(imageWindow, width * 4, 0);
+    cv::resizeWindow(imageWindow, width * 4, height * 4);
+    while(true) {
+        auto temp = qRaw->tryGet<dai::ImgFrame>();
+        if(temp) {
+            auto frame = temp->getCvFrame();
+            // Retrieve one point of fp16 data
+            cv::Mat frameFp32(temp->getHeight(), temp->getWidth(), CV_32F);
+            frame.convertTo(frameFp32, CV_32F);
+            cv::Mat normalized;
+            cv::normalize(frameFp32, normalized, 0, 255, cv::NORM_MINMAX, CV_8UC1);
+            cv::Mat colormapped(temp->getHeight(), temp->getWidth(), CV_8UC3);
+            cv::applyColorMap(normalized, colormapped, cv::COLORMAP_MAGMA);
+            if(mouseX < 0 || mouseY < 0 || mouseX >= colormapped.cols || mouseY >= colormapped.rows) {
+                mouseX = std::max(0, std::min(static_cast<int>(mouseX), colormapped.cols - 1));
+                mouseY = std::max(0, std::min(static_cast<int>(mouseY), colormapped.rows - 1));
+            }
+            double min, max;
+            cv::minMaxLoc(frameFp32, &min, &max);
+            auto textColor = WHITE;
+            // Draw crosshair
+            cv::line(colormapped, cv::Point(mouseX - 10, mouseY), cv::Point(mouseX + 10, mouseY), textColor, 1);
+            cv::line(colormapped, cv::Point(mouseX, mouseY - 10), cv::Point(mouseX, mouseY + 10), textColor, 1);
+            // Draw deg C
+            char text[32];
+            snprintf(text, sizeof(text), "%.1f deg C", frameFp32.at<float>(mouseY, mouseX));
+            bool putTextLeft = mouseX > colormapped.cols / 2;
+            cv::putText(colormapped, text, cv::Point(putTextLeft ? mouseX - 100 : mouseX + 10, mouseY - 10), cv::FONT_HERSHEY_SIMPLEX, 0.5, textColor, 1);
+            cv::imshow(tempWindow, colormapped);
+        }
+        auto image = q->tryGet<dai::ImgFrame>();
+        if(image) {
+            cv::imshow(imageWindow, image->getCvFrame());
+        }
+        int key = cv::waitKey(1);
+        if(key == 'q') {
+            break;
+        }
+    }
+
+    return 0;
+}