Merge pull request #151 from taorye/dev

feat(tiny1c): Add example script and empty model files for thermal se…

Author: Neutree

examples/ext_dev/sensors/tiny1c/tiny1c_example.py

@@ -0,0 +1,371 @@
+from maix import pinmap
+from maix import i2c, spi
+from maix import time
+
+PREVIEW_TEMP = True
+FRAME_NUM = 0
+
+pin_function = {
+    "A8": "I2C7_SCL",
+    "A9": "I2C7_SDA",
+    "B21": "SPI2_CS1",
+    "B19": "SPI2_MISO",
+    "B18": "SPI2_MOSI",
+    "B20": "SPI2_SCK"
+}
+
+for pin, func in pin_function.items():
+    if 0 != pinmap.set_pin_function(pin, func):
+        print(f"Failed: pin{pin}, func{func}")
+        exit(-1)
+
+###############################################################################
+bus = i2c.I2C(7, i2c.Mode.MASTER)
+slaves = bus.scan()
+print("find slaves:")
+for s in slaves:
+    print(f"{s}[0x{s:02x}]")
+
+# 0x3c
+
+# more API see https://wiki.sipeed.com/maixpy/api/maix/peripheral/i2c.html
+
+###############################################################################
+spidev = spi.SPI(2, spi.Mode.MASTER, 20000000, 1, 1, hw_cs=1)
+
+BUFF_LEN = 4096
+DUMMY_LEN = 512
+
+def SPIDataRW(spi_id, tx_data: bytearray, rx_data: bytearray, length: int):
+    """
+    spi_id: 保留参数，未使用
+    tx_data: 要发送的数据（bytearray）
+    rx_data: 用于接收数据（bytearray，长度应为 length）
+    length: 发送/接收的数据长度
+    """
+    # 只取前 length 字节发送
+    to_send = bytes(tx_data[:length])
+    # 调用底层 SPI 读写
+    result = spidev.write_read(to_send, length)
+    # 将结果写入 rx_data
+    rx_data[:length] = result
+
+def spi_frame_get(raw_frame: bytearray, frame_byte_size: int, frame_type: int) -> int:
+    tx_Data = bytearray(BUFF_LEN)
+    rx_Data = bytearray(BUFF_LEN)
+    i = 0
+    new_frame_cmd = 0
+    continue_cmd = 0x55
+
+    if frame_type == 0:
+        new_frame_cmd = 0xAA
+    elif frame_type == 1:
+        new_frame_cmd = 0xCC
+
+    tx_Data[0] = new_frame_cmd
+    SPIDataRW(0, tx_Data, rx_Data, BUFF_LEN)
+    # start from dummy and header
+    raw_frame[i:i + BUFF_LEN - DUMMY_LEN] = rx_Data[DUMMY_LEN:BUFF_LEN]
+    i += BUFF_LEN - DUMMY_LEN
+
+    if rx_Data[480] != 1:
+        return -1
+
+    global FRAME_NUM
+    FRAME_NUM = (rx_Data[480+2] & 0xff) + rx_Data[480+3] * 256
+    print(f"frame num={FRAME_NUM}")
+
+    while frame_byte_size - i > BUFF_LEN:
+        tx_Data[0] = continue_cmd
+        SPIDataRW(0, tx_Data, rx_Data, BUFF_LEN)
+        raw_frame[i:i + BUFF_LEN] = rx_Data[:BUFF_LEN]
+        i += BUFF_LEN
+
+    tx_Data[0] = continue_cmd
+    SPIDataRW(0, tx_Data, rx_Data, BUFF_LEN)
+    raw_frame[i:i + (frame_byte_size - i)] = rx_Data[:frame_byte_size - i]
+    SPIDataRW(0, tx_Data, rx_Data, BUFF_LEN)
+    return 0
+
+###############################################################################
+wh = [0x1d, 0x00]
+rh = [0x1d, 0x08]
+# # d = [0x05, 0x84, 0x04, 0x00, 0x00, 0x04, 0x00, 0x04] # PROJECT_INFO
+# # d = [0x05, 0x84, 0x06, 0x00, 0x00, 0x30, 0x00, 0x30] # GET_PN
+# d = [0x05, 0x84, 0x07, 0x00, 0x00, 0x10, 0x00, 0x10] # GET_SN
+# rl = d[6]*256+d[7]
+
+# r = bus.writeto(0x3c, bytes(wh+d))
+# print(r)
+# r = bus.writeto(0x3c, bytes(rh))
+# print(r)
+# time.sleep(1)
+# r = bus.readfrom(0x3c, rl)
+# print(r)
+
+# # VCMD_SPI_DEFAULT_RESTORE
+# d = [0x01, 0x0e, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00]
+
+# r = bus.writeto(0x3c, bytes(wh+d))
+# print(r)
+
+# VCMD_PREVIEW_STOP
+print("VCMD_PREVIEW_STOP")
+d = [0x0f, 0x02, 0x00, 0x00, 0x00, 0x00, 0x08, 0x00]
+
+r = bus.writeto(0x3c, bytes(wh+d))
+print(r)
+time.sleep(1)
+
+# VCMD_PREVIEW_START
+print("VCMD_PREVIEW_START")
+path = 0 # 0x0 : VOC1,    0x1 : VOC2
+src = 0 # 0x0 : IR,    0x80 : fix pattern
+width = 256
+height = 192
+fps = 25
+mode = 8 # 0 dvp , 8 spi
+d = [0x0f, 0xc1, 0x00, 0x00, 0x00, 0x00, 0x08, 0x00,
+    path, src, width>>8, width&0xff, height>>8, height&0xff, fps, mode]
+
+r = bus.writeto(0x3c, bytes(wh+d))
+print(r)
+time.sleep(1)
+
+# typedef struct
+# {
+# 	uint8_t		byCmdType;
+# 	uint8_t		bySubCmd;
+# 	uint8_t		byPara;
+# 	uint8_t		byAddr_h;
+# 	uint8_t		byAddr_l;
+# 	uint8_t		byAddr_ll;
+# 	uint8_t		byLen_h;
+# 	uint8_t		byLen_l;
+# }vdcmd_std_header_t;
+
+# VCMD_TEMP_PREVIEW_START
+d = [0x0a, 0x01 if PREVIEW_TEMP else 0x02, path, 0x00, 0x00, 0x00, 0x00, 0x00]
+
+r = bus.writeto(0x3c, bytes(wh+d))
+print(r)
+time.sleep(2)
+
+
+if not PREVIEW_TEMP:
+    # print("pseudo_color_get")
+    # d = [0x09, 0x84, path, 0x00, 0x00, 0x00, 0x00, 0x01]
+
+    # r = bus.writeto(0x3c, bytes(wh+d))
+    # print(r)
+    # r = bus.writeto(0x3c, bytes(rh))
+    # print(r)
+    # rl = d[6]*256+d[7]
+    # r = bus.readfrom(0x3c, rl)
+    # print(r)
+    # time.sleep(1)
+
+    print("pseudo_color_set")
+    d = [0x09, 0xc4, path, 0x00, 0x00, 0x00, 0x00, 0x01, 0x01]
+
+    r = bus.writeto(0x3c, bytes(wh+d))
+    print(r)
+    time.sleep(1)
+
+    # print("pseudo_color_get")
+    # d = [0x09, 0x84, path, 0x00, 0x00, 0x00, 0x00, 0x01]
+
+    # r = bus.writeto(0x3c, bytes(wh+d))
+    # print(r)
+    # r = bus.writeto(0x3c, bytes(rh))
+    # print(r)
+    # rl = d[6]*256+d[7]
+    # r = bus.readfrom(0x3c, rl)
+    # print(r)
+
+###############################################################################
+# print("start fetch frame")
+
+# for i in range(4):
+#     image_frame = bytearray(width*height*2)
+#     if spi_frame_get(image_frame, width*height*2, 0) == 0: #src picture
+#         print("fetched one frame")
+#         open(f"/root/a{i}.yuv", "wb").write(image_frame)
+
+# print("stop fetch frame")
+
+###############################################################################
+
+def scale_to_range(arr, target_min, target_max):
+    """
+    将NumPy数组缩放到[target_min, target_max]范围
+    
+    参数:
+        arr: 输入的NumPy数组
+        target_min: 目标范围的最小值
+        target_max: 目标范围的最大值
+    
+    返回:
+        缩放后的NumPy数组
+    """
+    # 获取原始数组的最小值和最大值
+    original_min = arr.min()
+    original_max = arr.max()
+    
+    # 处理数组所有元素相等的特殊情况
+    if original_min == original_max:
+        return np.full_like(arr, target_min)
+    
+    # 线性缩放公式
+    scaled_arr = (arr - original_min) / (original_max - original_min) * (target_max - target_min) + target_min
+    return scaled_arr
+
+
+from maix import display, app, image, camera, nn, tensor, touchscreen
+import numpy as np
+import cv2
+import time
+import inspect
+
+need_exit = 0
+hide_hud = False
+enable_x3 = True
+ts = touchscreen.TouchScreen()
+
+disp = display.Display()
+print("display init done")
+print(f"display size: {disp.width()}x{disp.height()}")
+cam = camera.Camera(disp.width(), disp.height())    # Manually set resolution
+                                                    # | 手动设置分辨率
+
+img = cam.read()
+disp.show(img)
+x3model = nn.NN("./x3c_192x256.mud")
+
+image_frame = bytearray(width*height*2)
+while not app.need_exit():
+    img = cam.read()
+    img.draw_string(img.width()//2, img.height()//2, "Error: Init Failed.", image.Color.from_rgb(255, 0, 0))
+    a0 = time.perf_counter()
+    if spi_frame_get(image_frame, width*height*2, 0) == 0: #src picture
+        print(f"{inspect.currentframe().f_lineno}: 耗时: {time.perf_counter() - a0:.6f} 秒")
+
+        if PREVIEW_TEMP:
+            gray = np.frombuffer(image_frame, dtype=np.uint16).reshape((height, width))
+
+            # 归一化到8位（0~255）
+            img_8bit = cv2.normalize(gray >> 2, None, 0, 255, cv2.NORM_MINMAX).astype(np.uint8)
+            img_8bit_raw_min_max = (img_8bit.min(), img_8bit.max())
+
+            if enable_x3:
+                grayimg = image.cv2image(img_8bit).resize(256, 192)
+                x3graytensors = x3model.forward_image(grayimg)
+                x3graytensor = x3graytensors['image_output']
+                x3grayimg_np = tensor.tensor_to_numpy_uint8(x3graytensor, copy = False).reshape((576, 768))
+
+                img_8bit = cv2.resize(x3grayimg_np, (disp.width(), disp.height()))
+
+                img_8bit = scale_to_range(img_8bit, img_8bit_raw_min_max[0], img_8bit_raw_min_max[1]).astype(np.uint8)
+            else:
+                img_8bit = cv2.resize(img_8bit, (disp.width(), disp.height()))
+
+            # 伪彩色映射（热力图）
+            color_img = cv2.applyColorMap(img_8bit, cv2.COLORMAP_MAGMA)  # BGR格式 COLORMAP_HOT COLORMAP_TURBO
+            color_img = image.cv2image(color_img)
+
+            center_pos = (height//2, width//2)
+            center_temp = gray[center_pos] / 64 - 273.15
+            # print(f"c: {center_temp:.3f} ({center_pos})")
+            color_img.draw_cross(int(color_img.width()*(center_pos[1]/width)), int(color_img.height()*(center_pos[0]/height)), image.COLOR_GREEN, size=8, thickness=3)
+            color_img.draw_circle(int(color_img.width()*(center_pos[1]/width)), int(color_img.height()*(center_pos[0]/height)), 4, image.COLOR_GREEN, thickness=3)
+            color_img.draw_string(int(color_img.width()*(center_pos[1]/width)), int(color_img.height()*(center_pos[0]/height)) + 30, f"{center_temp:.1f}", image.COLOR_GREEN, scale=2, thickness=2)
+
+            min_pos, max_pos = np.unravel_index(np.argmin(gray), gray.shape), np.unravel_index(np.argmax(gray), gray.shape)
+            min_temp, max_temp = (gray[min_pos] / 64 - 273.15), (gray[max_pos] / 64 - 273.15)
+
+            color_img.draw_cross(int(color_img.width()*(max_pos[1]/width)), int(color_img.height()*(max_pos[0]/height)), image.COLOR_WHITE, size=8, thickness=3)
+            color_img.draw_string(int(color_img.width()*(max_pos[1]/width)), int(color_img.height()*(max_pos[0]/height)) + 30, f"H:{max_temp:.1f}", image.COLOR_WHITE, scale=2, thickness=2)
+
+            color_img.draw_cross(int(color_img.width()*(min_pos[1]/width)), int(color_img.height()*(min_pos[0]/height)), image.COLOR_BLUE, size=8, thickness=3)
+            color_img.draw_string(int(color_img.width()*(min_pos[1]/width)), int(color_img.height()*(min_pos[0]/height)) + 30, f"L:{min_temp:.1f}", image.COLOR_BLUE, scale=2, thickness=2)
+
+        else:
+            # # 1. 转为 numpy 数组
+            # yuyv = cv2.flip(np.frombuffer(image_frame, dtype=np.uint8).reshape((height, width, 2)), -1)
+            # # 2. 转为 BGR（OpenCV 默认）
+            # bgr_img = cv2.cvtColor(yuyv, cv2.COLOR_YUV2BGR_YUYV)[::-1,::-1]
+            # color_img = bgr_img
+            # # 3. 提取灰度（Y通道）
+            # gray = cv2.cvtColor(bgr_img, cv2.COLOR_BGR2GRAY)
+
+
+            yuyv = np.frombuffer(image_frame, dtype=np.uint8).reshape((height, width, 2))
+            gray = yuyv[:,:,0]
+            gray_raw_min_max = (gray.min(), gray.max())
+
+            if enable_x3:
+                grayimg = image.cv2image(gray).resize(256, 192)
+                x3graytensors = x3model.forward_image(grayimg)
+                x3graytensor = x3graytensors['image_output']
+                x3grayimg_np = tensor.tensor_to_numpy_uint8(x3graytensor, copy = False).reshape((576, 768))
+
+                gray = cv2.resize(x3grayimg_np, (disp.width(), disp.height()))
+
+                gray = scale_to_range(gray, gray_raw_min_max[0], gray_raw_min_max[1]).astype(np.uint8)
+            else:
+                gray = cv2.resize(gray, (disp.width(), disp.height()))
+
+            # 4. 伪彩色映射
+            color_img = cv2.applyColorMap(gray, cv2.COLORMAP_JET)  # BGR 格式
+            color_img = image.cv2image(color_img)
+
+        # img.draw_image(0, 0, color_img)
+        img = color_img
+
+        print(f"{inspect.currentframe().f_lineno}: 耗时: {time.perf_counter() - a0:.6f} 秒")
+
+    x, y, pressed = ts.read()
+    if not pressed:
+        need_exit = 0
+    else:
+        if need_exit or (x >= 0 and x <= 80 and y >= 0 and y <= 40): # Back
+            need_exit += 1
+        else:
+            if x >= img.width()-120 and x <= img.width() and y >= 0 and y <= 40: # Capture
+                img_bgr = image.image2cv(img, ensure_bgr=True, copy=True)
+                img_bgr = cv2.resize(img_bgr, (768, 576) if enable_x3 else (256, 192))
+                from datetime import datetime  # 用于处理时间戳
+                filepath= "/maixapp/share/picture/thermal"
+                filename = f"thermal({'x3' if enable_x3 else 'raw'})_{datetime.now().strftime("%Y%m%d_%H%M%S")}_{FRAME_NUM}.jpg"
+                import os
+                targetfile = os.path.join(filepath, filename)
+                os.system(f"mkdir -p {filepath}")
+                
+                cv2.imwrite(targetfile, img_bgr)
+                # 强制刷新文件系统缓存（确保数据写入磁盘）
+                os.fsync(os.open(targetfile, os.O_RDWR))
+                img.draw_string(40, img.height()//2,  f"Capture to {targetfile}!", image.Color.from_rgb(255, 0, 0), scale=3, thickness=2)
+            elif x >= 0 and x <= 120 and y >= img.height()-40 and y <= img.height(): # Lo-Res
+                enable_x3 = False
+            elif x >= img.width()-120 and x <= img.width() and y >= img.height()-40 and y <= img.height(): # Hi-Res
+                enable_x3 = True
+            elif x >= img.width()//2-60 and x <= img.width()//2+60 and y >= 0 and y <= 40: # Hide HUD
+                hide_hud = True
+            elif x >= img.width()//2-60 and x <= img.width()//2+60 and y >= img.height()-40 and y <= img.height(): # Show HUD
+                hide_hud = False
+            else:
+                pass
+        
+        if need_exit >= 15:
+            app.set_exit_flag(True)
+
+    if not hide_hud:
+        img.draw_string(               10,              10,     "Back", image.Color.from_rgb(255, 0 if need_exit == 0 else 255, 0), scale=2, thickness=2)
+        img.draw_string(  img.width()-140,              10,  "Capture", image.Color.from_rgb(255, 0, 0), scale=2, thickness=2)
+        img.draw_string(               10, img.height()-20,   "Lo-Res", image.Color.from_rgb(255, 0, 0), scale=2, thickness=2)
+        img.draw_string(  img.width()-120, img.height()-20,   "Hi-Res", image.Color.from_rgb(255, 0, 0), scale=2, thickness=2)
+        img.draw_string(img.width()//2-60,              10, "Hide HUD", image.Color.from_rgb(255, 0, 0), scale=2, thickness=2)
+        img.draw_string(img.width()//2-60, img.height()-20, "Show HUD", image.Color.from_rgb(255, 0, 0), scale=2, thickness=2)
+    disp.show(img)
+
+# /64 - 273.15

examples/ext_dev/sensors/tiny1c/x3c_192x256.axmodel

@@ -0,0 +1,8 @@
+[basic]
+type = axmodel
+model_npu = x3c_192x256.axmodel
+model_vnpu = x3c_192x256.axmodel
+
+[extra]
+mean = 0
+scale = 0