diff --git a/examples/ext_dev/sensors/tiny1c/tiny1c_example.py b/examples/ext_dev/sensors/tiny1c/tiny1c_example.py new file mode 100644 index 00000000..b1da4391 --- /dev/null +++ b/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 \ No newline at end of file diff --git a/examples/ext_dev/sensors/tiny1c/x3c_192x256.axmodel b/examples/ext_dev/sensors/tiny1c/x3c_192x256.axmodel new file mode 100644 index 00000000..e69de29b diff --git a/examples/ext_dev/sensors/tiny1c/x3c_192x256.mud b/examples/ext_dev/sensors/tiny1c/x3c_192x256.mud new file mode 100644 index 00000000..968671db --- /dev/null +++ b/examples/ext_dev/sensors/tiny1c/x3c_192x256.mud @@ -0,0 +1,8 @@ +[basic] +type = axmodel +model_npu = x3c_192x256.axmodel +model_vnpu = x3c_192x256.axmodel + +[extra] +mean = 0 +scale = 0 \ No newline at end of file