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ARHS-Thermx
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Yorick GEOFFRE 2 years ago
parent 27ba7a13a0
commit 63d58a399f
13 changed files with 145 additions and 75 deletions
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3
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/usr/include/c++/11/bits/char_traits.h:
/usr/include/libintl.h:
/usr/include/x86_64-linux-gnu/bits/thread-shared-types.h:
/usr/include/c++/11/bits/locale_facets.h: /usr/include/c++/11/bits/locale_facets.h:
/usr/include/tbb/parallel_reduce.h: /usr/include/tbb/parallel_reduce.h:
@ -2740,6 +2730,24 @@ ThermxRenderer.cpp:
/usr/lib/gcc/x86_64-linux-gnu/11/include/fxsrintrin.h: /usr/lib/gcc/x86_64-linux-gnu/11/include/fxsrintrin.h:
/usr/include/c++/11/bits/basic_ios.h:
/usr/include/x86_64-linux-gnu/c++/11/bits/messages_members.h:
ThermxRenderer.hpp:
/usr/local/include/opencv4/opencv2/core/cuda.inl.hpp:
/usr/lib/gcc/x86_64-linux-gnu/11/include/immintrin.h:
/usr/include/c++/11/bits/char_traits.h:
/usr/include/x86_64-linux-gnu/bits/thread-shared-types.h:
/usr/include/libintl.h:
/usr/include/c++/11/bits/locale_facets_nonio.tcc:
/usr/include/c++/11/bits/locale_conv.h: /usr/include/c++/11/bits/locale_conv.h:
/usr/include/c++/11/bits/quoted_string.h: /usr/include/c++/11/bits/quoted_string.h:
@ -2904,12 +2912,6 @@ ThermxRenderer.cpp:
/usr/include/c++/11/bits/regex.h: /usr/include/c++/11/bits/regex.h:
/home/kanken/code/AHRS_core/src/model/hardware/hw/extendables/Device.hpp:
/usr/include/c++/11/bits/atomic_base.h:
/usr/include/c++/11/bits/atomic_lockfree_defines.h:
/usr/include/x86_64-linux-gnu/bits/types/__FILE.h: /usr/include/x86_64-linux-gnu/bits/types/__FILE.h:
/usr/include/c++/11/backward/auto_ptr.h: /usr/include/c++/11/backward/auto_ptr.h:
@ -2948,8 +2950,6 @@ ThermxRenderer.cpp:
/usr/lib/gcc/x86_64-linux-gnu/11/include/avx512vpopcntdqintrin.h: /usr/lib/gcc/x86_64-linux-gnu/11/include/avx512vpopcntdqintrin.h:
/usr/lib/gcc/x86_64-linux-gnu/11/include/adxintrin.h:
/home/kanken/code/AHRS_core/src/model/perfcheckers/framerate.hpp: /home/kanken/code/AHRS_core/src/model/perfcheckers/framerate.hpp:
/home/kanken/code/AHRS_core/src/model/controllers/ui/uiController.hpp: /home/kanken/code/AHRS_core/src/model/controllers/ui/uiController.hpp:

6
Plugins/Thermx/CMakeLists.txt
Unescape View File

@ -8,8 +8,12 @@ set(thermx_src
ThermxRenderer.cpp ThermxRenderer.cpp
Factory.cpp Factory.cpp
) )
set(CMAKE_LIBRARY_OUTPUT_DIRECTORY /home/kanken/code/AHRS_core/src/plugins/) set(CMAKE_LIBRARY_OUTPUT_DIRECTORY /home/kanken/code/AHRS_core/src/plugins/)
#SET(GCC_COVERAGE_COMPILE_FLAGS "-fsanitize=undefined,address")
#SET(GCC_COVERAGE_LINK_FLAGS "-fsanitize=undefined,address")
#SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${GCC_COVERAGE_COMPILE_FLAGS}")
#SET(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} ${GCC_COVERAGE_LINK_FLAGS}")
find_package( OpenCV REQUIRED ) find_package( OpenCV REQUIRED )
find_package(OpenGL REQUIRED) find_package(OpenGL REQUIRED)

30
Plugins/Thermx/ThermxController.cpp
Unescape View File

@ -13,25 +13,47 @@ std::vector<std::string> split(std::string str, std::string c){
} }
void ThermxController::getData(){ void ThermxController::getData(){
mn::CppLinuxSerial::SerialPort serialPort;
std::string s; std::string s;
serialPort.Write("@"); if(!(serialPort->GetState() == mn::CppLinuxSerial::State::OPEN)){
//std::cout << "port was closed, opening..." <<std::endl;
serialPort->Open();
}
//std::cout << "port is open, sending @" << std::endl;
serialPort->Write("@");
//std::cout << "done" << std::endl;
while(s.find('@') == std::string::npos){ while(s.find('@') == std::string::npos){
std::string readData; std::string readData;
serialPort.Read(readData); serialPort->Read(readData);
s += readData; s += readData;
} }
//std::cout << "done receiving data" << std::endl;
s = s.substr(0,s.length()-2); s = s.substr(0,s.length()-2);
//std::cout << "trimmed data" << std::endl;
std::vector<std::string> splitted = split(s, "|"); std::vector<std::string> splitted = split(s, "|");
//std::cout << "split data " << splitted.size() << std::endl;
while(splitted.size() < 32*24){
splitted.push_back("0.0");
}
//std::cout << "filled data " << splitted.size() << std::endl;
float arr[24][32]; float arr[24][32];
treated.clear();
treated.reserve(32*24);
int i = 0; int i = 0;
int j = 0; int j = 0;
for(std::string str : splitted){ for(std::string str : splitted){
arr[j][i] = std::stof(str); arr[j][i] = std::stof(str);
treated.push_back(arr[j][i]);
i++; i++;
if(i >= 32){ if(i >= 32){
i = 0; j++; i = 0; j++;
} }
} }
_trx->refreshData(arr); //std::cout << "data sent to array" << std::endl;
if(_trx == NULL){
//std::cout << "renderer was null?" << std::endl;
}else{
_trx->refreshData(treated);
}
//std::cout << "data refreshed" << std::endl;
working = false;
} }

9
Plugins/Thermx/ThermxController.hpp
Unescape View File

@ -4,14 +4,21 @@ class ThermxController : public SerialDevice{
protected: protected:
float out_buf[24][32]; float out_buf[24][32];
ThermxRenderer* _trx; ThermxRenderer* _trx;
vector<float> treated;
public: public:
ThermxController(ThermxRenderer* trx) : SerialDevice("/dev/ttyACM"), _trx(trx){ ThermxController(ThermxRenderer* trx) : SerialDevice("ttyACM"){
_trx = trx;
ic = new IdentifiyCommand(this); ic = new IdentifiyCommand(this);
this->_tagidentifier = "821ce9ba-a697-487b-a402-32e29b9d599d"; this->_tagidentifier = "821ce9ba-a697-487b-a402-32e29b9d599d";
this->_displayName = "thermal camera module"; this->_displayName = "thermal camera module";
this->_baudrate = 460800; this->_baudrate = 460800;
this->workDelayMs = 1000/16;
} }
void doPortWork() override{
getData();
}
void getData(); void getData();
}; };

77
Plugins/Thermx/ThermxRenderer.cpp
Unescape View File

@ -2,6 +2,7 @@
#define GL_GLEXT_PROTOTYPES #define GL_GLEXT_PROTOTYPES
#include <GL/gl.h> #include <GL/gl.h>
#include <GL/glu.h> #include <GL/glu.h>
float RandomFloat(float a, float b) { float RandomFloat(float a, float b) {
float random = ((float) rand()) / (float) RAND_MAX; float random = ((float) rand()) / (float) RAND_MAX;
float diff = b - a; float diff = b - a;
@ -10,30 +11,50 @@ float RandomFloat(float a, float b) {
} }
ThermxRenderer::ThermxRenderer(){ ThermxRenderer::ThermxRenderer(){
data = std::vector<float>();
data.reserve(32*24);
for(int i = 0; i < 24; i ++){ for(int i = 0; i < 24; i ++){
for(int j = 0; j < 32; j++){ for(int j = 0; j < 32; j++){
data[i][j] = RandomFloat(0.0,40.0); data.push_back(RandomFloat(0.0,40.0));
} }
} }
refreshData(data); refreshData(data);
} }
void ThermxRenderer::refreshData(float newData[24][32]){ void ThermxRenderer::refreshData(vector<float> newData){
try{ try{
const std::lock_guard<std::mutex> lock(dataMutex); //std::cout << "copying data" << std::endl;
min = max = data[0][0]; dataMutex.lock();
for(int i = 0; i < 24; i ++){ data.clear();
for(int j = 0; j < 32; j++){ data = newData;
float t = data[i][j];
if(t > max) max = t; //std::cout << "setting minmax " << newData.size() << std::endl;
if(t < min) min = t; int size = data.size();
//std::cout << data[0];
//std::cout << "didn't segfault" << std::endl;
max = newData.at(0);
//std::cout << "set minmax" << std::endl;
for(int i = 0; i < 24; i++){
for(int j = 0; j < 32; j++){
if(i*32+j >= newData.size()) break;
float t = newData.at(i*32+j);
if(t > max) max = t;
if(t < min) min = t;
}
} }
} center = newData.at((24/2)*32+(32/2));
std::copy(&newData[0][0], &newData[0][0]+24*32,&data[0][0]);
const std::lock_guard<std::mutex> llock(matMutex); data.at((24/2)*32+(32/2)) = 0;
draw(); dataMutex.unlock();
//std::cout << "drawing data" << std::endl;
//matMutex.lock();
draw();
//matMutex.unlock();
//std::cout << "done refreshing data" << std::endl;
//std::cout << "didn't crash" << std::endl;
}catch(exception e){ }catch(exception e){
std::cout << "thermx render exception: " << e.what() << std::endl; //std::cout << "thermx render exception: " << e.what() << std::endl;
} }
}; };
@ -43,9 +64,11 @@ void ThermxRenderer::draw(){
UcurrentData = cv::UMat(cv::Size(32, 24), CV_8UC3, cv::Scalar(0,0,0)); UcurrentData = cv::UMat(cv::Size(32, 24), CV_8UC3, cv::Scalar(0,0,0));
currentData = cv::Mat(cv::Size(32, 24), CV_8UC3, cv::Scalar(0,0,0)); currentData = cv::Mat(cv::Size(32, 24), CV_8UC3, cv::Scalar(0,0,0));
Mat greyActual = cv::Mat(cv::Size(32, 24), CV_8UC1, cv::Scalar(0)); //black heightxwidth umat Mat greyActual = cv::Mat(cv::Size(32, 24), CV_8UC1, cv::Scalar(0)); //black heightxwidth umat
for(int i = 0; i < 24; i ++){
for(int j = 0; j < 32; j++){ for(int i = 0; i < 24; i++){
float t = data[i][j]; for(int j = 0; j < 32; j++){
if(i*32+j >= data.size()) break;
float t = data.at(i*32+j);
t -= min; t -= min;
t /= (max - min); //0.0 -> 1.0 t /= (max - min); //0.0 -> 1.0
int k = t*255; //0 -> 255 int k = t*255; //0 -> 255
@ -53,16 +76,30 @@ void ThermxRenderer::draw(){
} }
} }
applyColorMap(greyActual,currentData,COLORMAP_INFERNO); //pass from grayscale to thermal vision applyColorMap(greyActual,currentData,COLORMAP_INFERNO); //pass from grayscale to thermal vision
for(int i = 0; i < 24; i++){
for(int j = 0; j < 32; j++){
if(i*32+j >= data.size()) break;
float t = data.at(i*32+j);
if(t > 34 && t < 40)
currentData.at<Vec3b>(i, j) = Vec3b(255,0,0);
}
}
currentData.copyTo(UcurrentData); currentData.copyTo(UcurrentData);
} }
void ThermxRenderer::processFrame(cv::UMat& input, cv::Point2d& cursorPos){ void ThermxRenderer::processFrame(cv::UMat& input, cv::Point2d& cursorPos){
if(!input.rows <= 0 && !input.cols <= 0){ if(!input.rows <= 0 && !input.cols <= 0){
////std::cout << "drawing frame..." << std::endl;
cv::UMat output; cv::UMat output;
cv::resize(UcurrentData, output, cv::Size(input.cols, input.rows), cv::InterpolationFlags::INTER_MAX); //matMutex.lock();
//std::cout << input.cols << input.rows << input.type() << output.rows << output.cols << output.type()<<"\n"; cv::resize(UcurrentData, output, cv::Size(input.cols, input.rows), cv::InterpolationFlags::INTER_NEAREST);
//matMutex.unlock();
////std::cout << input.cols << input.rows << input.type() << output.rows << output.cols << output.type()<<"\n";
cv::UMat k(input.size(), input.type()); cv::UMat k(input.size(), input.type());
cv::addWeighted(input, 1.0, output, 0.3, 0.0, k); cv::addWeighted(input, 1.0, output, 1.0, 0.0, k);
float fi = center;
cv::putText(k, cv::format("%.2f", fi), Point2i(400,250),cv::FONT_HERSHEY_DUPLEX, 2, cv::Scalar(100, 100, 100), 1, cv::LineTypes::FILLED, false);
input = k; input = k;
} }
} }

5
Plugins/Thermx/ThermxRenderer.hpp
Unescape View File

@ -1,9 +1,9 @@
#include "../../../AHRS_core/src/pipeline/abstract/pipelineNode.hpp" #include "../../../AHRS_core/src/pipeline/abstract/pipelineNode.hpp"
class ThermxRenderer : public SubNode{ class ThermxRenderer : public SubNode{
protected: protected:
float data[24][32];
float min = 0; float min = 0;
float max = 0; float max = 0;
std::atomic<float> center = 0;
int height = 640; int height = 640;
int width = 480; int width = 480;
cv::Mat currentData = cv::Mat(cv::Size(32, 24), CV_8UC3, cv::Scalar(0,0,0)); cv::Mat currentData = cv::Mat(cv::Size(32, 24), CV_8UC3, cv::Scalar(0,0,0));
@ -14,7 +14,8 @@ class ThermxRenderer : public SubNode{
void draw(); void draw();
void drawGL(); void drawGL();
public: public:
vector<float> data;
ThermxRenderer(); ThermxRenderer();
void processFrame(cv::UMat& input, cv::Point2d& cursorPos) override; void processFrame(cv::UMat& input, cv::Point2d& cursorPos) override;
void refreshData(float newData[24][32]); void refreshData(vector<float> newData);
}; };
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