Example: 01-Camera/05-Thermal-Cameras/01-FLIR-Lepton/lepton_hotspot_grayscale_color_tracking.py

# 本作品采用MIT许可证授权。
# 版权所有 (c) 2013-2023 OpenMV LLC。保留所有权利。
# https://github.com/openmv/openmv/blob/master/LICENSE
#
# 单色灰度色块跟踪示例
#
# 此示例展示了使用 OpenMV Cam 和 FLIR LEPTON 进行单色灰度跟踪。

# FLIR Lepton Shutter Note: FLIR Leptons with radiometry and a shutter will pause the video often
# as they heatup to re-calibrate. This will happen less and less often as the sensor temperature
# stabilizes. You can force the re-calibration to not happen if you need to via the lepton API.
# However, it is not recommended because the image will degrade overtime.

import sensor
import time

# 颜色跟踪阈值（灰度最小值，灰度最大值）
threshold_list = [(220, 255)]

print("Resetting Lepton...")
# 这些设置在重置时应用
sensor.reset()
print(
    "Lepton Res (%dx%d)"
    % (
        sensor.ioctl(sensor.IOCTL_LEPTON_GET_WIDTH),
        sensor.ioctl(sensor.IOCTL_LEPTON_GET_HEIGHT),
    )
)
print(
    "Radiometry Available: "
    + ("Yes" if sensor.ioctl(sensor.IOCTL_LEPTON_GET_RADIOMETRY) else "No")
)

sensor.set_pixformat(sensor.GRAYSCALE)
sensor.set_framesize(sensor.QQVGA)
sensor.skip_frames(time=5000)
clock = time.clock()

# 只有像素数超过“pixel_threshold”且面积超过“area_threshold”的blob才会被
# “find_blobs”返回。如果更改了“pixels_threshold”和“area_threshold”，请进行相应调整。
# 相机分辨率。"merge=True" 合并图像中所有重叠的斑点。

while True:
    clock.tick()
    img = sensor.snapshot()
    for blob in img.find_blobs(
        threshold_list, pixels_threshold=200, area_threshold=200, merge=True
    ):
        img.draw_rectangle(blob.rect(), color=127)
        img.draw_cross(blob.cx(), blob.cy(), color=127)
    print(clock.fps())