Use ctypes to capsulate DJI thermal SDK. Generate thermal images with different palettes and heatmaps.
from dji_thermal_sdk.dji_sdk import *
from dji_thermal_sdk.utility import rjpeg_to_heatmap, rjpeg_to_thermal
import dji_thermal_sdk.dji_sdk as DJI
import ctypes as CT
from ctypes import *
import os
import matplotlib.pyplot as plt
import numpy as np
import seaborn as sns
This version of DJI Thermal SDK is 1.3, which was published on 05/15/2022
pip install dji_thermal_sdk
Normally, DJI SDK DLLs include
libdirp.dll, libv_dirp.dll, libv_girp.dll, libv_iirp.dll, libv_list.ini.
DJI does not provide the library for Linux. Therefore, if you run the package on Linux, python complier will pop out âinvalid ELF headerâ error.
Firstly, you should invoke âdji_initâ to initialize DJI sdk environment. This step is very important
nbdev.show_doc(dji_init)
dji_init (dllpath:str=None)
if you donât provide the file path of âlibdirp.dllâ, the default âlibdirp.dllâ with version 1.3 will be automatically chosen.
dji_init()
DJI._libdirp
<CDLL 'C:\Users\hxl170008\Documents\git_repo\dji_thermal_sdk\dji_thermal_sdk\libdirp.dll', handle 7ffcdb580000>
DIRP_HANDLE is a void pointer, and it has been definded.
you can get it by package.DIRP_HANDLE
nbdev.show_doc(dirp_create_from_rjpeg)
dirp_create_from_rjpeg (data, size, ph)
Parameters: [in] data: R-JPEG binary data buffer pointer [in] size: R-JPEG binary data buffer size in bytes [out]ph : DIRP API handle pointer - reminder: use two-level pointer to assign value to one-level pointer Return: int return code dirp_ret_code_e
rd = r"dataset\Deer_Goats_Unsure.jpg"
with open(rd, 'rb') as f:
content = f.read()
print(len(content))
# method1 to get the file size
print(f"File size: {os.path.getsize(rd)}")
# method 2 to get the file size
file_stat = os.stat(rd)
size = c_int32(file_stat.st_size)
print(f"File size: {size}")
# the method to create a string buffer, which is important.
rjpeg_data = CT.create_string_buffer(len(content))
rjpeg_data.value = content
print(f"rjpeg_data: {rjpeg_data}")
# test the function to create a handle of an image
ret = dirp_create_from_rjpeg(rjpeg_data,size, CT.byref(DIRP_HANDLE))
print(f'ret = {ret}')
if ret == 0:
print("successfully get the r-jpeg handle.")
#
print(f"DIRP_HANDLE: {DIRP_HANDLE} address: {hex(DIRP_HANDLE.value)} ")
1367428
File size: 1367428
File size: c_long(1367428)
rjpeg_data: <ctypes.c_char_Array_1367428 object>
ret = 0
successfully get the r-jpeg handle.
DIRP_HANDLE: c_void_p(2201333297840) address: 0x20089b072b0
nbdev.show_doc(dirp_get_api_version)
dirp_get_api_version\[source\]
dirp_get_api_version(version)
Parameters: [out] version DIRP API version information pointer Return: int return code dirp_ret_code_e
nbdev.show_doc(dirp_api_version_t)
class
dirp_api_version_t\[source\]
dirp_api_version_t() ::Structure
API version structure definition
jpeg_version = dirp_api_version_t()
ret = dirp_get_api_version(CT.byref(jpeg_version))
if ret == DIRP_SUCCESS:
print("Success")
#
print(f"jpeg_version.api: \t {jpeg_version.api}")
print(f"jpeg_version.magic: \t {jpeg_version.magic}")
Success
jpeg_version.api: 19
jpeg_version.magic: b'b85e4d3'
nbdev.show_doc(dirp_get_rjpeg_version)
dirp_get_rjpeg_version (h, version)
Get R-JPEG version. Parameters [in]h:DIRP API handle [out]version: R-JPEG version information pointer Returns int return code dirp_ret_code_e
nbdev.show_doc(dirp_rjpeg_version_t)
R-JPEG version structure definition
jpeg_version = dirp_rjpeg_version_t()
ret = dirp_get_api_version(CT.byref(jpeg_version))
if ret == DIRP_SUCCESS:
print("Success")
#
print(f"rjpeg:{jpeg_version.rjpeg}")
print(f"header:{jpeg_version.header}")
print(f"curve:{jpeg_version.curve}")
Success
rjpeg:19
header:1697986658
curve:3367988
nbdev.show_doc(dirp_get_color_bar)
dirp_get_color_bar\[source\]
dirp_get_color_bar(h,color_bar)
Parameters: [in] h: DIRP API handle [out] color_bar: ISP color bar parameters pointer Return: int return code dirp_ret_code_e
nbdev.show_doc(dirp_color_bar_t)
class
dirp_color_bar_t\[source\]
dirp_color_bar_t() ::Structure
Color bar parameters structure definition
jpeg_color_bar = dirp_color_bar_t()
ret = dirp_get_color_bar(DIRP_HANDLE, CT.byref(jpeg_color_bar))
if ret == DIRP_SUCCESS:
print("Success")
print(f"jpeg_color_bar.high: \t {jpeg_color_bar.high}")
print(f"jpeg_color_bar.low: \t {jpeg_color_bar.low}")
print(f"jpeg_color_bar.manual_enable: \t {jpeg_color_bar.manual_enable}")
Success
jpeg_color_bar.high: -131073.015625
jpeg_color_bar.low: 9.10844001811131e-44
jpeg_color_bar.manual_enable: False
nbdev.show_doc(dirp_create_from_rjpeg)
nbdev.show_doc(dirp_get_rjpeg_resolution)
dirp_get_rjpeg_resolution\[source\]
dirp_get_rjpeg_resolution(h,rjpeg_info)
Get R-JPEG image resolution information. Parameters [in]h: DIRP API handle [out]rjpeg_info: R-JPEG basic information pointer Returns int return code dirp_ret_code_e
nbdev.show_doc(dirp_resolution_t)
class
dirp_resolution_t\[source\]
dirp_resolution_t() ::Structure
The image size structure definition
rjpeg_resolution = dirp_resolution_t()
ret = dirp_get_rjpeg_resolution(DIRP_HANDLE, CT.byref(rjpeg_resolution))
print(f'ret = {ret}')
if ret == 0:
print("successfully get the resolution.")
out = f'Height: {rjpeg_resolution.height}, width: {rjpeg_resolution.width}'
out
ret = 0
successfully get the resolution.
'Height: 512, width: 640'
nbdev.show_doc(dirp_set_pseudo_color)
dirp_set_pseudo_color (h, pseudo_color)
Set custom ISP pseudo color type. Parameters [in]h:DIRP API handle [in]pseudo_color:ISP pseudo color type dirp_pseudo_color_e Returns int return code dirp_ret_code_e
ret = dirp_set_pseudo_color(DIRP_HANDLE, c_int(0))
if ret == DIRP_SUCCESS:
print("Success")
else:
print(f"Error: ret={ret}")
Success
nbdev.show_doc(dirp_process)
dirp_process (h, color_image, size)
Run ISP algorithm with RAW data in R-JPEG and output RGB pseudo color image. The ISP configurable parameters can be modifed by these APIs: dirp_set_enhancement_params dirp_set_isotherm dirp_set_color_bar dirp_set_pseudo_color Parameters [in]h:DIRP API handle [out]color_image:Color image data buffer pointer [in]size:Color image data buffer size in bytes. Returns int return code dirp_ret_code_e
size = rjpeg_resolution.height * rjpeg_resolution.width * 3 * CT.sizeof(c_uint8)
raw_image_buffer = CT.create_string_buffer(size)
print(raw_image_buffer.raw[100])
ret = dirp_process(DIRP_HANDLE,byref(raw_image_buffer), size)
if ret == DIRP_SUCCESS:
print("Success")
else:
print(f"Error: ret={ret}")
#
raw_file_path = os.path.splitext(rd)[0] + ".raw"
print(raw_file_path)
with open(raw_file_path, 'wb') as f:
f.write(raw_image_buffer.raw)
#
if os.path.exists(raw_file_path):
print(f"Success! file size: {os.path.getsize(raw_file_path)}")
else:
print("Error")
#
with open(raw_file_path, encoding='cp1252') as fin:
img = np.fromfile(fin, dtype = np.uint8)
print(img.shape)
img.shape = (512,640,3)
#original = Image.fromarray(img)
#
fig = plt.figure(figsize=(10,8))
plt.imshow(img, cmap='gray')
nbdev.show_doc(rjpeg_to_thermal)
rjpeg_to_thermal (src:str, palette:int)
parameters: [str] src: file path of original jpg. For example, c:.jpg [int] palette: the number of palette - DIRP_PSEUDO_COLOR_WHITEHOT = 0 - DIRP_PSEUDO_COLOR_FULGURITE = 1 - DIRP_PSEUDO_COLOR_IRONRED = 2 - DIRP_PSEUDO_COLOR_HOTIRON = 3 - DIRP_PSEUDO_COLOR_MEDICAL = 4 - DIRP_PSEUDO_COLOR_ARCTIC = 5 - DIRP_PSEUDO_COLOR_RAINBOW1 = 6 - DIRP_PSEUDO_COLOR_RAINBOW2 = 7 - DIRP_PSEUDO_COLOR_TINT = 8 - DIRP_PSEUDO_COLOR_BLACKHOT = 9 return: return numpy.ndarray -> img
if DJI._libdirp == "":
print("run dji_init() to initialize the DJI sdk.")
src = r"dataset\Deer_Goats_Unsure.jpg"
img = rjpeg_to_thermal(src,0)
fig = plt.figure(figsize=(10,8))
plt.imshow(img)
plt.show()
nbdev.show_doc(rjpeg_to_heatmap)
rjpeg_to_heatmap (src:str, dtype='float32')
parameters: [str] src: file path of original jpg. For example, c:.jpg [str] dtype: âfloat32â or âint16â return: return numpy.ndarray -> img
if DJI._libdirp == "":
print("run dji_init() to initialize the DJI sdk.")
src = r"dataset\Deer_Goats_Unsure.jpg"
img = rjpeg_to_heatmap(src,dtype='float32')
fig = plt.figure(figsize=(10,8))
ax = sns.heatmap(img, cmap='gray')
ax.set_xticks([])
ax.set_yticks([])
plt.show()
if DJI._libdirp == "":
print("run dji_init() to initialize the DJI sdk.")
src = r"dataset\Deer_Goats_Unsure.jpg"
img = rjpeg_to_heatmap(src,dtype='int16')
fig = plt.figure(figsize=(10,8))
ax = sns.heatmap(img, cmap='gray')
ax.set_xticks([])
ax.set_yticks([])
plt.show()
FAQs
Use ctypes to capsulate DJI thermal SDK. Generate thermal images with different palettes and heatmaps.
We found that dji-thermal-sdk demonstrated a healthy version release cadence and project activity because the last version was released less than a year ago. It has 1 open source maintainer collaborating on the project.
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