python wrapper for Frame object

CMakeLists.txt

@@ -0,0 +1,15 @@
+cmake_minimum_required(VERSION 2.6)
+project(LIBSEEK)
+#find_package(libusb REQUIRED)
+find_path(LIBUSB_INCLUDE_PATH libusb.h /usr/include/libusb-1.0/)
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Os -fpic --std=c++11")
+
+add_library(seek STATIC seek.cpp)
+add_executable(seek-test seek-test.cpp)
+add_executable(seek-test-calib seek-test-calib.cpp)
+
+target_include_directories(seek PUBLIC ${CMAKE_CURRENT_SOURCE_DIR} ${LIBUSB_INCLUDE_PATH})
+
+target_link_libraries(seek LINK_PUBLIC usb-1.0)
+target_link_libraries(seek-test LINK_PUBLIC seek)
+target_link_libraries(seek-test-calib LINK_PUBLIC seek)

libseek_python.py

@@ -0,0 +1,20 @@
+import pylibseek as lseek
+
+
+class ThermalCamera(object):
+    def __init__(self, k=None, c=None):
+        if k: k = float(k)
+        if c: c = float(c)
+        lseek.init(k, c)
+        (width, height) = lseek.get_dimensions()
+        self.width = width
+        self.height = height
+
+    def get_frame(self, absolute=True):
+        return lseek.get_frame(absolute)
+
+    def get_flat_frame(self, absolute=True):
+        return lseek.get_flat_frame(absolute)
+
+    def __del__(self):
+        lseek.deinit()

pylibseek.cpp

@@ -0,0 +1,191 @@
+//
+// Created by Dmitry Sorokin on 2/15/16.
+//
+
+#include <Python.h>
+#include "seek.hpp"
+
+static LibSeek::Imager *imgr;
+static LibSeek::Frame *frm;
+static bool initialized = false;
+static unsigned int length = 0;
+static float *absolute_data;
+static float _K = 0.02; // Experimental values, looks realistic
+static float _C = -618;
+
+// TODO: get_frame absolute should accept convertation coeff?
+
+void
+parse_coef_args(PyObject *args) {
+    PyObject *p1 = nullptr;
+    PyObject *p2 = nullptr;
+    // TODO: can be a memleak here?
+    PyArg_UnpackTuple(args, "ref", 0, 2, &p1, &p2);
+    if (p1 != nullptr && PyFloat_Check(p1)) {
+        _K = PyFloat_AsDouble(p1);
+    }
+    if (p2 != nullptr && PyFloat_Check(p2)) {
+        _C = PyFloat_AsDouble(p2);
+    }
+}
+
+bool
+is_absolute(PyObject *args) {
+    PyObject *p1 = nullptr;
+    // TODO: can be a memleak here?
+    PyArg_UnpackTuple(args, "ref", 0, 1, &p1);
+    if (p1 != nullptr && PyBool_Check(p1)) {
+        return p1 == Py_True;
+    }
+    return false;
+}
+
+static PyObject *
+init(PyObject *self, PyObject *args) {
+    if (initialized) {
+        return nullptr;
+    }
+    parse_coef_args(args);
+    // TODO: throw exceptions
+    imgr = new LibSeek::Imager();
+    frm = new LibSeek::Frame();
+    imgr->init();
+    imgr->frame_init(*frm);
+    length = frm->width()*frm->height();
+    absolute_data = new float[length];
+    initialized = true;
+    return Py_None;
+}
+
+static bool check_init() {
+    if (initialized)
+        return true;
+    init(nullptr, nullptr);
+    return initialized;
+}
+
+static PyObject *
+deinit(PyObject *self, PyObject *args) {
+    check_init(); // TODO: throw exception if unitialized
+    delete frm;
+    delete imgr;
+    delete absolute_data;
+    return Py_None;
+}
+
+const uint16_t *
+_get_frame_data() {
+    imgr->frame_acquire(*frm);
+    return frm->data();
+}
+
+const float *
+_convert_to_absolute(const uint16_t *data) {
+    for (unsigned int i = 0; i < length; i++) {
+        absolute_data[i] = data[i]*_K + _C;
+    }
+    return absolute_data;
+}
+
+static PyObject *
+_value_builder(const float value) {
+    return PyFloat_FromDouble(value);
+}
+
+static PyObject *
+_value_builder(const uint16_t value) {
+    return PyLong_FromLong(value);
+}
+
+template <typename T>
+static PyObject *
+_construct_flat_frame (T *data) {
+    PyObject *res = PyList_New(length);
+
+    for (unsigned int i = 0; i < length; i++) {
+        PyList_SetItem(res, i, _value_builder(data[i]));
+    }
+    return res;
+}
+
+template <typename T>
+static PyObject *
+_construct_frame (T *data) {
+    PyObject *res = PyList_New(frm->height());
+    unsigned int offset = 0;
+
+    for (unsigned int i = 0; i < frm->height(); i++) {
+        PyObject *row = PyList_New(frm->width());
+        PyList_SetItem(res, i, row);
+        for (unsigned int j = 0; j < frm->width(); j++) {
+            PyList_SetItem(row, j, _value_builder(data[offset]));
+            offset++;
+        }
+    }
+    return res;
+}
+
+static PyObject *
+get_frame_flat(PyObject *self, PyObject *args) {
+    check_init();
+
+    auto data = _get_frame_data();
+    return is_absolute(args) ?
+        _construct_flat_frame(_convert_to_absolute(data)) :
+        _construct_flat_frame(data);
+}
+
+static PyObject *
+get_frame(PyObject *self, PyObject *args) {
+    check_init();
+
+    auto data = _get_frame_data();
+    return is_absolute(args) ?
+           _construct_frame(_convert_to_absolute(data)) :
+           _construct_frame(data);
+}
+
+static PyObject *
+get_dimensions(PyObject *self, PyObject *args) {
+    check_init();
+    PyObject *res = PyTuple_New(2);
+    PyTuple_SetItem(res, 0, PyLong_FromLong(frm->width()));
+    PyTuple_SetItem(res, 1, PyLong_FromLong(frm->height()));
+    return res;
+}
+
+
+static PyMethodDef libseekMethods[] = {
+        {"init",  init, METH_VARARGS,
+                "Initialize device."},
+        {"deinit",  deinit, METH_NOARGS,
+                "Deinitialize device."},
+        {"get_frame_flat",  get_frame, METH_VARARGS,
+                "Get flattened frame from device."},
+        {"get_frame",  get_frame, METH_VARARGS,
+                "Get frame from device."},
+        {"get_dimensions",  get_dimensions, METH_NOARGS,
+                "Get frame width and height."},
+        {NULL, NULL, 0, NULL}        /* Sentinel */
+};
+
+#if PY_MAJOR_VERSION >= 3
+static struct PyModuleDef pylibseekmodule = {
+        PyModuleDef_HEAD_INIT,
+        "libseek_python",   /* name of module */
+        NULL, /* module documentation, may be NULL */
+        -1,       /* size of per-interpreter state of the module,
+                or -1 if the module keeps state in global variables. */
+        libseekMethods
+};
+
+PyMODINIT_FUNC
+PyInit_pylibseek(void) {
+    return PyModule_Create(&pylibseekmodule);
+}
+#else
+PyMODINIT_FUNC
+initpylibseek(void) {
+    PyObject *module = Py_InitModule("pylibseek", libseekMethods);
+}
+#endif

setup.py

@@ -0,0 +1,15 @@
+from distutils.core import setup, Extension
+
+pylibseek = Extension('pylibseek',
+                    sources = ["pylibseek.cpp"],
+                    extra_compile_args = ["--std=c++11"],
+                    include_dirs = ["./"],
+                    library_dirs = ["./build", "./cmake_build"],
+                    libraries = ["seek", "usb-1.0"],
+                    #define_macros = [("DEBUG", 1)]
+                    )
+
+setup (name = 'LibSeek Python interface',
+       version = '1.0',
+       description = 'Thermal Imager interface module',
+       ext_modules = [pylibseek])

test_seekmod.py

@@ -0,0 +1,7 @@
+#!/usr/bin/env python3
+import libseek_python as l
+
+l.lseek.init(0.3, -500)
+f = l.lseek.get_frame(True)
+l.lseek.deinit()
+print(f)

view-absolute.py

@@ -0,0 +1,36 @@
+#!/usr/bin/env python3
+import matplotlib.pyplot as plt
+import matplotlib.animation as animation
+from matplotlib.widgets import Slider
+
+import libseek_python as l
+
+mintemp, maxtemp = 0, 100
+
+c = l.ThermalCamera()
+f = c.get_frame()
+
+fig = plt.figure()
+image = plt.imshow(f, cmap="gnuplot2", animated=True)
+plt.clim(mintemp, maxtemp)
+
+ax_maxtemp = plt.axes([0.2, 0.01, 0.65, 0.03])
+ax_mintemp = plt.axes([0.2, 0.05, 0.65, 0.03])
+s_maxtemp = Slider(ax_maxtemp, 'Maximum', 30, 150, valinit=maxtemp)
+s_mintemp = Slider(ax_mintemp, 'Minumum', 0, 40, valinit=mintemp)
+
+
+def controls_update(_):
+    plt.clim(s_mintemp.val, s_maxtemp.val)
+
+
+def anim(_):
+    f = c.get_frame()
+    image.set_array(f)
+    return image,
+
+s_maxtemp.on_changed(controls_update)
+s_mintemp.on_changed(controls_update)
+ani = animation.FuncAnimation(fig, anim, interval=100)
+plt.show()
+

wscript

@@ -11,7 +11,7 @@ def configure(conf):
 	conf.load('compiler_cxx')
 
 	if conf.env.CXX_NAME in ('gcc', 'clang'):
-		conf.env.CXXFLAGS += [ '-std=c++11' ]
+		conf.env.CXXFLAGS += [ '-std=c++11', '-fpic' ]
 
 	conf.check_cfg(package='libusb-1.0', args='--cflags --libs',
 	 uselib_store="LIBUSB")