TSDK处理大疆H20T热成像图像记录

TSDK处理大疆H20T热成像图像小白记录

记录我用TSDK处理热成像图片的过程

TSDK的环境配置

由于不会调用SDK，所以我将下载的TSDK中sample文件夹用VS打开，找到dji_irp.cpp文件，复制代码。创建新的项目，创建tsdk.cpp文件，将代码粘贴进去。
tsdk.cpp需要链接argagg.hpp，dirp_api.h和dirp_wrapper.h头文件以及libdirp.lib库文件。在tsdk.cpp所在文件夹中创建Libs文件夹，在Libs文件夹中创建icn文件夹和lib文件夹。将下载的TSDK中tsdk-core目录下api文件夹内的文件复制到icn文件夹中，将sample\argparse目录下的文件也放入icn文件夹内；将tsdk-core/lib/windows/release_x64目录下所有.lib文件复制到lib文件夹中，将所有.dll文件和.ini文件复制到tsdk.cpp所在文件夹中x64\Debug文件夹下，与tsdk.exe放在一起。

在tsdk项目中选择调试>tsdk调试属性>C/C++>常规中，将附加包含目录设置为icn文件夹；在tsdk项目中选择调试>tsdk调试属性>连接器>常规中，将附加库目录设置为lib文件夹；在tsdk项目中选择调试>tsdk调试属性>连接器>输入中，将附加依赖项设置为libdirp.lib。至此配置成功。



在调试>tsdk调试属性>调试中输入命令参数-h再运行可以查看帮助

TSDK的调用

通过python代码调用tsdk.exe,批量处理热成像图片，生成存储温度信息的.raw文件。

import os

tsdk =r'C:\Users\poppip\source\repos\tsdk\x64\Debug\tsdk.exe'##tsdk.exe的储存位置
path='F:/thermalsensingimage/DCIM/DJI_202207221723_011_/'##拍摄的rJPG的储存位置
savepath ="C:/Users/poppip/Desktop/test/tempture/DJI_202207221723_011_/"##处理结果的储存位置
os.makedirs(savepath,exist_ok=True)

distance=25.0
emissivity=0.95
humidity=45
reflection=51.8##参数根据实际情况设置defuse_tsdk(tsdk, path, savepath):print('start')
    imgnamelist=os.listdir(path)for imgname in imgnamelist:if"T"in imgname:##带T的图像是温度图像
            portion = os.path.splitext(imgname)
            coreimgname = portion[0]
            param ='-s '+ path + imgname +' -a measure -o '+ savepath + coreimgname +'.raw'+' --distance '+str(distance)+' --emissivity '+str(emissivity)+' --humidity '+str(humidity)+'--reflection '+str(reflection)##选择的模式是measure输出的结果是温度信息，不是原始信息
            r_v = os.system(tsdk+' '+param)print(r_v)##输出的为tsdk.exe运行的返回值
            
use_tsdk(tsdk, path, savepath)

.raw转.tif

将.raw文件中的值除以10之后为温度值，转为.tif文件以备后续使用。python代码

import os
import opencv
import numpy as np
savepath ="C:/Users/poppip/Desktop/test/tempture/DJI_202207221723_011_/"defraw_to_tif(path, rows, cols, channels):print('to .tif start')
    files = os.listdir(path)forfilein files:
        portion = os.path.splitext(file)if portion[1]=='.raw':
            realPath = path +file
            img = np.fromfile(realPath, dtype='uint16')
            img = img/10##除10之后为温度值
            img = img.reshape(rows, cols, channels)
            fileName = portion[0]+'.tif'
            tif_fileName = os.path.join(path, fileName)
            cv2.imwrite(tif_fileName, img ,(int(cv2.IMWRITE_TIFF_COMPRESSION),1))
            os.remove(realPath)##delete .raw file，如有需要，可以不删除else:print(file+' it is not .raw file')print('to .tif finsh')
    
raw_to_tif(savepath,512,640,1)

图像的exif信息

转出来的.tif文件没有exif信息，无法定位。将exif信息从rjpg图像中提取出来，写入.tif文件的python代码

from pyexiv2 import Image
import os

path='F:/thermalsensingimage/DCIM/DJI_202207221723_011_/'
savepath ="C:/Users/poppip/Desktop/test/tempture/DJI_202207221723_011_/"defexifrw(path,exif_path):print('exifr&w start')
    i=0
    files = os.listdir(path)
    read_files = os.listdir(exif_path)for read_file in read_files:if"T"in read_file:
            portion = os.path.splitext(read_file)file= portion[0]+'.tif'iffilein files:
                file_path = os.path.join(path,file)
                img = Image(file_path)
                exif_file = os.path.join(exif_path, read_file)
                imge = Image(exif_file)
                exif = imge.read_exif()
                img.modify_exif(exif)
                imge.close()
                img.close()else:
                i=i+1print(str(file)+"unfinish")##检查是否所有.rjpgd的温度文件都完成了全部转换print('exifr&w finish')print(str(i)+" files can not be processed")print('end')
exifrw(savepath,path)

pix4d拼接

最后使用pix4d进行图像拼接，不知道为什么大疆智图无法拼接转换后的图像。

pos编辑

以上方法处理exif信息只能读取地理信息，无法读取精度及航向角等信息，拼接的图像不准，可以用大疆智图导出pos信息，经过编辑，导入pix4d。

pos编辑代码，每组信息单独切片的部分还能简化。

import os

path ='C:/Users/poppip/Desktop/test/temperature/DJI_202207221723_011_humidity45/'
pos_path='F:/thermalsensingimage/DCIM/DJI_202207221723_011_/'

posread = os.path.join(pos_path,"pos.txt")
f =open(posread,encoding='utf8')
poswrite=os.path.join(path,"posT.txt")for line in f:if"T"in line:
        i1=line.find(",")
        line1=line[i1-29:i1-4]#name
        line2=line[i1+1:]
        i2=line2.find(",")
        line3=line2[i2+1:]
        line2=line2[:i2]#lat
        i3=line3.find(",")
        line4=line3[i3+1:]
        line3=line3[:i3]#lon
        i4=line4.find(",")
        line5=line4[i4+1:]
        line4=line4[:i4]#altitude
        i5=line5.find(",")
        line6=line5[i5+1:]
        line5=line5[:i5]#yaw
        i6=line6.find(",")
        line7=line6[i6+1:]
        line6=line6[:i6]#pitch
        i7=line7.find(",")
        line8=line7[i7+1:]
        line7=line7[:i7]#roll
        i8=line8.find(",")
        line9=line8[i8+1:]
        line8=line8[:i8]#horizontal
        i9=len(line9)
        line9=line9[:i9-1]#vertical
        line = line1+'.tif '+line2+' '+line3+' '+line4+' '+line6+' '+line5+' '+line7+' '+line8+' '+line9#for pixprint(line)withopen(poswrite,"a")as fs:
            fs.write(line+"\n")

全部代码

除了tsdk的全部python代码，之前的分步代码使用时应去除##注释。这是我使用TSDK的全部过程，本人只是个小白，很多步骤有待推敲，所有代码仅供参考。

import os
import cv2
import numpy as np
from pyexiv2 import Image

tsdk =r'C:\Users\poppip\source\repos\tsdk\x64\Debug\tsdk.exe'
path='F:/thermalsensingimage/DCIM/DJI_202207221723_011_/'
savepath ="C:/Users/poppip/Desktop/test/tempture/DJI_202207221723_011_/"
os.makedirs(savepath,exist_ok=True)

distance=25.0
emissivity=0.95
humidity=45
reflection=51.8defuse_tsdk(tsdk, path, savepath):print('start')
    imgnamelist=os.listdir(path)for imgname in imgnamelist:if"T"in imgname:
            portion = os.path.splitext(imgname)
            coreimgname = portion[0]
            param ='-s '+ path + imgname +' -a measure -o '+ savepath + coreimgname +'.raw'+' --distance '+str(distance)+' --emissivity '+str(emissivity)+' --humidity '+str(humidity)+'--reflection '+str(reflection)
            r_v = os.system(tsdk+' '+param)print(r_v)defraw_to_tif(path, rows, cols, channels):print('to .tif start')
    files = os.listdir(path)forfilein files:
        portion = os.path.splitext(file)if portion[1]=='.raw':
            realPath = path +file
            img = np.fromfile(realPath, dtype='uint16')
            img = img/10
            img = img.reshape(rows, cols, channels)
            fileName = portion[0]+'.tif'
            tif_fileName = os.path.join(path, fileName)
            cv2.imwrite(tif_fileName, img ,(int(cv2.IMWRITE_TIFF_COMPRESSION),1))
            os.remove(realPath)##delete .raw fileelse:print(file+' it is not .raw file')print('to .tif finsh')defexifrw(path,exif_path):print('exifr&w start')
    i=0
    files = os.listdir(path)
    read_files = os.listdir(exif_path)for read_file in read_files:if"T"in read_file:
            portion = os.path.splitext(read_file)file= portion[0]+'.tif'iffilein files:
                file_path = os.path.join(path,file)
                img = Image(file_path)
                exif_file = os.path.join(exif_path, read_file)
                imge = Image(exif_file)
                exif = imge.read_exif()
                img.modify_exif(exif)
                imge.close()
                img.close()else:
                i=i+1print(str(file)+"unfinish")print('exifr&w finish')print(str(i)+" files can not be processed")print('end')

use_tsdk(tsdk, path, savepath)
raw_to_tif(savepath,512,640,1)
exifrw(savepath,path)