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simple-thermal-imager

Thermal motion detector / blob tracker for TOOLTOP T7 (InfiRay-based) USB-C thermal imager: radiometric frame decoding, motion detection, multi-object blob tracking, optional thermal diagnostics, and a JSON event stream for downstream tools.

Details

The TOOLTOP T7 device (InfiRay-based, USB ID 0bda:5840) enumerates on Linux as a standard UVC camera exposing YUYV 256x384 @ 25 fps.

In system logs it's reported as below:

==> /var/log/syslog <==
2026-09-01T18:17:45.935408+03:00 greenall kernel: usb 3-1: New USB device found, idVendor=0bda, idProduct=5840, bcdDevice=13.03
2026-09-01T18:17:45.935468+03:00 greenall kernel: usb 3-1: New USB device strings: Mfr=3, Product=1, SerialNumber=2
2026-09-01T18:17:45.935478+03:00 greenall kernel: usb 3-1: Product: USB Camera
2026-09-01T18:17:45.935484+03:00 greenall kernel: usb 3-1: Manufacturer: Generic
2026-09-01T18:17:45.935487+03:00 greenall kernel: usb 3-1: SerialNumber: 200901010000
2026-09-01T18:17:45.969834+03:00 greenall mtp-probe: checking bus 3, device 4: "/sys/devices/pci0000:00/0000:00:14.0/usb3/3-1"
2026-09-01T18:17:45.970028+03:00 greenall mtp-probe: bus: 3, device: 4 was not an MTP device
2026-09-01T18:17:45.991186+03:00 greenall kernel: usb 3-1: Found UVC 1.00 device USB Camera (0bda:5840)
2026-09-01T18:17:46.007149+03:00 greenall kernel: usbcore: registered new interface driver uvcvideo
2026-09-01T18:17:46.009824+03:00 greenall mtp-probe: checking bus 3, device 4: "/sys/devices/pci0000:00/0000:00:14.0/usb3/3-1"
2026-09-01T18:17:46.009892+03:00 greenall mtp-probe: bus: 3, device: 4 was not an MTP device
2026-09-01T18:17:46.030324+03:00 greenall wireplumber[1411]: <WpPortalPermissionStorePlugin:0x587d06638970> Failed to call Lookup: GDBus.Error:org.freedesktop.portal.Error.NotFound: No entry for camera

That frame is actually two stacked 256x192 halves:

  • top half – processed 8-bit grayscale image (Y channel, U/V neutral);
  • bottom half – raw 16-bit radiometric data packed as pixel = (U << 8) | Y (and (V << 8) | Y1).

This project decodes the radiometric half and runs the following pipeline entirely in userspace:

YUYV 256x384
  -> decode bottom half to u16 raw thermal matrix
  -> 3x3 blur (denoise)
  -> detect sensor-wide offset jumps and compensate background
  -> adaptive background (IIR) + signed diff threshold
  -> 3x3 morphological closing
  -> connected components (8-connectivity) -> blobs
  -> merge nearby blobs
  -> nearest-neighbor / bbox-aware tracker
  -> track confirmation (2 hits)
  -> optional raw -> Celsius calibration
  -> JSON events on stdout (logs/diagnostics on stderr)

Warm-pixel counting (`--warm-delta`) is diagnostic metadata only; it is not OR'ed
into the motion mask.

The camera needs ~2–4 secs after stream start before it emits real frames (black 00 80 frames before that); the tool handles this automatically (--warmup + --settle).

Build

cargo build --release

Run (requires read access to /dev/video0, i.e. membership in the video group):

sudo usermod -aG video $USER

Usage

Real testing on Linux Mint box (with additional ffplay window view) when fingers were moved near the camera, then removed, so total 3 times back and forth in such way:

➜  simple-thermal-imager git:(main) ✗ date && cargo r --release -- --preview --stats
Sun Sep  6 11:48:54 PM EEST 2026
   Compiling simple-thermal-imager v0.3.0 (/home/vit/prjs/simple-thermal-imager)
    Finished `release` profile [optimized] target(s) in 7.39s
     Running `target/release/simple-thermal-imager --preview --stats`
live preview started with ffplay...
initializing background model (waiting up to 500 frames, about 20 seconds)...
frame    0: waiting for camera warmup...
frame   25: waiting for camera warmup...
frame   50: waiting for camera warmup...
background initialized from 10 frames
starting motion detection loop...
frame jump      3 | mean_abs   21.15 | mean_signed   -21.15 | >=100      0 | >=200      0
frame jump     60 | mean_abs   22.86 | mean_signed   -22.86 | >=100      0 | >=200      0
frame jump     85 | mean_abs   20.23 | mean_signed   -20.23 | >=100      0 | >=200      0
frame jump    114 | mean_abs  537.75 | mean_signed  -537.75 | >=100  49152 | >=200  49152
sensor-wide jump at frame 114, shifting background by -538
sensor settled; detection armed
frame    150 | active      0 (+     0/-     0) | streak 0 | ambient 19072 | warm      0 | raw 19000/19140 | blobs 0
event frame    165 | active    191 (+   191/-     0) | warm      0 | rawmax 19624 | blobs 1
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frame jump    357 | mean_abs  262.02 | mean_signed  +262.02 | >=100  49152 | >=200  49152
sensor-wide jump at frame 357, shifting background by +262
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^C
➜  simple-thermal-imager git:(main) ✗

Help usage information:

➜  simple-thermal-imager git:(main) ✗ ./target/release/simple-thermal-imager --help
Usage: simple-thermal-imager [--device <device>] [--roi <roi>] [--min-area <min-area>]
  [--threshold <threshold>] [--diagnose] [--half <half>] [--packing <packing>]
  [--warmup <warmup>] [--settle <settle>] [--track-dist <track-dist>]
  [--track-miss <track-miss>] [--warm-delta <warm-delta>] [--cal0 <cal0>] [--cal1 <cal1>]
  [--no-temp] [--png-dir <png-dir>] [--png-every <png-every>] [--preview] [--stats]

Thermal motion detector / blob tracker

Options:
  --device          video device path (default: "/dev/video0") or index, e.g.
                    /dev/video0 or 0
  --roi             region of interest: x, y, w, h
  --min-area        minimum blob area in pixels (default: 100)
  --threshold       raw-value difference threshold for movement (default: 300)
  --diagnose        run diagnostics and save PNGs
  --half            thermal half: top or bottom (default: "bottom")
  --packing         packing: high_uv or high_y (default: "high_uv")
  --warmup          max frames to wait for camera warmup (default: 500)
  --settle          frames to let the sensor settle after warmup before arming
                    (default: 125)
  --track-dist      max distance (px) to associate a detection with an existing
                    track (default: "60.0")
  --track-miss      frames a track may be missing before it is dropped (default:
                    12)
  --warm-delta      report objects warmer than ambient by this raw delta (0 =
                    motion only; default: 800)
  --cal0            calibration point 0 as raw:celsius (approximate T7 values;
                    default: "19050:23.0")
  --cal1            calibration point 1 as raw:celsius (default: "22700:34.5")
  --no-temp         do not add max_temp_c to JSON output
  --png-dir         directory to save a visualization PNG for each emitted JSON
                    record
  --png-every       save only every Nth record's PNG (1 = every record; default:
                    1)
  --preview         open a live preview ffplay window with the annotated thermal
                    view
  --stats           print detection statistics to stderr
  --help, help      display usage information

➜  simple-thermal-imager git:(main) ✗

Pipe to another tool:

./target/release/simple-thermal-imager | \
  jq -c '.detections[] | {id, center_x, center_y, area, max_temp_c}'

Common options:

# pure motion mode (no presence, no temperatures)
... -- --warm-delta 0 --no-temp

# watch only a region (x, y, w, h)
... -- --roi 128,0,128,192

# tune sensitivity
... -- --threshold 300 --min-area 100

# real calibration (two reference objects measured with a contact thermometer)
... -- --cal0 19050:23.0 --cal1 22700:34.5

# tracking behaviour
... -- --track-dist 60 --track-miss 12

Collect training crops for a future classifier (see examples/crop_dumper.rs):

... -- --example crop_dumper -- --max-crops 200

Running for weak signals, motion-only, sensitive, with ffplay preview visibility and stats output:

... -- --preview --stats --threshold 300 --min-area 60

Output format

{"timestamp":1788125629.21,"detections":[
  {"id":10,"x":225,"y":111,"width":31,"height":19,"area":391,
   "center_x":240,"center_y":119,"max_temp_raw":19828,"max_temp_c":25.6}
]}

id is a stable track ID while the object lives.

Debug

General status after connected camera:

greenall# ls -l /dev/video*
crw-rw----+ 1 root video 81, 0 Aug 29 22:21 /dev/video0
crw-rw----+ 1 root video 81, 1 Aug 29 22:21 /dev/video1
greenall# v4l2-ctl --list-devices
USB Camera: USB Camera (usb-0000:00:14.0-1):
	/dev/video0
	/dev/video1
	/dev/media0

greenall# v4l2-ctl -d /dev/video0 --list-formats-ext
ioctl: VIDIOC_ENUM_FMT
	Type: Video Capture

	[0]: 'YUYV' (YUYV 4:2:2)
		Size: Discrete 256x192
			Interval: Discrete 0.040s (25.000 fps)
		Size: Discrete 256x384
			Interval: Discrete 0.040s (25.000 fps)
greenall# v4l2-ctl -d /dev/video1 --list-formats-ext
ioctl: VIDIOC_ENUM_FMT
	Type: Video Capture
greenall#

The simplest raw visibility test:

ffplay /dev/video0

If something looks wrong, use the diagnostic mode:

./target/release/simple-thermal-imager --diagnose --warmup 1000

It waits out the black startup frames, picks the best frame, prints Y/U/V statistics and saves four contrast-normalized PNGs (diag_top_high_uv.png, diag_top_high_y.png, diag_bottom_high_uv.png, diag_bottom_high_y.png).

Interpretation for a healthy T7 camera:

  • bottom_high_uv shows the thermal image and has a range of ~1000–3000 with mean ~19000–21000 -> this is the radiometric config (--half bottom --packing high_uv);
  • top_high_* show the processed visual image;
  • bottom_high_y is byte-swapped garbage.

Also, both --preview and --stats CLI args are useful for debugging.

Troubleshooting

Symptom Cause / fix
xxd shows only 0080 0080 ... camera still warming up; increase --warmup, or unplug/replug and wait
all diag PNGs black no valid frames yet; --warmup 2000; check lens cover; verify v4l2-ctl --list-devices
one giant full-frame blob right after start sensor still drifting; increase --settle
many tiny speckle blobs raise --min-area / --threshold
one giant persistent blob with --warm-delta delta too low for this scene; raise it (e.g. 800–1200)
Permission denied on /dev/video0 add user to video group

Raw frame inspection without the tool:

v4l2-ctl -d /dev/video0 --set-fmt-video=width=256,height=384,pixelformat=YUYV \
  --stream-mmap=3 --stream-count=500 --stream-to=long_384.yuyv
tail -c 196608 long_384.yuyv | xxd -l 64          # top half
tail -c 196608 long_384.yuyv | xxd -s 98304 -l 64 # bottom half

Sensor-wide thermal recalibration

The TOOLTOP T7 periodically produces a sensor-wide radiometric offset step, consistent with an internal recalibration / correction event.

During this event, nearly all 256×192 thermal pixels can shift by roughly the same raw-value offset in a single frame. This is not real scene motion.

simple-thermal-imager detects these frame-wide jumps and shifts the existing background model by the measured global offset. It deliberately does not replace the background with the current frame, because a real object may be visible during the correction.

This avoids turning the correction into false motion while preserving real objects that are already being tracked.

In repeated bench tests, strong events were often observed around frames 114, 214 and 357 after startup. Treat those frame numbers as observations only, not as a fixed camera schedule.

Known limitations

  • The motion model is intentionally simple and optimized for a stationary camera. A warm object that remains nearly stationary for long enough can be partially learned into the background and may leave a temporary cold residual after it disappears. The current bounded foreground-recovery logic eventually clears it, but short-lived afterimages are still possible.
  • A moving/flying camera will require ego-motion compensation / frame registration before background subtraction is reliable.
  • The raw-to-Celsius conversion is currently an approximate two-point calibration, not a replacement for the camera vendor's full thermometry model.

TODO

  • generic source modes: --mode stacked16|luma, --width/--height, luma-appropriate thresholds (support analog/webcam sources)
  • object classification: ONNX (YOLO-cls/MobileNet) via tract or candle, fed by crop_dumper datasets; add class/confidence to JSON
  • tracking upgrades: velocity-aware matching (Kalman), enter/exit events, object counting per session
  • calibration helper: interactive two-point calibration mode (--calibrate) that samples raw values from known references
  • replace sort_unstable ambient estimate with a histogram percentile (cheaper on SBCs)
  • explore /dev/video1 UVC metadata for spot temperatures / shutter info
  • per-track temperature history and simple analytics in the JSON stream
  • config file support instead of long CLI lines
  • cross-compilation (Orange Pi Zero 2W)
  • to add --quiet CLI switch for silent machine-to-machine mode

License

MIT license (LICENSE or http://opensource.org/licenses/MIT)

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Thermal motion detector / blob tracker

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