DIY thermal vision shoots 360 panoramas

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Saulius Lukse has posted his DIY 360 panoramas:

It might seem simple task but it involves some tricks to control motors and read sensor data from two separate controllers.
One of the challenges I faced is meshing position and temperature data. Feedback received from each controllers is timestamped. After scan is complete timings are being analyzed and each temperature value is assigned interpolated coordinate from motor feedback. If done incorrectly (brute forced) this procedure can take hours. Luckily there are tricks to speed this up to few seconds. Hint: Python numpy searchsorted.
Another annoying (but luckily easy to fix) task is correctly and evenly visualizing data. Unless you oversample few times there will be black dots on complete picture. In photography they are called dead pixels. In our situation it is pretty easy to spot these pixels and filling is done by averaging neighboring ones.

Project info at Kurokesu blog.

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