USAGE

python test.py --prototxt MobileNetSSD_deploy.prototxt.txt --model MobileNetSSD_deploy.caffemodel

# import the necessary packages
from imutils.video import VideoStream
from imutils.video import FPS
from multiprocessing import Process
from multiprocessing import Queue
import numpy as np
import argparse
import imutils
import time
import cv2
from pylepton import Lepton

#setup the Lepton image buffer
def capture(device = "/dev/spidev0.0"):
    with Lepton() as l:
      a,_ = l.capture()     #grab the buffer
    cv2.normalize(a, a, 0, 65535, cv2.NORM_MINMAX) # extend  contrast
    np.right_shift(a, 8, a) # fit data into 8 bits
    return np.uint8(a)

def applyCustomColorMap(im_gray) : #this colormap is called Ironblack
    lut = np.zeros((256, 1, 3), dtype=np.uint8)
    lut[:, 0, 2] = [0, 253, 251, 249, 247, 245, 243, 241, 239, 237, 235, 233, 231, 229, 227, 225, 223, 221, 219, 217, 215, 213, 211, 209, 207, 205, 203, 201, 199, 197, 195, 193, 191, 189, 187, 185, 183, 181, 179, 177, 175, 173, 171, 169, 167, 165, 163, 161, 159, 157, 155, 153, 151, 149, 147, 145, 143, 141, 139, 137, 135, 133, 131, 129, 126, 124, 122, 120, 118, 116, 114, 112, 110, 108, 106, 104, 102, 100, 98, 96, 94, 92, 90, 88, 86, 84, 82, 80, 78, 76, 74, 72, 70, 68, 66, 64, 62, 60, 58, 56, 54, 52, 50, 48, 46, 44, 42, 40, 38, 36, 34, 32, 30, 28, 26, 24, 22, 20, 18, 16, 14, 12, 10, 8, 6, 4, 2, 0, 0, 2, 4, 6, 8, 10, 12, 14, 17, 19, 21, 23, 25, 27, 29, 31, 36, 41, 46, 51, 56, 61, 66, 71, 76, 81, 86, 91, 96, 101, 106, 111, 116, 121, 125, 130, 135, 139, 144, 149, 153, 158, 163, 167, 172, 177, 181, 186, 189, 191, 194, 196, 198, 200, 203, 205, 207, 209, 212, 214, 216, 218, 221, 223, 224, 225, 226, 227, 228, 229, 230, 231, 231, 232, 233, 234, 235, 236, 237, 238, 239, 240, 240, 241, 241, 242, 242, 243, 243, 244, 244, 245, 245, 246, 246, 247, 247, 248, 248, 249, 249, 250, 250, 251, 251, 252, 252, 253, 253, 254, 254, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255]
    lut[:, 0, 1] = [0, 253, 251, 249, 247, 245, 243, 241, 239, 237, 235, 233, 231, 229, 227, 225, 223, 221, 219, 217, 215, 213, 211, 209, 207, 205, 203, 201, 199, 197, 195, 193, 191, 189, 187, 185, 183, 181, 179, 177, 175, 173, 171, 169, 167, 165, 163, 161, 159, 157, 155, 153, 151, 149, 147, 145, 143, 141, 139, 137, 135, 133, 131, 129, 126, 124, 122, 120, 118, 116, 114, 112, 110, 108, 106, 104, 102, 100, 98, 96, 94, 92, 90, 88, 86, 84, 82, 80, 78, 76, 74, 72, 70, 68, 66, 64, 62, 60, 58, 56, 54, 52, 50, 48, 46, 44, 42, 40, 38, 36, 34, 32, 30, 28, 26, 24, 22, 20, 18, 16, 14, 12, 10, 8, 6, 4 ...