Clean up project directory.
This commit is contained in:
Piv
@@ -1,79 +0,0 @@
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# -*- coding: utf-8 -*-
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"""
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Created on Thu Nov 22 14:16:46 2018
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@author: pivatom
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"""
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import numpy as np
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import cv2
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img = cv2.imread('H:\car\GestureRecognition\IMG_0818.png', 1)
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# Downscale the image
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img = cv2.resize(img, None, fx=0.1, fy=0.1, interpolation = cv2.INTER_AREA)
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min_seg_threshold = 1.2
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max_seg_threshold = 1.8
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# Need to make this get correct skin tones.
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# img_gray = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)
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# img_gray[img_gray[:,:] > 90] = 255
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# img_gray[img_gray[:,:] < 90] = 0
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img_bin = np.zeros(shape=(img.shape[0], img.shape[1]), dtype=int)
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img = np.where(img[:,:,1] == 0, 0, img[:,:,1])
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img[(img[:,:,2]/img[:,:,1] > min_seg_threshold) & (img[:,:,2]/img[:,:,1] < max_seg_threshold)] = [255,255,255]
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# Threshold to binary.
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ret,img_thresh = cv2.threshold(img_bin, 127, 255, cv2.THRESH_BINARY)
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# Following method is much faster -> 0.00143s
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# Still want to speed up further by lowering reliance on memory, which is quite heavy..
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k = np.sum(img_thresh) / 255
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# Taking indices for num of rows.
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x_ind = np.arange(0,img_thresh.shape[1])
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y_ind = np.arange(0,img_thresh.shape[0])
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coords = np.zeros((img_thresh.shape[0], img_thresh.shape[1], 2))
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coords_x = np.zeros((img_thresh.shape[0], img_thresh.shape[1]))
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coords_y = np.zeros((img_thresh.shape[0], img_thresh.shape[1]))
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coords_x[:,:] = x_ind
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# Even this is extremely quick as it goes through rows in the numpy array, which in python is much faster than columns
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for element in y_ind:
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coords_y[element,:] = element
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# Now need to get the average x value and y value for centre of gravity
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xb = int(np.sum(coords_x[img_thresh == 255])/k)
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yb = int(np.sum(coords_y[img_thresh == 255])/k)
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centre = (int(np.sum(coords_x[img_thresh == 255])/k), int(np.sum(coords_y[img_thresh == 255])/k))
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#x,y,k,xb,yb = 0,0,0,0,0
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#
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## this is inherently slow...like very very slow...0.114s
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#for pix in img_thresh:
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# for j in pix:
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# if j == 255:
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# k += 1
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# xb += x
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# yb += y
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# x += 1
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# y += 1
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# x = 0
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#
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#centre = (int(xb/k), int(yb/k))
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cv2.rectangle(img_thresh, centre, (centre[0] + 20, centre[1] + 20), (0,0,255), 3)
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cv2.circle(img_thresh, centre, 140, (0,0,0), 3)
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# Now need to trace around the circle to figure out where the fingers are.
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# First get equation of the circle:
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# y = sart(r2 - (x-c)2 + c)
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cv2.imshow("Binary-cot-out", img_thresh)
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cv2.waitKey(0)
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cv2.destroyAllWindows()
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@@ -1,34 +0,0 @@
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import numpy as np
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import cv2
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img = cv2.imread('H:\car\GestureRecognition\IMG_0818.png', 1)
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# Downscale the image
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img = cv2.resize(img, None, fx=0.1, fy=0.1, interpolation = cv2.INTER_AREA)
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min_seg_threshold = 1.2
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max_seg_threshold = 3
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# prevent divide by zero, by just forcing pixel to be ignored.
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np.where(img[:,:,1] == 0, 0, img[:,:,1])
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img[(img[:,:,2]/img[:,:,1] > min_seg_threshold) & (img[:,:,2]/img[:,:,1] < max_seg_threshold)] = [255,255,255]
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# Try removing image noise.
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#img = cv2.fastNlMeansDenoising(img)
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cv2.imshow('image', img)
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cv2.waitKey(0)
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cv2.destroyAllWindows()
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# Remove non-hand parts
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# Find centre of the hand
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# Hand parts are white pixels.
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# Find sum of each col/row to find the left/rightmost and top/bottommost white pixels.
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# Have used a for loop but obviously that is going to be slow.
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# Draw appropriate circle
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# Calculate number of different peaks.
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# Article just traced around the circle and counted number of times switched from
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# zero to one.
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@@ -30,7 +30,7 @@ class SimpleHandRecogniser(HandRecogniser):
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# Apply another blur to rmeove any small holes/noise
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self.img_cut = self.__denoise(self.img_cut)
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ret, self.img_cut = cv2.threshold(self.img_cut, 50, 255, cv2.THRESH_BINARY)
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_, self.img_cut = cv2.threshold(self.img_cut, 50, 255, cv2.THRESH_BINARY)
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def __denoise(self, image):
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"""
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@@ -1,124 +0,0 @@
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# This program will let you test your ESC and brushless motor.
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# Make sure your battery is not connected if you are going to calibrate it at first.
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# Since you are testing your motor, I hope you don't have your propeller attached to it otherwise you are in trouble my friend...?
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# This program is made by AGT @instructable.com. DO NOT REPUBLISH THIS PROGRAM... actually the program itself is harmful pssst Its not, its safe.
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import os #importing os library so as to communicate with the system
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import time #importing time library to make Rpi wait because its too impatient
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os.system ("sudo pigpiod") #Launching GPIO library, will say it can't connect if already running
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time.sleep(1) # As i said it is too impatient and so if this delay is removed you will get an error
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import pigpio #importing GPIO library
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ESC=19 #Connect the ESC in this GPIO pin
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pi = pigpio.pi();
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pi.set_servo_pulsewidth(ESC, 0)
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max_value = 2000 #change this if your ESC's max value is different or leave it be
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min_value = 1000 #change this if your ESC's min value is different or leave it be
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print("For first time launch, select calibrate")
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print("Type the exact word for the function you want")
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print("calibrate OR manual OR control OR arm OR stop")
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def manual_drive(): #You will use this function to program your ESC if required
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print("You have selected manual option so give a value between 0 and you max value")
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while True:
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inp = input()
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if inp == "stop":
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stop()
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break
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elif inp == "control":
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control()
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break
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elif inp == "arm":
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arm()
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break
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else:
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pi.set_servo_pulsewidth(ESC,inp)
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def calibrate(): #This is the auto calibration procedure of a normal ESC
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pi.set_servo_pulsewidth(ESC, 0)
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print("Disconnect the battery and press Enter")
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inp = input()
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if inp == '':
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pi.set_servo_pulsewidth(ESC, max_value)
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print("Connect the battery NOW.. you will here two beeps, then wait for a gradual falling tone then press Enter")
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inp = input()
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if inp == '':
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pi.set_servo_pulsewidth(ESC, min_value)
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print("Wierd eh! Special tone")
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time.sleep(7)
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print("Wait for it ....")
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time.sleep (5)
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print("Im working on it, DONT WORRY JUST WAIT.....")
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pi.set_servo_pulsewidth(ESC, 0)
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time.sleep(2)
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print("Arming ESC now...")
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pi.set_servo_pulsewidth(ESC, min_value)
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time.sleep(1)
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print("See.... uhhhhh")
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control() # You can change this to any other function you want
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def control():
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print("I'm Starting the motor, I hope its calibrated and armed, if not restart by giving 'x'")
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time.sleep(1)
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speed = 1500 # change your speed if you want to.... it should be between 700 - 2000
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print("Controls - a to decrease speed & d to increase speed OR q to decrease a lot of speed & e to increase a lot of speed")
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while True:
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pi.set_servo_pulsewidth(ESC, speed)
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inp = input()
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if inp == "q":
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speed -= 100 # decrementing the speed like hell
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print("speed = %d" % speed)
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elif inp == "e":
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speed += 100 # incrementing the speed like hell
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print("speed = %d" % speed)
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elif inp == "d":
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speed += 10 # incrementing the speed
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print("speed = %d" % speed)
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elif inp == "a":
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speed -= 10 # decrementing the speed
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print("speed = %d" % speed)
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elif inp == "stop":
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stop() #going for the stop function
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break
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elif inp == "manual":
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manual_drive()
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break
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elif inp == "arm":
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arm()
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break
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else:
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print("WHAT DID I SAID!! Press a,q,d or e")
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def arm(): #This is the arming procedure of an ESC
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print("Connect the battery and press Enter")
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inp = input()
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if inp == '':
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pi.set_servo_pulsewidth(ESC, 0)
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time.sleep(1)
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pi.set_servo_pulsewidth(ESC, max_value)
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time.sleep(1)
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pi.set_servo_pulsewidth(ESC, min_value)
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time.sleep(1)
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control()
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def stop(): #This will stop every action your Pi is performing for ESC ofcourse.
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pi.set_servo_pulsewidth(ESC, 0)
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pi.stop()
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#This is the start of the program actually, to start the function it needs to be initialized before calling... stupid python.
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inp = input()
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if inp == "manual":
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manual_drive()
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elif inp == "calibrate":
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calibrate()
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elif inp == "arm":
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arm()
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elif inp == "control":
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control()
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elif inp == "stop":
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stop()
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else:
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print("Thank You for not following the things I'm saying... now you gotta restart the program STUPID!!")
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0
MotorControl/gpiozero/__init__.py
Normal file
0
MotorControl/gpiozero/__init__.py
Normal file
@@ -1,4 +1,3 @@
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import os
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from gpiozero import Servo, Device
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from gpiozero.pins.pigpio import PiGPIOFactory
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import subprocess
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0
persontracking/__init__.py
Normal file
0
persontracking/__init__.py
Normal file
@@ -1,7 +1,8 @@
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import rplidar
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from rplidar import RPLidar
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from threading import Thread
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import algorithms
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from persontracking import algorithms
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import zmq
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class LidarCache():
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'''
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@@ -14,7 +15,8 @@ class LidarCache():
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currentGroups = None
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groupsChanged = []
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def __init__(self, measurements=100):
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def __init__(self, port, measurements=100):
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self.port = port
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self.lidar = RPLidar('/dev/ttyUSB0')
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self.measurements = measurements
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print('Info: ' + self.lidar.get_info())
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@@ -28,6 +30,11 @@ class LidarCache():
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'''
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Performs a scan for the given number of iterations.
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'''
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# Create the 0MQ socket first. This should not be passed between threads.
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self._socket = self._create_socket()
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self._socket.bind("tcp://*:" + str(self.port))
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for i, scan in enumerate(self.lidar.iter_scans(min_len=self.measurements)):
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print('%d: Got %d measurments' % (i, len(scan)))
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if(not self.run):
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@@ -40,7 +47,13 @@ class LidarCache():
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self.currentGroups = algorithms.calc_groups(scan)
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def fireGroupsChanged(self):
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# Send the updated groups to 0MQ socket.
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# self._socket.send_multipart(["lidar_map", ...])
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pass
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def stop_scanning(self):
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self.run = False
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def _create_socket(self):
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return zmq.Context.instance().socket(zmq.PUB)
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@@ -1,7 +1,10 @@
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import lidar_tracker_pb2
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import lidar_tracker_pb2_grpc
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from .lidar_cache import LidarCache
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class LidarServicer(lidar_tracker_pb2_grpc.PersonTrackingServicer):
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import persontracking.lidar_tracker_pb2 as lidar_tracker_pb2
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from persontracking.lidar_tracker_pb2_grpc import PersonTrackingServicer
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from persontracking.lidar_cache import LidarCache\
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class LidarServicer(PersonTrackingServicer):
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def __init__(self):
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self.cache = LidarCache(measurements=100)
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@@ -21,5 +24,4 @@ class LidarServicer(lidar_tracker_pb2_grpc.PersonTrackingServicer):
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Starts the lidar cache.
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'''
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pass
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@@ -24,6 +24,10 @@ message PointScan{
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repeated Point points = 1;
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}
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message TrackingInfo{
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int32 port = 1;
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}
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service PersonTracking{
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rpc set_tracking_group(Int32Value) returns (Empty) {}
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@@ -31,5 +35,5 @@ service PersonTracking{
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rpc get_scan_data(Empty) returns (PointScan) {}
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rpc start_tracking(Empty) returns (Empty) {}
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rpc start_tracking(TrackingInfo) returns (Empty) {}
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}
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