Clean up project directory.

GestureRecognition/HandRecGray.py

@@ -1,79 +0,0 @@
-# -*- coding: utf-8 -*-
-"""
-Created on Thu Nov 22 14:16:46 2018
-
-@author: pivatom
-"""
-
-import numpy as np
-import cv2
-
-img = cv2.imread('H:\car\GestureRecognition\IMG_0818.png', 1)
-
-# Downscale the image
-img = cv2.resize(img, None, fx=0.1, fy=0.1, interpolation = cv2.INTER_AREA)
-
-min_seg_threshold = 1.2
-max_seg_threshold = 1.8
-
-# Need to make this get correct skin tones. 
-# img_gray = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)
-# img_gray[img_gray[:,:] > 90] = 255
-# img_gray[img_gray[:,:] < 90] = 0
-
-img_bin = np.zeros(shape=(img.shape[0], img.shape[1]), dtype=int)
-img = np.where(img[:,:,1] == 0, 0, img[:,:,1])
-img[(img[:,:,2]/img[:,:,1] > min_seg_threshold) & (img[:,:,2]/img[:,:,1] < max_seg_threshold)] = [255,255,255]
-
-# Threshold to binary.
-ret,img_thresh = cv2.threshold(img_bin, 127, 255, cv2.THRESH_BINARY)
-
-# Following method is much faster -> 0.00143s
-# Still want to speed up further by lowering reliance on memory, which is quite heavy..
-k = np.sum(img_thresh) / 255
-
-# Taking indices for num of rows.
-x_ind = np.arange(0,img_thresh.shape[1])
-y_ind = np.arange(0,img_thresh.shape[0])
-coords = np.zeros((img_thresh.shape[0], img_thresh.shape[1], 2))
-coords_x = np.zeros((img_thresh.shape[0], img_thresh.shape[1]))
-coords_y = np.zeros((img_thresh.shape[0], img_thresh.shape[1]))
-coords_x[:,:] = x_ind
-
-
-# Even this is extremely quick as it goes through rows in the numpy array, which in python is much faster than columns
-for element in y_ind:
-    coords_y[element,:] = element
-    
-# Now need to get the average x value and y value for centre of gravity
-xb = int(np.sum(coords_x[img_thresh == 255])/k)
-yb = int(np.sum(coords_y[img_thresh == 255])/k)
-
-centre = (int(np.sum(coords_x[img_thresh == 255])/k), int(np.sum(coords_y[img_thresh == 255])/k))
-
-#x,y,k,xb,yb = 0,0,0,0,0
-#
-## this is inherently slow...like very very slow...0.114s
-#for pix in img_thresh:
-#    for j in pix:
-#        if j == 255:
-#            k += 1
-#            xb += x
-#            yb += y
-#        x += 1
-#    y += 1
-#    x = 0
-#    
-#centre = (int(xb/k), int(yb/k))
-
-
-cv2.rectangle(img_thresh, centre, (centre[0] + 20, centre[1] + 20), (0,0,255), 3)
-cv2.circle(img_thresh, centre, 140, (0,0,0), 3)
-
-# Now need to trace around the circle to figure out where the fingers are.
-# First get equation of the circle:
-# y = sart(r2 - (x-c)2 + c)
-
-cv2.imshow("Binary-cot-out", img_thresh)
-cv2.waitKey(0)
-cv2.destroyAllWindows()

GestureRecognition/HandRecognition.py

@@ -1,34 +0,0 @@
-import numpy as np
-import cv2
-
-img = cv2.imread('H:\car\GestureRecognition\IMG_0818.png', 1)
-
-# Downscale the image
-img = cv2.resize(img, None, fx=0.1, fy=0.1, interpolation = cv2.INTER_AREA)
-
-min_seg_threshold = 1.2
-max_seg_threshold = 3
-
-# prevent divide by zero, by just forcing pixel to be ignored.
-np.where(img[:,:,1] == 0, 0, img[:,:,1])
-img[(img[:,:,2]/img[:,:,1] > min_seg_threshold) & (img[:,:,2]/img[:,:,1] < max_seg_threshold)] = [255,255,255]
-
-# Try removing image noise.
-#img = cv2.fastNlMeansDenoising(img)
-
-cv2.imshow('image', img)
-cv2.waitKey(0)
-cv2.destroyAllWindows()
-
-# Remove non-hand parts
-
-# Find centre of the hand
-# Hand parts are white pixels.
-# Find sum of each col/row to find the left/rightmost and top/bottommost white pixels.
-# Have used a for loop but obviously that is going to be slow.
-
-# Draw appropriate circle
-
-# Calculate number of different peaks.
-# Article just traced around the circle and counted number of times switched from
-# zero to one.

GestureRecognition/SimpleHandRecogniser.py

@@ -30,7 +30,7 @@ class SimpleHandRecogniser(HandRecogniser):
 
         # Apply another blur to rmeove any small holes/noise
         self.img_cut = self.__denoise(self.img_cut)
-        ret, self.img_cut = cv2.threshold(self.img_cut, 50, 255, cv2.THRESH_BINARY)
+        _, self.img_cut = cv2.threshold(self.img_cut, 50, 255, cv2.THRESH_BINARY)
 
     def __denoise(self, image):
         """

MotorControl/ESC.py

@@ -1,124 +0,0 @@
-# This program will let you test your ESC and brushless motor.
-# Make sure your battery is not connected if you are going to calibrate it at first.
-# Since you are testing your motor, I hope you don't have your propeller attached to it otherwise you are in trouble my friend...?
-# This program is made by AGT @instructable.com. DO NOT REPUBLISH THIS PROGRAM... actually the program itself is harmful                                             pssst Its not, its safe.
-
-import os     #importing os library so as to communicate with the system
-import time   #importing time library to make Rpi wait because its too impatient 
-os.system ("sudo pigpiod") #Launching GPIO library, will say it can't connect if already running
-time.sleep(1) # As i said it is too impatient and so if this delay is removed you will get an error
-import pigpio #importing GPIO library
-
-ESC=19  #Connect the ESC in this GPIO pin 
-
-pi = pigpio.pi();
-pi.set_servo_pulsewidth(ESC, 0) 
-
-max_value = 2000 #change this if your ESC's max value is different or leave it be
-min_value = 1000  #change this if your ESC's min value is different or leave it be
-print("For first time launch, select calibrate")
-print("Type the exact word for the function you want")
-print("calibrate OR manual OR control OR arm OR stop")
-
-def manual_drive(): #You will use this function to program your ESC if required
-    print("You have selected manual option so give a value between 0 and you max value")
-    while True:
-        inp = input()
-        if inp == "stop":
-            stop()
-            break
-        elif inp == "control":
-            control()
-            break
-        elif inp == "arm":
-            arm()
-            break	
-        else:
-            pi.set_servo_pulsewidth(ESC,inp)
-                
-def calibrate():   #This is the auto calibration procedure of a normal ESC
-    pi.set_servo_pulsewidth(ESC, 0)
-    print("Disconnect the battery and press Enter")
-    inp = input()
-    if inp == '':
-        pi.set_servo_pulsewidth(ESC, max_value)
-        print("Connect the battery NOW.. you will here two beeps, then wait for a gradual falling tone then press Enter")
-        inp = input()
-        if inp == '':            
-            pi.set_servo_pulsewidth(ESC, min_value)
-            print("Wierd eh! Special tone")
-            time.sleep(7)
-            print("Wait for it ....")
-            time.sleep (5)
-            print("Im working on it, DONT WORRY JUST WAIT.....")
-            pi.set_servo_pulsewidth(ESC, 0)
-            time.sleep(2)
-            print("Arming ESC now...")
-            pi.set_servo_pulsewidth(ESC, min_value)
-            time.sleep(1)
-            print("See.... uhhhhh")
-            control() # You can change this to any other function you want
-            
-def control(): 
-    print("I'm Starting the motor, I hope its calibrated and armed, if not restart by giving 'x'")
-    time.sleep(1)
-    speed = 1500    # change your speed if you want to.... it should be between 700 - 2000
-    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")
-    while True:
-        pi.set_servo_pulsewidth(ESC, speed)
-        inp = input()
-        
-        if inp == "q":
-            speed -= 100    # decrementing the speed like hell
-            print("speed = %d" % speed)
-        elif inp == "e":    
-            speed += 100    # incrementing the speed like hell
-            print("speed = %d" % speed)
-        elif inp == "d":
-            speed += 10     # incrementing the speed 
-            print("speed = %d" % speed)
-        elif inp == "a":
-            speed -= 10     # decrementing the speed
-            print("speed = %d" % speed)
-        elif inp == "stop":
-            stop()          #going for the stop function
-            break
-        elif inp == "manual":
-            manual_drive()
-            break
-        elif inp == "arm":
-            arm()
-            break	
-        else:
-            print("WHAT DID I SAID!! Press a,q,d or e")
-            
-def arm(): #This is the arming procedure of an ESC 
-    print("Connect the battery and press Enter")
-    inp = input()    
-    if inp == '':
-        pi.set_servo_pulsewidth(ESC, 0)
-        time.sleep(1)
-        pi.set_servo_pulsewidth(ESC, max_value)
-        time.sleep(1)
-        pi.set_servo_pulsewidth(ESC, min_value)
-        time.sleep(1)
-        control() 
-        
-def stop(): #This will stop every action your Pi is performing for ESC ofcourse.
-    pi.set_servo_pulsewidth(ESC, 0)
-    pi.stop()
-
-#This is the start of the program actually, to start the function it needs to be initialized before calling... stupid python.    
-inp = input()
-if inp == "manual":
-    manual_drive()
-elif inp == "calibrate":
-    calibrate()
-elif inp == "arm":
-    arm()
-elif inp == "control":
-    control()
-elif inp == "stop":
-    stop()
-else:
-    print("Thank You for not following the things I'm saying... now you gotta restart the program STUPID!!")

MotorControl/gpiozero/motor_session.py

@@ -1,4 +1,3 @@
-import os
 from gpiozero import Servo, Device
 from gpiozero.pins.pigpio import PiGPIOFactory
 import subprocess

persontracking/lidar_cache.py

@@ -1,7 +1,8 @@
 import rplidar
 from rplidar import RPLidar
 from threading import Thread
-import algorithms
+from persontracking import algorithms
+import zmq
 
 class LidarCache():
     '''
@@ -14,7 +15,8 @@ class LidarCache():
     currentGroups = None
     groupsChanged = []
     
-    def __init__(self, measurements=100):
+    def __init__(self, port, measurements=100):
+        self.port = port
         self.lidar = RPLidar('/dev/ttyUSB0')
         self.measurements = measurements
         print('Info: ' + self.lidar.get_info())
@@ -28,6 +30,11 @@ class LidarCache():
         '''
         Performs a scan for the given number of iterations.
         '''
+
+        # Create the 0MQ socket first. This should not be passed between threads.
+        self._socket = self._create_socket()
+        self._socket.bind("tcp://*:" + str(self.port))
+
         for i, scan in enumerate(self.lidar.iter_scans(min_len=self.measurements)):
             print('%d: Got %d measurments' % (i, len(scan)))
             if(not self.run):
@@ -40,7 +47,13 @@ class LidarCache():
                 self.currentGroups = algorithms.calc_groups(scan)
 
     def fireGroupsChanged(self):
+        # Send the updated groups to 0MQ socket.
+        # self._socket.send_multipart(["lidar_map", ...])
         pass
 
     def stop_scanning(self):
         self.run = False
+
+    def _create_socket(self):
+        return zmq.Context.instance().socket(zmq.PUB)
+        

persontracking/lidar_servicer.py

@@ -1,7 +1,10 @@
-import lidar_tracker_pb2
+import persontracking.lidar_tracker_pb2 as lidar_tracker_pb2
-import lidar_tracker_pb2_grpc
+from persontracking.lidar_tracker_pb2_grpc import PersonTrackingServicer
-from .lidar_cache import LidarCache
+from persontracking.lidar_cache import LidarCache\
-class LidarServicer(lidar_tracker_pb2_grpc.PersonTrackingServicer):
+
+
+
+class LidarServicer(PersonTrackingServicer):
 
     def __init__(self):
         self.cache = LidarCache(measurements=100)
@@ -22,4 +25,3 @@ class LidarServicer(lidar_tracker_pb2_grpc.PersonTrackingServicer):
         '''
         pass
     
-

persontracking/protos/lidar_tracker.proto

@@ -24,6 +24,10 @@ message PointScan{
     repeated Point points = 1;
 }
 
+message TrackingInfo{
+    int32 port = 1;
+}
+
 service PersonTracking{
     rpc set_tracking_group(Int32Value) returns (Empty) {}
 
@@ -31,5 +35,5 @@ service PersonTracking{
 
     rpc get_scan_data(Empty) returns (PointScan) {}
 
-    rpc start_tracking(Empty) returns (Empty) {}
+    rpc start_tracking(TrackingInfo) returns (Empty) {}
 }