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‎CAM/Camera.py renamed to ‎CAM/CameraControl.py

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‎CAM/__init__.py

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‎CAM/sample.py

+1-1
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@@ -2,7 +2,7 @@
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import time
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import cv2
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import os
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from Camera import CameraControl
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from CameraControl import CameraControl
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from Undistort import Undistort
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if __name__ == '__main__':

‎CameraFrame_results/CameraFrameCapturedLog.log

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2021-05-11 10:45:00,005 DEBUG 1620722700.005104
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‎DET/README.md

+6-1
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@@ -11,10 +11,15 @@ Before running any Python script make sure that you setup the OpenVINO environme
1111

1212
On Windows the followng command can be used:
1313

14-
```
14+
```sh
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"C:\Program Files (x86)\IntelSWTools\openvino\bin\setupvars.bat"
1616
```
1717

18+
On Linux the command is:
19+
```sh
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source /opt/intel/openvino_2021/bin/setupvars.sh
21+
```
22+
1823

1924
## Quick tutorial
2025

‎DET/__init__.py

Whitespace-only changes.

‎DET/detector.py

+19-1
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@@ -24,7 +24,25 @@
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2525
import cv2
2626
import numpy as np
27-
from openvino.inference_engine import IECore
27+
try:
28+
from openvino.inference_engine import IECore
29+
except ImportError as e:
30+
"""OpenVino is not initialized. Make sure it is installed and the environment variables are set.
31+
You can run the following command on Windows:
32+
```sh
33+
"C:\Program Files (x86)\IntelSWTools\openvino\bin\setupvars.bat"
34+
```
35+
36+
On Linux the command is:
37+
```sh
38+
source /opt/intel/openvino_*/bin/setupvars.sh
39+
```
40+
"""
41+
print( "ERROR: OpenVino is not initialized. Make sure it is installed and the environment variables are set \n \
42+
by running \"C:\\Program Files (x86)\\IntelSWTools\\openvino\\bin\\setupvars.bat\" on Windows or \n \
43+
\"source /opt/intel/openvino_*/bin/setupvars.sh\" on Unix" )
44+
print( "Traceback: " + str(e) ) # print traceback!
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2947

3048
logging.basicConfig(format="[ %(levelname)s ] %(message)s", level=logging.INFO, stream=sys.stdout)

‎DRONE/Renderer_Detector_MultiProcess_Deferred.py renamed to ‎DRONE/Renderer_Detector.py

+1-1
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@@ -129,7 +129,7 @@ def __init__(self, CenterUTMInfo, ObjModelPath, ObjModelImagePath, basedatapath,
129129
self._device = device
130130
self._legacy_normalization = legacy_normalization
131131
self._PrePlannedPath = PrePlannedPath
132-
self._LowerThreshold =LowerThreshold
132+
self._LowerThreshold = LowerThreshold
133133
self._UpperThreshold = UpperThreshold
134134
self.CenterEast = CenterUTMInfo[0]
135135
self.CenterNorth = CenterUTMInfo[1]

‎DRONE/__init__.py

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‎DRONE/droneCommunication_SI_ZeroTol.c

+1-1
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@@ -67,7 +67,7 @@ typedef volatile signed char vs8;
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6868
//#define SERIAL "/dev/bus/usb/001/005" /*<- this needs to be updated*/
6969
//#define SERIAL "/dev/ttyAMA0" /*<- default from student!*/
70-
#define SERIAL "/dev/ttyUSB0" /* <- this should be correct in Linux (talked to Stefan about it)! */
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#define SERIAL "/dev/ttyUSB0" /* <- this should be correct in Linux (e.g. Raspberry Pi)! */
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typedef struct
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{

‎DRONE/main.py

+8-9
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@@ -20,13 +20,13 @@
2020
importlib.reload(naos_det) # this makes sure that changes in naos_det.py have an effect
2121
import datetime
2222
import multiprocessing
23-
from Planner_Indrajit import Planner
24-
from FlyingControl_MultiProcess import DroneFlyingControl
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from Drone_Communication_MultiProcess import DroneCommunication, ReadGPSReceivedLogFiles, ReadNewGPSReceivedLogFiles
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from Renderer_Detector_MultiProcess_Deferred import Renderer
27-
from CameraControl_MultiProcess import CameraControl
28-
from LFR_utils import hdr_mean_adjust
29-
from PathVisualizer import Visualizer
23+
from ..PLAN.Planner import Planner
24+
from ..DRONE.FlyingControl import DroneFlyingControl
25+
from ..DRONE.DroneCom import DroneCommunication, ReadGPSReceivedLogFiles, ReadNewGPSReceivedLogFiles
26+
from ..DRONE.Renderer_Detector import Renderer
27+
from ..CAM.CameraControl import CameraControl
28+
from ..LFR.python.LFR_utils import hdr_mean_adjust
29+
from ..PLAN.PathVisualizer import Visualizer
3030
from scipy.stats import circmean
3131
import random
3232
from scipy import interpolate
@@ -35,7 +35,6 @@
3535

3636
#New Changes to send Email
3737
import email, smtplib, ssl
38-
3938
from email import encoders
4039
from email.mime.base import MIMEBase
4140
from email.mime.multipart import MIMEMultipart
@@ -194,7 +193,7 @@ def __init__(self, sitename, area_sides, ReadfromFile = False, DroneAttached =
194193
# 'Speed': # x 10
195194
# 'Index':
196195
# }
197-
CurrentGPSInfoQueueEventQueue = multiprocessing.Queue(maxsize=20)
196+
# CurrentGPSInfoQueueEventQueue = multiprocessing.Queue(maxsize=20)
198197
RenderingQueue = multiprocessing.Queue(maxsize=200)
199198
FrameQueue = multiprocessing.Queue(maxsize=200) # dictionary of the form { 'Frames': [img1, img2, ...] 'FrameTimes': [time1, time2, ...] }
200199

‎LFR/__init__.py

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‎LFR/python/LFR_utils.py

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from PIL import Image # needed to load hdr images
66
import math
77
import os
8+
from pathlib import Path
89
import glm
910
import sys
1011

11-
def init_window( aos_python_path = 'LFR/python' ):
12+
13+
def init_window( aos_python_path = Path(__file__).resolve().parent ):
1214

1315
sys.path.insert(1,aos_python_path )
1416
import pyaos
1517

1618
window = pyaos.PyGlfwWindow(512,512,'AOS') # make sure there is an OpenGL context
1719
return window
1820

19-
def init_aos(fov = 50.815436217896945, aos_python_path = 'LFR/python' ):
21+
def init_aos(fov = 50.815436217896945, aos_python_path = Path(__file__).resolve().parent ):
2022

2123
try:
2224
import pyaos

‎LFR/python/__init__.py

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‎LFR/python/__pycache__/LFR_utils.cpython-37.pyc

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‎LFR/python/pyaos_test.py

+12-1
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66
import glm
77
import numpy as np
88
import numpy.testing
9+
from pathlib import Path
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1011

1112
class TestAOSRenderTwice(unittest.TestCase):
@@ -216,4 +217,14 @@ def test_shaderloading(self):
216217

217218

218219
if __name__ == '__main__':
219-
unittest.main()
220+
221+
file = Path(__file__).resolve()
222+
parent, root = file.parent, file.parents[1]
223+
224+
wd = os.getcwd()
225+
os.chdir(parent) # change to AOS working dir for startup (this is required so that the program finds dlls and the shader)
226+
227+
228+
unittest.main()
229+
230+
os.chdir(wd) # change back to previous working directory

‎PLAN/__init__.py

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‎__init__.py

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‎requirements.txt

+2-1
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@@ -3,4 +3,5 @@ opencv-python
33
numpy
44
cython
55
utm
6-
matplotlib
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matplotlib
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scipy

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