Added RPI4 project and documentation

Author: AdamMiltonBarker

Projects/RPI4/Classes/Helpers.py

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+############################################################################################
+#
+# Project:       Peter Moss COVID-19 AI Research Project
+# Repository:    EMAR Mini, Emergency Assistance Robot
+#
+# Author:        Adam Milton-Barker (AdamMiltonBarker.com)
+# Contributors:
+# Title:         Helper Class
+# Description:   Helper functions for the EMAR Mini, Emergency Assistance Robot.
+# License:       MIT License
+# Last Modified: 2020-04-17
+#
+############################################################################################
+
+import logging, json, sys, time 
+import logging.handlers as handlers
+
+from datetime import datetime
+
+
+class Helpers():
+    """ Helper Class
+    
+    Helper functions for the EMAR Mini, Emergency Assistance Robot.
+    """
+
+    def __init__(self, ltype, log=True):
+        """ Initializes the Helpers Class. """
+
+        # Loads system configs
+        self.confs = {}
+        self.loadConfs()
+
+        # Sets system logging
+        self.logger = logging.getLogger(ltype)
+        self.logger.setLevel(logging.INFO)
+
+        formatter = logging.Formatter(
+            '%(asctime)s - %(name)s - %(levelname)s - %(message)s')
+
+        allLogHandler = handlers.TimedRotatingFileHandler(
+            'Logs/all.log', when='H', interval=1, backupCount=0)
+        allLogHandler.setLevel(logging.INFO)
+        allLogHandler.setFormatter(formatter)
+
+        errorLogHandler = handlers.TimedRotatingFileHandler(
+            'Logs/error.log', when='H', interval=1, backupCount=0)
+        errorLogHandler.setLevel(logging.ERROR)
+        errorLogHandler.setFormatter(formatter)
+
+        warningLogHandler = handlers.TimedRotatingFileHandler(
+            'Logs/warning.log', when='H', interval=1, backupCount=0)
+        warningLogHandler.setLevel(logging.WARNING)
+        warningLogHandler.setFormatter(formatter)
+
+        consoleHandler = logging.StreamHandler(sys.stdout)
+        consoleHandler.setFormatter(formatter)
+
+        self.logger.addHandler(allLogHandler)
+        self.logger.addHandler(errorLogHandler)
+        self.logger.addHandler(warningLogHandler)
+        self.logger.addHandler(consoleHandler)
+
+        if log is True:
+            self.logger.info("Helpers class initialization complete.")
+
+    def loadConfs(self):
+        """ Load the program configuration. """
+
+        with open('confs.json') as confs:
+            self.confs = json.loads(confs.read())

Projects/RPI4/Classes/Model.py

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+############################################################################################
+#
+# Project:       Peter Moss COVID-19 AI Research Project
+# Repository:    EMAR Mini, Emergency Assistance Robot
+#
+# Author:        Adam Milton-Barker (AdamMiltonBarker.com)
+# Contributors:
+# Title:         EMAR Mini Model Class
+# Description:   Model functions for EMAR Mini Emergency Assistance Robot.
+# License:       MIT License
+# Last Modified: 2020-07-12
+#
+############################################################################################
+
+import cv2
+
+from Classes.Helpers import Helpers
+
+class Model():
+    """ Model Class
+    
+    Model helper class for the Paper 1 Evaluation.
+    """
+
+    def __init__(self):
+        """ Initializes the Model class. """
+
+        self.Helpers = Helpers("Model", False)
+
+        self.net = cv2.dnn.readNet(self.Helpers.confs["MobileNetSSD"]["xml"], self.Helpers.confs["MobileNetSSD"]["bin"])
+        self.net.setPreferableTarget(cv2.dnn.DNN_TARGET_MYRIAD)
+        
+        self.imsize = self.Helpers.confs["MobileNetSSD"]["size"]
+            
+        self.Helpers.logger.info("Model class initialization complete.")
+        
+    def getDims(self, frame):
+        """ Gets the width and height of frame """
+
+        height = frame.shape[0]
+        width = frame.shape[1]
+        
+        return width, height
+
+    def setBlob(self, frame):
+        """ Gets a blob from the color frame """
+
+        blob = cv2.dnn.blobFromImage(frame, self.Helpers.confs["MobileNetSSD"]["inScaleFactor"], 
+                                    size=(self.imsize, self.imsize), 
+                                    mean=(self.Helpers.confs["MobileNetSSD"]["meanVal"], 
+                                        self.Helpers.confs["MobileNetSSD"]["meanVal"], 
+                                        self.Helpers.confs["MobileNetSSD"]["meanVal"]), 
+                                    swapRB=False, crop=False)
+        
+        self.net.setInput(blob)
+        
+    def getCrop(self, width, height):
+        """ Gets the crop size """
+        
+        ratio = self.imsize / float(self.imsize)
+        
+        if width / float(height) > ratio:
+            crop = (int(height * ratio), height)
+        else:
+            crop = (width, int(width / ratio))
+        
+        return crop
+
+    def forwardPass(self):
+        """ Gets a blob from the color frame """
+
+        out = self.net.forward()
+        
+        return out

Projects/RPI4/Classes/Realsense.py

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+############################################################################################
+#
+# Project:       Peter Moss COVID-19 AI Research Project
+# Repository:    EMAR Mini, Emergency Assistance Robot
+#
+# Author:        Adam Milton-Barker (AdamMiltonBarker.com)
+# Contributors:
+# Title:         EMAR Mini Realsense D415 Class
+# Description:   Realsense D415 functions for EMAR Mini Emergency Assistance Robot.
+# License:       MIT License
+# Last Modified: 2020-05-26
+#
+############################################################################################
+
+import pyrealsense2 as rs
+
+from Classes.Helpers import Helpers
+
+class Realsense():
+    
+    def __init__(self):
+        """ Realsense D415 Class
+    
+        Realsense D415 functions for the EMAR Mini Emergency Assistance Robot.
+        """
+        
+        self.Helpers = Helpers("Realsense D415", False)
+        self.Helpers.logger.info("Realsense D415 Helper Class initialization complete.")
+        
+    def connect(self):
+        """ Connects to the Realsense D415 camera. """
+        
+        self.pipeline = rs.pipeline()
+        
+        config = rs.config()
+        #config.enable_stream(rs.stream.infrared, 1, 640, 480, rs.format.y8, 30)
+        #config.enable_stream(rs.stream.infrared, 2, 640, 480, rs.format.y8, 30)
+        config.enable_stream(rs.stream.depth, 640, 480, rs.format.z16, 30)
+        config.enable_stream(rs.stream.color, 640, 480, rs.format.bgr8, 30)
+        
+        prof = self.pipeline.start(config)
+        
+        self.Helpers.logger.info("Connected To Realsense D415")
+        
+        return prof