monocular-path-prediction 0.2.2

Monocular Path Predition for Exosuits

Monocular Camera Path Prediction for Exosuits

The Python modules use a monocular camera to predict the user's movements to better inform the control algorithm.

Install

To install the library run: pip install monocular-path-prediction

Download the pre-trained models from Depth-Anything-V2.

Development

0. Install uv from Astral.
1. Setup your computer to run Makefiles (not CMake).
2. make init to create the virtual environment and install dependencies
3. make format to format the code and check for errors
4. make test to run the test suite
5. make clean to delete the temporary files and directories
6. make deploy to build and publish to https://pypi.org/project/monocular-path-prediction
7. make imu to test the IMU device
8. make camera to test the camera
9. make app to run the application in a loop
10. make serial to test a serial device
11. make calibration to run the camera calibration

Usage

# example usage of the module
 python src/monocular_path_prediction/__main__.py --help

Microcontrollers

The microcontroller code can be found inside src/microcontroller/.

Repo Structure

├── docs
│   ├── camera-calibration-checker-board_9x7.pdf
│   └── exosuit_anticipation.png
├── src
│   ├── microcontroller
│   │   └── adafruit_main.py
│   └── monocular_path_prediction
│       ├── config
│       │   ├── __init__.py
│       │   ├── definitions.py
│       │   └── setup_logger.py
│       ├── sensors
│       │   ├── camera
│       │   │   ├── calibration
│       │   │   │   ├── __init__.py
│       │   │   │   ├── __main__.py
│       │   │   │   ├── calibration.py
│       │   │   │   ├── detector.py
│       │   │   │   └── results.py
│       │   │   ├── images
│       │   │   │   ├── __init__.py
│       │   │   │   └── images.py
│       │   │   ├── __init__.py
│       │   │   ├── __main__.py
│       │   │   ├── camera.py
│       │   │   ├── camera_intrinsics.py
│       │   │   ├── display.py
│       │   │   └── utils.py
│       │   ├── device
│       │   │   ├── __init__.py
│       │   │   ├── __main__.py
│       │   │   ├── arduino.py
│       │   │   ├── device_info.py
│       │   │   ├── device_selector.py
│       │   │   └── serial_device.py
│       │   ├── imu
│       │   │   ├── __init__.py
│       │   │   ├── __main__.py
│       │   │   ├── calibration.py
│       │   │   ├── data_classes.py
│       │   │   ├── filter.py
│       │   │   ├── imu_device.py
│       │   │   ├── plotter.py
│       │   │   ├── reader.py
│       │   │   └── writer.py
│       │   ├── __init__.py
│       │   └── setup.py
│       ├── __init__.py
│       ├── __main__.py
│       ├── depth_estimator.py
│       ├── path_planner.py
│       ├── pipeline.py
│       └── utils.py
├── tests
│   ├── core_test
│   │   └── timer_test.py
│   ├── sensors
│   │   ├── camera
│   │   │   └── calibration
│   │   │       └── calibration_test.py
│   │   ├── device
│   │   │   └── serial_device_test.py
│   │   └── imu
│   │       ├── gyro_calibration_test.py
│   │       ├── imu_test.py
│   │       └── reader_test.py
│   ├── __init__.py
│   ├── conftest.py
│   ├── estimators_test.py
│   ├── main_test.py
│   └── pipeline_test.py
├── .coverage
├── .gitignore
├── .pre-commit-config.yaml
├── .python-version
├── CONTRIBUTING.md
├── LICENSE
├── Makefile
├── README.md
├── poetry.lock
├── pyproject.toml
├── repo_tree.py
└── uv.lock