T_System

the (non-)moving objects tracking system via two axis camera motion and n joint robotic arm for raspberry pi distributions

Supported Environments

Operating systems	Linux
Python versions	Python 3.x (64-bit)
Distros	Raspbian
Package managers	APT, pip
Languages	English

Requirements

Hardware

• Raspberry Pi 2,3 B, B + or higher
• Raspberry Pi Camera
• n servo motors
• 2 axis as pan-tilt motions for t_system's locking target ability
• n-2 axis for t_system's robotic arm feature (Optional)

Software

• All requirement libraries automatically installing via installation scripts. To see these libraries look at here

Installation

Clone the GitHub repository and run

sudo ./install.sh

in the repository directory.

for development mode: sudo ./install-dev.sh

^{If there is a failure try sudo -H ./install-dev.sh}

Usage

usage: t_system [-h] [--interface {official_stand,augmented,remote_ui,None}]
                [--stand-gpios RED-LED GREEN-LED FAN] [--host HOST]
                [--port PORT] [--debug] [-l] [-s]
                [--detection-model DETECTION_MODEL] [--cascades CASCADES] [-j]
                [--encoding-file ENCODING_FILE] [--use-tracking-api]
                [--tracker-type {BOOSTING,MIL,KCF,TLD,MEDIANFLOW,GOTURN,MOSSE,CSRT}]
                [--camera-rotation CAMERA_ROTATION]
                [--resolution WIDTH HEIGHT] [--framerate FRAMERATE]
                [--chunk CHUNK] [--rate RATE] [--channels CHANNELS]
                [--audio_device_index AUDIO_DEVICE_INDEX]
                [--shoot-formats VIDEO AUDIO MERGED] [--shot-format SHOT] [-x]
                [--sd-channels SD_CHANNELS] [--arm-name ARM]
                [--ls-gpios PAN TILT] [--ls-channels PAN TILT]
                [--AI AI | --non-moving-target | --arm-expansion] [-p]
                [--ap-wlan AP_WLAN] [--ap-inet AP_INET] [--ap-ip AP_IP]
                [--ap-netmask AP_NETMASK] [--ssid SSID] [--password PASSWORD]
                [--wlan WLAN] [--inet INET] [--static-ip STATIC_IP]
                [--netmask NETMASK] [--country-code COUNTRY_CODE]
                [--environment {production,development,testing}]
                [--no-emotion] [-S]
                [-m {single_rect,rotating_arcs,partial_rect,animation_1,None}]
                [-r] [-v] [--version]
                {id,remote-ui-authentication,encode-face,self-update,arm,live-stream,r-sync,log}
                ...

positional arguments:
  {id,remote-ui-authentication,encode-face,self-update,arm,live-stream,r-sync,log}
                        officiate the sub-jobs
    id                  Make identification jobs of T_System.
    remote-ui-authentication
                        Remote UI administrator authority settings of the
                        secret entry point that is the new network connection
                        panel.
    encode-face         Generate encoded data from the dataset folder to
                        recognize the man T_System is monitoring during
                        operation.
    self-update         Update source code of t_system itself via `git pull`
                        command from the remote git repo.
    arm                 Management jobs of Denavit-Hartenberg transform matrix
                        models of robotic arms of T_System.
    live-stream         Make Online Stream jobs of T_System.
    r-sync              Make remote synchronization jobs of T_System.
    log                 Make logging jobs of T_System.

optional arguments:
  -h, --help            show this help message and exit

^{For detailed output, look at Help}

t_system user-interfaces {official_stand,augmented,remote_ui,None} is standard running command. official_stand, augmented and remote_ui are mentioned here, here and here as respectively.

^{Detailed usage available inside USAGE.md}

Interfaces

Official Stand

Portable usage interface v0.6

Special thanks to Uğur Özdemir for the awesome design idea of this Stand.

• Dependencies

  • Raspberry pi 4 model B/B+.
  • 2 pieces mg995, 3 pieces sg90 or mg90s servo motors.

• Properties

  Has 1.125 times longer body and arm length than the previous version.

  • Tiny Camera

      8x8mm dimensions 8MP resolution micro camera.
    

  • IR led

      Automatically activatable IR led for advanced night vision. 
    

  • 1 switch key for on/off

      Cut the electiric current directly.
    

  • 4 pieces 18650 li-ion batteries

      Seri connected 2 pieces for feeding Raspbbery Pi and other seri connected 2 pieces for servo motor.
    

  • External Motor Driver

      12 bit 16 channel PWM servo driver with I2C communication.
    

  • Internal Cooler

      2 pieces 30x30x10mm micro fan and the aluminyum block for falling down the cpu temperature.
    

  • Local Network Management

      Scan the around networks. If there is no network connection become an Access Point and serve Remote UI ınternally.
    

  • Remote UI accessing

      No control by tapping. Accessing with Remote UI from mobile or desktop.
    

^{To see the old version explaining go here}

Remote UI

The remotely controlling interface v1.2.7

• Properties

  • Motion Control

      2 kind control type for the arm. 
          
          1: axis based control. move all axes separately.
          2: direction based control. move according the direction (up-down/forward-backward/right-left).
    

  • Scenario Control

      create scenarios by specifying arm positions and generating motion paths with them for behaving like a camera dolly.
    

  • Previewing / Monitoring

      watch the live video stream during creating scenarios and monitor what is it recording on working.
    

  • Network Control

      Add, update or delete Wi-Fi connection info.
    

  • Recognize People

      Add, update and delete the photos of the people for recognizing them. Choose one, more or all and recognize during the job.
    

  • Record Control

      Get preview or download the video records with the date based sorting system.
    

  • Live Streaming

      Start Live video streaming on available 8 different popular websites include Facebook, YouTube, Periscope and Twitch.
    

^{Powered by flask as an embedded framework. Available on mobile and desktop.}

Augmented

Augmented usage explained here into the AUGMENTED.md.

Supported Distributions: Raspbian. This release is fully supported. Any other Debian based ARM architecture distributions are partially supported.

Contribute

If you want to contribute to T_System then please read this guide.

Please consider to support us with buying a coffee: