Added necessary files

Author: mtm-x

README.md

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+# Ambulance Detection Using openCV 
+  Enables green light and navigation to nearest hospital
+
+## Introduction
+  Pre Trained the model with 4000+ ambulance images with YoloV5 for ambulance detection. For this setup we used the IP camera of mobile using droid cam app. This python script will detect the ambulance with confident>0.80(probability) and send the ssh command to raspberry pi to turn ON the green light.
+
+## Screenshots of ambulance detection
+
+![Screenshot from 2024-10-17 02-02-49](https://github.com/user-attachments/assets/15438382-25f8-4090-9ef6-c4500bb20e6f)
+
+![Screenshot from 2024-10-20 18-45-09](https://github.com/user-attachments/assets/c48c77c5-ee1f-4b53-99cc-2616bee8a3ec)
+
+
+
+## Screenshots of Navigation to nearest hospital
+
+![navigation UI](https://github.com/user-attachments/assets/a4c1775b-1a1f-4e62-a4e5-c75327249775)
+
+
+![navigation1](https://github.com/user-attachments/assets/d402f026-8c52-4360-abb2-1e112bffb36e)
+
+
+![navigation2](https://github.com/user-attachments/assets/752c67ee-a3f5-4cc4-b8a0-11290da6ef50)
+
+# Video of navigation
+
+
+
+https://github.com/user-attachments/assets/b3c14834-3937-4829-8a81-ef60e2bb1dfd
+

detection.py

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+import cv2
+import torch
+import numpy as np
+import time
+import queue
+import threading
+import paramiko
+
+device = torch.device('cpu')
+
+
+model = torch.hub.load('ultralytics/yolov5', 'custom', path='/home/lotus/Downloads/Ambulance-detection-and-navigation/model/best.pt', device=device)
+model.conf = 0.75 #confidential probability
+model.iou = 0.45   
+
+ip_cam_url = "http://192.168.188.253:4747/video" #Use Droid cam
+
+
+frame_queue = queue.Queue(maxsize=2)
+display_frame_queue = queue.Queue(maxsize=2)
+
+
+stop_event = threading.Event()
+FRAME_SKIP = 2
+TARGET_WIDTH = 640
+TARGET_HEIGHT = 480
+# Raspberry Pi SSH connection info
+RASPBERRY_PI_IP = "192.168.188.22"  # Replace with your Raspberry Pi's IP address
+USERNAME = "rasukutty"              # Replace with your Raspberry Pi's username
+PASSWORD = "mjt"                    # Replace with your Raspberry Pi's password
+REMOTE_SCRIPT_PATH = "/home/rasukutty/run_script.py"  # Replace with your script path on the Raspberry Pi
+SCRIPT_PATH = "/home/rasukutty/run_script.py"
+RUNNING_SCRIPT = "run.py"
+BUZZER_SCRIPT = "/home/rasukutty/buzzer.py"
+
+ssh = paramiko.SSHClient()
+ssh.set_missing_host_key_policy(paramiko.AutoAddPolicy())
+ssh.connect(RASPBERRY_PI_IP, username=USERNAME, password=PASSWORD)
+
+def send_command_to_raspberry_pi():
+    """Send a command to the Raspberry Pi to run a Python script."""
+    try:
+        # Command to run the script on Raspberry Pi
+        command = f"python3 {REMOTE_SCRIPT_PATH}"
+        
+        # Execute the command
+        stdin, stdout, stderr = ssh.exec_command(command)
+        print("Script executed on Raspberry Pi.")
+        
+        # Optionally print the output
+        output = stdout.read().decode()
+        error = stderr.read().decode()
+        print(f"Output: {output}")
+        print(f"Error: {error}")
+        
+    except Exception as e:
+        print(f"Failed to send command to Raspberry Pi: {e}")
+
+# Timer for detection
+last_detected_time = None
+detection_duration_threshold = 1 # Time in seconds
+
+def capture_frames(cap):
+    frame_count = 0
+    while not stop_event.is_set():
+        ret, frame = cap.read()
+        if ret:
+            frame_count += 1
+            if frame_count % FRAME_SKIP == 0:
+                frame = cv2.resize(frame, (TARGET_WIDTH, TARGET_HEIGHT))
+                if frame_queue.full():
+                    frame_queue.get()
+                frame_queue.put(frame)
+        else:
+            print("Failed to get frame from camera. Retrying...")
+            time.sleep(0.1)
+
+def detect_ambulance(frame):
+    global last_detected_time
+    rgb_frame = cv2.cvtColor(frame, cv2.COLOR_BGR2RGB)
+    
+    # Perform detection
+    results = model(rgb_frame, size=TARGET_WIDTH)
+    
+    # Process results
+    detected_now = False
+    for det in results.xyxy[0]:  # det is (x1, y1, x2, y2, conf, cls)
+        class_id = int(det[5])
+        confidence = float(det[4])
+        
+        if model.names[class_id] in ['ambulance', 'emergency-vehicle'] and confidence >= 0.80:
+            label = f'{model.names[class_id]} {confidence:.2f}'
+            color = (0, 255, 0)  # Green for bounding box
+            c1, c2 = (int(det[0]), int(det[1])), (int(det[2]), int(det[3]))
+            cv2.rectangle(frame, c1, c2, color, 2)
+            cv2.putText(frame, label, (c1[0], c1[1] - 10), cv2.FONT_HERSHEY_SIMPLEX, 0.9, color, 2)
+
+            # If detected, record the time
+            detected_now = True
+
+    # Check detection status
+    if detected_now:
+        if last_detected_time is None:
+            last_detected_time = time.time()  # Start the timer
+        else:
+            # Check if ambulance is continuously detected for more than the threshold
+            elapsed_time = time.time() - last_detected_time
+            if elapsed_time >= detection_duration_threshold:
+                ambulance_detected = True
+                last_detected_time = None  # Reset the timer after detection
+                # Create flag file to signal Raspberry Pi
+                stdin, stdout, stderr = ssh.exec_command(f"pgrep -f {RUNNING_SCRIPT}")
+                pid = stdout.read().decode().strip()
+        
+                if pid:
+            # Send a SIGTERM signal to the process to stop it
+                    ssh.exec_command(f"kill -SIGTERM {pid}")
+                command2 = f"python3 {BUZZER_SCRIPT}"
+                stdin, stdout, stderr = ssh.exec_command(command2)
+                time.sleep(2)
+                command1 = f"python3 {SCRIPT_PATH}"
+                stdin, stdout, stderr = ssh.exec_command(command1)  
+
+    else:
+        # Reset last_detected_time if not detected
+        last_detected_time = None
+
+
+    return frame
+
+def process_frames():
+    while not stop_event.is_set():
+        if not frame_queue.empty():
+            frame = frame_queue.get()
+            processed_frame = detect_ambulance(frame)
+            if display_frame_queue.full():
+                display_frame_queue.get()
+            display_frame_queue.put(processed_frame)
+
+def display_frames():
+    window_name = 'Ambulance and Emergency Vehicle Detection'
+    cv2.namedWindow(window_name, cv2.WINDOW_NORMAL)
+    cv2.resizeWindow(window_name, TARGET_WIDTH, TARGET_HEIGHT)
+    
+    while not stop_event.is_set():
+        if not display_frame_queue.empty():
+            frame = display_frame_queue.get()
+            cv2.imshow(window_name, frame)
+            if cv2.waitKey(1) & 0xFF == ord('q'):
+                stop_event.set()
+        else:
+            time.sleep(0.001)  # Short sleep to prevent busy-waiting
+
+def main():
+    print("Model class names:", model.names)
+    print("Starting ambulance and emergency vehicle detection. Press 'q' to quit.")
+
+    cap = cv2.VideoCapture(ip_cam_url)
+    
+    if not cap.isOpened():
+        print("Error: Could not open video stream. Please check your camera URL.")
+        return
+
+    # Set camera resolution
+    cap.set(cv2.CAP_PROP_FRAME_WIDTH, TARGET_WIDTH)
+    cap.set(cv2.CAP_PROP_FRAME_HEIGHT, TARGET_HEIGHT)
+
+    # Start threads
+    threads = [
+        threading.Thread(target=capture_frames, args=(cap,)),
+        threading.Thread(target=process_frames),
+        threading.Thread(target=display_frames)
+    ]
+    
+    for t in threads:
+        t.start()
+
+    try:
+        while not stop_event.is_set():
+            time.sleep(0.1)
+    except KeyboardInterrupt:
+        print("Stopping...")
+    finally:
+        stop_event.set()
+        for t in threads:
+            t.join()
+        
+        cap.release()
+        cv2.destroyAllWindows()
+        ssh.close()  # Close SSH connection at the end of the program
+
+if __name__ == "__main__":
+    main()

model/best.pt

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+from gpiozero import LED
+import time
+
+buz = LED(22)
+
+while True
+    buz.on()
+    time.sleep(2)
+    

raspberrypi/buzzer.py

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+import os
+from gpiozero import LED
+from time import sleep
+import signal
+import sys
+
+led_red = LED(17)
+led_green = LED(23)
+
+def cleanup(signal_received, frame):
+    led_red.off()
+    led_green.off()
+    sys.exit(0)
+
+signal.signal(signal.SIGINT, cleanup)
+signal.signal(signal.SIGTERM, cleanup)
+
+try:
+    while True:
+        led_red.on()
+        sleep(20)
+        led_red.off()
+        led_green.on()
+        sleep(10)
+        led_green.off()
+except Exception as e:
+    cleanup(None, None)

raspberrypi/run.py

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+from gpiozero import LED
+from time import sleep
+import os
+
+led_red = LED(17)
+led_green = LED(23)
+
+while True :
+    led_red.off()
+    led_green.on()
+    sleep(14)