added initial version of yolo standalone controller

Client/yolo_client.py

@@ -0,0 +1,81 @@
+import cv2
+from websocket import create_connection
+import argparse
+import math
+from ultralytics import YOLO
+
+# object classes
+classNames = ["person", "bicycle", "car", "motorbike", "aeroplane", "bus", "train", "truck", "boat",
+              "traffic light", "fire hydrant", "stop sign", "parking meter", "bench", "bird", "cat",
+              "dog", "horse", "sheep", "cow", "elephant", "bear", "zebra", "giraffe", "backpack", "umbrella",
+              "handbag", "tie", "suitcase", "frisbee", "skis", "snowboard", "sports ball", "kite", "baseball bat",
+              "baseball glove", "skateboard", "surfboard", "tennis racket", "bottle", "wine glass", "cup",
+              "fork", "knife", "spoon", "bowl", "banana", "apple", "sandwich", "orange", "broccoli",
+              "carrot", "hot dog", "pizza", "donut", "cake", "chair", "sofa", "pottedplant", "bed",
+              "diningtable", "toilet", "tvmonitor", "laptop", "mouse", "remote", "keyboard", "cell phone",
+              "microwave", "oven", "toaster", "sink", "refrigerator", "book", "clock", "vase", "scissors",
+              "teddy bear", "hair drier", "toothbrush"
+              ]
+
+
+def main(websocket_addr):
+    # Connect to websocket server
+    # ws = create_connection(websocket_addr)
+
+    # Load YOLO model
+    model = YOLO('yolov8s.pt')  # Load an official Detect model
+
+    # Open webcam
+    cap = cv2.VideoCapture(0)
+    cap.set(3, 640)
+    cap.set(4, 480)
+
+    frame_count = 0
+    while cap.isOpened():
+        ret, frame = cap.read()
+        if not ret:
+            break
+
+        # Perform object detection
+        results = model.predict(frame)
+
+        for r in results:
+            boxes = r.boxes
+            for box in boxes:
+                if box.cls[0].item() == 0:
+                    # bounding box
+                    x1, y1, x2, y2 = box.xyxy[0]
+                    x1, y1, x2, y2 = int(x1), int(y1), int(x2), int(y2) # convert to int values
+
+                    # put box in cam
+                    cv2.rectangle(frame, (x1, y1), (x2, y2), (255, 0, 255), 3)
+
+                    # class name
+                    cls = int(box.cls[0])
+
+                    # object details
+                    org = [x1, y1]
+                    font = cv2.FONT_HERSHEY_SIMPLEX
+                    fontScale = 1
+                    color = (255, 0, 0)
+                    thickness = 2
+
+                    cv2.putText(frame, classNames[cls], org, font, fontScale, color, thickness)
+
+                    print(f"{frame_count}, {x1}:{y1}, {x2}:{y2}")
+
+        frame_count += 1
+
+        cv2.imshow('Webcam', frame)
+        if cv2.waitKey(1) == ord('q'):
+            break
+
+    cap.release()
+    cv2.destroyAllWindows()
+
+if __name__ == "__main__":
+    parser = argparse.ArgumentParser(description='Detect people from webcam feed and send data to websocket server')
+    parser.add_argument('websocket_addr', type=str, help='Websocket server address')
+    args = parser.parse_args()
+
+    main(args.websocket_addr)

joystick-controller-client

@@ -1 +1 @@
-Subproject commit 852e23dc7c92f80bf59f679803fb6344942bc138
+Subproject commit 4530cf45a81cbd605d3fae4a371847239b47cb6e