RadarSensingPredictBasedOnAI.2021-11-12.17-44-24.mov
fusion_pc3_rt+openCV.MOV
mmWave SDK examples based on Batman Kit mmWave Sensor module
This App works with Raspberry Pi 3, Pi 2 , Pi 4, Jetson Nano ,Windows, MacOS or Intel NUC.
Run this repository example needs install mmWave lib. Those examples are
DRN, HAM, LPD, PC3, PC3D, PCR, PCT, PCT_FDS, PMB, POS, SRR, SVD, TMD, TRS, VED, VOD, VSD and ZOD examples:
DRN: Drone Radar Navigation.
HAM: High Accuracy Measurement.
LPD: Long range People Detection.
PC3: People Counting Detection.
PC3_v2: People Counting Detection 3D version:2.
PC3D: People Overhead Counting 3D.
PCR: People Counting short Range sensing.
PCT: People-Counting with Tilt Sensing.
PCT_FDS: People Fall Detection demo application based on mmWave-PCT.
PMB: People Moving Behavior.
POS: People counting Overhead Sensor.
SRR: Short Range Radar.
SVD: Surface Velocity Detection.
TMD: Traffic Monitor Detection.
TRS: Traffic_monitoring_detection Roadway Sensing.
VED: Vital Energy Detection.
VOD: Vehicle Occupancy Detection.
VSD: Vital Signs Detection.
ZOD: Zone Occupancy Detection
BM101: https://github.com/bigheadG/mmWaveDocs/blob/master/Datasheet_BM101_F_C.pdf (deprecated)
BM201: https://github.com/bigheadG/mmWaveDocs/blob/master/Datasheet_BM201_O_C.pdf
BM301: https://github.com/bigheadG/mmWaveDocs/blob/master/Datasheet_BM301FDS_D_C.pdf (deprecated)
BM501: https://github.com/bigheadG/mmWaveDocs/blob/master/Datasheet_BM501_G_C.pdf
BM502: https://github.com/bigheadG/mmWaveDocs/blob/master/Datasheet_BM502_F_C.pdf
BM601: https://github.com/bigheadG/mmWaveDocs/blob/master/Datasheet_BM601_D_C.pdf
BM201-Module: https://github.com/bigheadG/mmWaveDocs/blob/master/Datasheet_BM201_Module_C_C.pdf
BM501-Module: https://github.com/bigheadG/mmWaveDocs/blob/master/Datasheet_BM501_M_A_C.pdf
BM502-Module: https://github.com/bigheadG/mmWaveDocs/blob/master/Datasheet_BM502_M_A_C.pdf
BM601-Module: https://github.com/bigheadG/mmWaveDocs/blob/master/Datasheet_BM601_M_A_C.pdf
DRN: Batman Kit 201(ISK) :IWR6843-DRN
HAM: Batman kit 101/201: IWR1642-HAM/IWR6843-HAM
LPD: Batman kit 201: IWR6843-LPD
PC3: Batman Kit 201(ISK) :IWR6843-PC3 and BM501 AOP-PC3
PC3_v2: Batman Kit 201(ISK)/501(AOP) :IWR6843-PC3 and BM501 AOP-PC3
PC3D: Batman kit 301: IWR6843-PC3D
PCR: Batman Kit 201(ISK) :IWR6843-PCR and BM501 AOP-PCR
PCT_FDS: Batman Kit 502(AOP) :BM502 PCT-FDS
PMB: Batman kit 101/201: IWR1642-PMB/IWR6843-PMB
POS: Batman Kit 201(ISK)/501(AOP) :IWR6843-POS and BM501 AOP-POS
SRR: Batman kit 101: IWR1642-SRR
SVD: Batman Kit 201(ISK) :IWR6843-SVD
TMD: Batman kit 201: IWR6843-TMD
TRS: Batman Kit 201(ISK) :IWR6843-TRS
VED: Batman Kit 201(ISK) :IWR6843-VED and BM501 AOP
VOD: Batman Kit 201(ISK) :IWR6843-VOD
VSD: Batman kit 101/201/501(AOP): IWR1642-VSD/IWR6843-VSD/IWR6843AOP-VSD
ZOD: Batman kit 201(ISK) :IWR6843-ZOD
mmWave Library
$sudo pip3 install mmWave
tkinter Library
$sudo pip3 install tkinter
or
$sudo apt-get install python3-tk python-tk
numpy Library
$sudo pip3 install numpy
or
$sudo apt-get install python3-numpy python-numpy
NOOBS_V3 is installed already
pySerial Library
$sudo pip3 install pySerial
RPi.GPIO library please reference:
https://www.raspberrypi-spy.co.uk/2012/05/install-rpi-gpio-python-library/
pandas Library
$sudo pip3 install pandas
scikit-learn Library
$sudo pip3 install scikit-learn
pyqtgraph Library
$sudo pip3 install pyqtgraph
https://pyqtgraph.readthedocs.io/en/latest/installation.html
(1)-------libf77blas.so.3-----------------------------------------
from scipy.linalg import _fblas
ImportError: libf77blas.so.3: cannot open shared object file: No such file or directory
problem solved:
First of all, for libf77blas.so.3, you have to install ATLAS, something like sudo apt-get install libatlas-base-dev
$sudo apt-get install libatlas-base-dev
(2)-----------------------------------------
Traceback (most recent call last):
File "/usr/lib/python3/dist-packages/serial/serialposix.py", line 265, in open
self.fd = os.open(self.portstr, os.O_RDWR | os.O_NOCTTY | os.O_NONBLOCK)
FileNotFoundError: [Errno 2] No such file or directory: '/dev/ttyS0'
problem solved:
(1)menu->perference->Raspberry pi Configuration->Serial Port(Enable)
(2)reboot:
(3)$ls -l /dev/ttyS0
crw--w---- 1 root tty 4, 64 Nov 1 04:21 /dev/ttyS0
(4)$sudo chmod +666 /dev/ttyS0
(5)pi@raspberrypi:~ $ ls -l /dev/ttyS0
crw-rw-rw- 1 root tty 4, 64 Nov 1 04:21 /dev/ttyS0
Enable UART:
1:[MainMenu] -> [Preferences] -> [Raspberry Pi Configuration]
2:Select [Interface Tab] in Raspberry Pi Configuration
3:Enable Serial Port: Check radio RadioButton
4:List tty Device
$ls /dev/tty*
$sudo chmod +666 /dev/ttyS0
or
$sudo chmod +666 /dev/ttyAMA0
Reboot
$cat /boot/cmdline.txt
if you find the console=serial0,115200 in cmdline.txt. please use raspi-config to remove it.
$sudo raspi-config
then reboot
Detailed information please reference:
https://www.raspberrypi.org/documentation/configuration/uart.md
############################################
#(1) for pyqtgraph Version: 0.13.1
from pyqtgraph.Qt import mkQApp ,QtCore ,QtGui
''' # remove
# before pyqtgraph Version: 0.13.1
from pyqtgraph.Qt import QtCore, QtGui
'''
############################################
#(2)
app = mkQApp("PCT") #for pyqtgraph v0.13.1
#app = QtGui.QApplication([]) #remove
############################################
#(3)#for pyqtgraph v0.13.1
if __name__ == '__main__':
pg.exec()
''' # remove
#before pyqtgraph Version: 0.13.1
if __name__ == '__main__':
import sys
if (sys.flags.interactive != 1) or not hasattr(QtCore,'PYQT_VERSION'):
QtGui.QApplication.instance().exec_()
'''
############################################
setDaemon() is deprecated, set the daemon attribute instead
remove thread1.setDaemon(True)
add thread1.daemon = True
############################################
#for pyqtgraph V0.13.1
remove circle = pg.QtGui.QGraphicsEllipseItem(-r, -r, r * 2, r * 2)
add circle = pg.QtWidgets.QGraphicsEllipseItem(-r, -r, r * 2, r * 2)
#for pyqrgraph 0.13 verison
remove win = pg.GraphicsWindow()
add win = pg.GraphicsLayoutWidget(show=True)
############################################
#(1) for pyqtgraph Version: 0.13.1
#from PyQt5.QtGui import QPen, QColor
from PyQt5 import QtGui, QtWidgets, QtCore
from pyqtgraph.Qt import mkQApp, QtGui
''' # remove
# before pyqtgraph Version: 0.13.1
from pyqtgraph.Qt import QtCore, QtGui
'''
############################################
#(2)
app = QtWidgets.QApplication([])
# remove
#app = QtGui.QApplication([]) #remove
############################################
#(3.0)#for pyqtgraph v0.13.1
if __name__ == '__main__':
pg.exec()
#(3.1)
if __name__ == '__main__':
import sys
if (sys.flags.interactive != 1) or not hasattr(QtCore, 'PYQT_VERSION'):
#QtGui.QApplication.instance().exec_()
QtWidgets.QApplication.instance().exec_() # for Pyqtgraph_V0.13
# remove
'''
#before pyqtgraph Version: V0.13.1
if __name__ == '__main__':
import sys
if (sys.flags.interactive != 1) or not hasattr(QtCore,'PYQT_VERSION'):
QtGui.QApplication.instance().exec_()
'''
circle for pyqtgraph V0.13.1
remove : circle = pg.QtGui.QGraphicsEllipseItem(-r, -r, r * 2, r * 2)
add new line : circle = pg.QtWidgets.QGraphicsEllipseItem(-r, -r, r * 2, r * 2)
example :
for r in range(1, 10, 1):
#circle = pg.QtGui.QGraphicsEllipseItem(-r, -r, r * 2, r * 2)
circle = pg.QtWidgets.QGraphicsEllipseItem(-r, -r, r * 2, r * 2)
circle.setPen(pg.mkPen(1.0))
w0.addItem(circle)
Please refer to https://github.com/bigheadG/pyqtgraph_3d_text when you find the following errors when executing the 3d program
Error while drawing item <__main__.CustomTextItem object at 0x7f7950a9c4c0>.
Error while drawing item <__main__.CustomTextItem object at 0x7f7950a9c550>.
DeprecationWarning: setDaemon() is deprecated, set the daemon attribute instead
thread1.setDaemon(True)
2024-01-23 13:53:22.983 Python[1631:77099] WARNING: Secure coding is not
enabled for restorable state! Enable secure coding by implementing
NSApplicationDelegate.applicationSupportsSecureRestorableState: and returning YES.
remove:
#thread1 = Thread(target = uartWork, args =("UART",))
#thread1.setDaemon(True)
#thread1.start()
added:
from threading import Thread
thread1 = threading.Thread(target=uartWork("UART"), daemon=True)
thread1.start()
client = mqtt.Client()
^^^^^^^^^^^^^
TypeError: Client.__init__() missing 1 required positional argument: 'callback_api_version'
sol:
#client = mqtt.Client()
client = mqtt.Client(mqtt.CallbackAPIVersion.VERSION1)