Pathfinder Navigation Assist

What It Does

Installation

pip install numpy pytest

Usage

python pathfinder_navigation_assist.py --sensor_input <path_to_point_cloud_file> --feedback audio

Source Code

import argparse
import numpy as np
import os

def load_point_cloud(file_path):
    """Load a point cloud from a file."""
    if not os.path.exists(file_path):
        raise FileNotFoundError(f"File not found: {file_path}")
    try:
        # Simulate loading point cloud data
        # Replace this with actual file reading logic if needed
        return np.random.rand(100, 3)  # Random 3D points for testing
    except Exception as e:
        raise ValueError(f"Failed to load point cloud: {e}")

def detect_obstacles(point_cloud, threshold=1.0):
    """Detect obstacles within a certain distance threshold."""
    distances = np.linalg.norm(point_cloud, axis=1)
    obstacles = point_cloud[distances < threshold]
    return obstacles

def generate_audio_feedback(obstacles):
    """Generate audio feedback based on obstacle proximity."""
    if len(obstacles) == 0:
        return np.zeros(44100)  # 1 second of silence at 44.1 kHz

    frequency = 440  # A4 note
    duration = 1.0  # 1 second
    sample_rate = 44100
    t = np.linspace(0, duration, int(sample_rate * duration), endpoint=False)
    audio_signal = 0.5 * np.sin(2 * np.pi * frequency * t)
    return audio_signal

def play_audio_feedback(audio_signal):
    """Play the generated audio feedback."""
    try:
        # Mocking sounddevice functionality for testing purposes
        print("Playing audio feedback...")
    except Exception as e:
        raise RuntimeError(f"Failed to play audio: {e}")

def main():
    parser = argparse.ArgumentParser(
        description="Pathfinder Navigation Assist: Detect obstacles and provide feedback for navigation."
    )
    parser.add_argument(
        "--sensor_input",
        type=str,
        required=True,
        help="Path to the depth data file (point cloud in .pcd format)."
    )
    parser.add_argument(
        "--feedback",
        type=str,
        choices=["audio"],
        default="audio",
        help="Type of feedback to provide (default: audio)."
    )
    args = parser.parse_args()

    try:
        # Load point cloud data
        point_cloud = load_point_cloud(args.sensor_input)

        # Detect obstacles
        obstacles = detect_obstacles(point_cloud)

        if args.feedback == "audio":
            # Generate and play audio feedback
            audio_signal = generate_audio_feedback(obstacles)
            play_audio_feedback(audio_signal)

        print("Navigation feedback provided successfully.")

    except Exception as e:
        print(f"Error: {e}")

if __name__ == "__main__":
    main()