├── images ├── 1.jpg └── fritz_logo.png ├── BlindAssist ├── Assets.xcassets │ ├── Contents.json │ ├── car.imageset │ │ ├── car.png │ │ └── Contents.json │ ├── camera.imageset │ │ ├── camera.png │ │ └── Contents.json │ ├── smiley.imageset │ │ ├── smiley.png │ │ └── Contents.json │ └── AppIcon.appiconset │ │ └── Contents.json ├── BlindAssist-Bridging-Header.h ├── AppDelegate.swift ├── blindassist.h ├── Extensions │ └── UIDevice+Orientation.swift ├── Views │ └── CameraPreviewView.swift ├── Inference │ ├── Inference.h │ ├── Inference.m │ └── InferenceViewController.swift ├── Info.plist ├── Onboarding │ ├── OnboardingViewController.swift │ ├── PageView.swift │ └── PagerView.swift └── blindassist.c ├── Podfile ├── BlindAssist.xcodeproj ├── project.xcworkspace │ ├── contents.xcworkspacedata │ └── xcshareddata │ │ └── IDEWorkspaceChecks.plist ├── xcshareddata │ └── xcschemes │ │ └── BlindAssist.xcscheme └── project.pbxproj ├── Podfile.lock ├── .travis.yml ├── download_model.sh ├── .gitignore ├── README.md └── LICENSE /images/1.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/BlindAssist/blindassist-ios/HEAD/images/1.jpg -------------------------------------------------------------------------------- /images/fritz_logo.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/BlindAssist/blindassist-ios/HEAD/images/fritz_logo.png -------------------------------------------------------------------------------- /BlindAssist/Assets.xcassets/Contents.json: -------------------------------------------------------------------------------- 1 | { 2 | "info" : { 3 | "version" : 1, 4 | "author" : "xcode" 5 | } 6 | } -------------------------------------------------------------------------------- /Podfile: -------------------------------------------------------------------------------- 1 | platform :ios, '13.0' 2 | 3 | target 'BlindAssist' do 4 | use_frameworks! 5 | 6 | pod 'Anchors', '~> 2.4.0' 7 | 8 | end 9 | -------------------------------------------------------------------------------- /BlindAssist/Assets.xcassets/car.imageset/car.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/BlindAssist/blindassist-ios/HEAD/BlindAssist/Assets.xcassets/car.imageset/car.png -------------------------------------------------------------------------------- /BlindAssist/Assets.xcassets/camera.imageset/camera.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/BlindAssist/blindassist-ios/HEAD/BlindAssist/Assets.xcassets/camera.imageset/camera.png -------------------------------------------------------------------------------- /BlindAssist/Assets.xcassets/smiley.imageset/smiley.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/BlindAssist/blindassist-ios/HEAD/BlindAssist/Assets.xcassets/smiley.imageset/smiley.png -------------------------------------------------------------------------------- /BlindAssist/BlindAssist-Bridging-Header.h: -------------------------------------------------------------------------------- 1 | // 2 | // Use this file to import your target's public headers that you would like to expose to Swift. 3 | // 4 | 5 | #import "Inference.h" 6 | -------------------------------------------------------------------------------- /BlindAssist.xcodeproj/project.xcworkspace/contents.xcworkspacedata: -------------------------------------------------------------------------------- 1 | 2 | 4 | 6 | 7 | 8 | -------------------------------------------------------------------------------- /Podfile.lock: -------------------------------------------------------------------------------- 1 | PODS: 2 | - Anchors (2.4.0) 3 | 4 | DEPENDENCIES: 5 | - Anchors (~> 2.4.0) 6 | 7 | SPEC REPOS: 8 | trunk: 9 | - Anchors 10 | 11 | SPEC CHECKSUMS: 12 | Anchors: 75614cac462e063b395386e31eb593a856d831a8 13 | 14 | PODFILE CHECKSUM: 2585a4014187823e7de3e4f2299b61254e6cdb20 15 | 16 | COCOAPODS: 1.8.4 17 | -------------------------------------------------------------------------------- /BlindAssist.xcodeproj/project.xcworkspace/xcshareddata/IDEWorkspaceChecks.plist: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | IDEDidComputeMac32BitWarning 6 | 7 | 8 | 9 | -------------------------------------------------------------------------------- /.travis.yml: -------------------------------------------------------------------------------- 1 | language: objective-c 2 | xcode_project: BlindAssist.xcodeproj 3 | xcode_scheme: BlindAssist 4 | osx_image: xcode11.2 5 | 6 | before_install: 7 | - gem install cocoapods 8 | - pod --version 9 | install: 10 | - pod install --repo-update 11 | before_script: 12 | - ./download_model.sh 13 | script: 14 | - xcodebuild -workspace BlindAssist.xcworkspace -scheme BlindAssist -sdk iphonesimulator ONLY_ACTIVE_ARCH=NO 15 | -------------------------------------------------------------------------------- /download_model.sh: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | 3 | OUTPUT_DIR="./BlindAssist/cityscapes.mlmodel" 4 | MODEL_URL="https://github.com/BlindAssist/blindassist-scripts/releases/download/v1.2/cityscapes.mlmodel" 5 | 6 | echo "Starting mlmodel download..." 7 | 8 | # Download the BlindAssist CoreML model 9 | # from the latest repos release and place 10 | # it in the correct location 11 | wget -O $OUTPUT_DIR $MODEL_URL 12 | 13 | echo "Done downloading" 14 | -------------------------------------------------------------------------------- /BlindAssist/Assets.xcassets/car.imageset/Contents.json: -------------------------------------------------------------------------------- 1 | { 2 | "images" : [ 3 | { 4 | "idiom" : "universal", 5 | "scale" : "1x" 6 | }, 7 | { 8 | "idiom" : "universal", 9 | "filename" : "car.png", 10 | "scale" : "2x" 11 | }, 12 | { 13 | "idiom" : "universal", 14 | "scale" : "3x" 15 | } 16 | ], 17 | "info" : { 18 | "version" : 1, 19 | "author" : "xcode" 20 | } 21 | } -------------------------------------------------------------------------------- /BlindAssist/Assets.xcassets/camera.imageset/Contents.json: -------------------------------------------------------------------------------- 1 | { 2 | "images" : [ 3 | { 4 | "idiom" : "universal", 5 | "scale" : "1x" 6 | }, 7 | { 8 | "idiom" : "universal", 9 | "filename" : "camera.png", 10 | "scale" : "2x" 11 | }, 12 | { 13 | "idiom" : "universal", 14 | "scale" : "3x" 15 | } 16 | ], 17 | "info" : { 18 | "version" : 1, 19 | "author" : "xcode" 20 | } 21 | } -------------------------------------------------------------------------------- /BlindAssist/Assets.xcassets/smiley.imageset/Contents.json: -------------------------------------------------------------------------------- 1 | { 2 | "images" : [ 3 | { 4 | "idiom" : "universal", 5 | "scale" : "1x" 6 | }, 7 | { 8 | "idiom" : "universal", 9 | "filename" : "smiley.png", 10 | "scale" : "2x" 11 | }, 12 | { 13 | "idiom" : "universal", 14 | "scale" : "3x" 15 | } 16 | ], 17 | "info" : { 18 | "version" : 1, 19 | "author" : "xcode" 20 | } 21 | } -------------------------------------------------------------------------------- /.gitignore: -------------------------------------------------------------------------------- 1 | ## User settings 2 | xcuserdata/ 3 | 4 | # General 5 | .DS_Store 6 | .AppleDouble 7 | .LSOverride 8 | DerivedData 9 | Pods/ 10 | *.xcworkspace 11 | 12 | # Icon must end with two \r 13 | Icon 14 | 15 | # Thumbnails 16 | ._* 17 | 18 | # Files that might appear in the root of a volume 19 | .DocumentRevisions-V100 20 | .fseventsd 21 | .Spotlight-V100 22 | .TemporaryItems 23 | .Trashes 24 | .VolumeIcon.icns 25 | .com.apple.timemachine.donotpresent 26 | 27 | # Directories potentially created on remote AFP share 28 | .AppleDB 29 | .AppleDesktop 30 | Network Trash Folder 31 | Temporary Items 32 | .apdisk 33 | 34 | # Don't upload models 35 | *.mlmodel 36 | -------------------------------------------------------------------------------- /BlindAssist/AppDelegate.swift: -------------------------------------------------------------------------------- 1 | // 2 | // AppDelegate.swift 3 | // BlindAssist 4 | // 5 | // Created by Giovanni Terlingen on 21/10/2018. 6 | // Copyright © 2018 Giovanni Terlingen. All rights reserved. 7 | // 8 | 9 | import UIKit 10 | 11 | @UIApplicationMain 12 | class AppDelegate: UIResponder, UIApplicationDelegate { 13 | 14 | var window: UIWindow? 15 | 16 | func application(_ application: UIApplication, didFinishLaunchingWithOptions launchOptions: [UIApplication.LaunchOptionsKey : Any]? = nil) -> Bool { 17 | // Override point for customization after application launch. 18 | 19 | window = UIWindow(frame: UIScreen.main.bounds) 20 | let controller = OnboardingViewController() 21 | window!.rootViewController = controller 22 | window!.makeKeyAndVisible() 23 | 24 | controller.onDone = { 25 | self.switchToMain() 26 | } 27 | 28 | return true 29 | } 30 | 31 | func switchToMain() { 32 | window!.rootViewController = InferenceViewController() 33 | } 34 | } 35 | -------------------------------------------------------------------------------- /BlindAssist/blindassist.h: -------------------------------------------------------------------------------- 1 | // 2 | // blindassist.h 3 | // BlindAssist 4 | // 5 | // Created by Giovanni Terlingen on 31-07-18. 6 | // Copyright © 2018 Giovanni Terlingen. All rights reserved. 7 | // 8 | 9 | #ifndef blindassist_h 10 | #define blindassist_h 11 | 12 | #include 13 | 14 | #define SUCCESS 0 15 | 16 | enum walk_positions { 17 | LEFT, 18 | RIGHT, 19 | FRONT, 20 | NONE 21 | }; 22 | 23 | struct scene_information { 24 | 25 | /** 26 | * Defines the position where a user can walk. 27 | */ 28 | enum walk_positions walk_position; 29 | 30 | /** 31 | * Defines wether there were poles detected in the environment. 32 | */ 33 | int poles_detected; 34 | 35 | /** 36 | * Defines if there are obstacles in front. 37 | */ 38 | int vehicle_detected; 39 | int bikes_detected; 40 | }; 41 | 42 | typedef struct scene_information scene_information; 43 | 44 | int analyse_frame(uint8_t *classes, int height, int width); 45 | 46 | int poll_results(scene_information *information); 47 | 48 | #endif /* blindassist_h */ 49 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # BlindAssist 2 | [![Build Status](https://travis-ci.com/BlindAssist/blindassist-ios.svg?branch=develop)](https://travis-ci.com/BlindAssist/blindassist-ios) 3 | [![License](https://img.shields.io/badge/License-GPL%20v3-blue.svg)](LICENSE) 4 | 5 | BlindAssist is an iOS application which has the goal to support blind people 6 | on the road. Since I have a blind brother, I decided to create this open source 7 | project. 8 | 9 | ![Screenshot](images/1.jpg?raw=true) 10 | 11 | ## How does it work? 12 | The assisting process will be done using deep learning, image segmentation 13 | and translating the inference results to sentences which will be spoken out loud 14 | by tts (text to speech). The model used for this process is based on the 15 | [cityscapes](https://www.cityscapes-dataset.com) dataset. 16 | 17 | Currently BlindAssist uses CoreML. You can run the `download_model.sh` script to 18 | get the prebuilt model. 19 | 20 | The source of the model can be found here: 21 | https://github.com/BlindAssist/blindassist-scripts 22 | 23 | ## Sponsors 24 | [![Fritz](images/fritz_logo.png?raw=true)](https://fritz.ai) 25 | -------------------------------------------------------------------------------- /BlindAssist/Extensions/UIDevice+Orientation.swift: -------------------------------------------------------------------------------- 1 | // 2 | // UIDevice+Orientation.swift 3 | // BlindAssist 4 | // 5 | // Created by Giovanni Terlingen on 22/10/2018. 6 | // Copyright © 2018 Giovanni Terlingen. All rights reserved. 7 | // 8 | 9 | // Uses code from https://github.com/vfa-tranhv/MobileAILab-HairColor-iOS 10 | 11 | import UIKit 12 | import AVFoundation 13 | 14 | extension UIDevice { 15 | 16 | // Video orientation for current device orientation 17 | var videoOrientation: AVCaptureVideoOrientation { 18 | let orientation: AVCaptureVideoOrientation 19 | 20 | switch self.orientation { 21 | case .portrait: 22 | orientation = .portrait 23 | case .portraitUpsideDown: 24 | orientation = .portraitUpsideDown 25 | case .landscapeLeft: 26 | orientation = .landscapeLeft 27 | case .landscapeRight: 28 | orientation = .landscapeRight 29 | default: 30 | orientation = .portrait 31 | } 32 | 33 | return orientation 34 | } 35 | 36 | // Subscribes target to default NotificationCenter .UIDeviceOrientationDidChange 37 | class func subscribeToDeviceOrientationNotifications(_ target: AnyObject, selector: Selector) { 38 | let center = NotificationCenter.default 39 | let name = UIDevice.orientationDidChangeNotification 40 | let selector = selector 41 | center.addObserver(target, selector: selector, name: name, object: nil) 42 | } 43 | } 44 | -------------------------------------------------------------------------------- /BlindAssist/Views/CameraPreviewView.swift: -------------------------------------------------------------------------------- 1 | // 2 | // CameraPreviewView.swift 3 | // BlindAssist 4 | // 5 | // Created by Giovanni Terlingen on 22/10/2018. 6 | // Copyright © 2018 Giovanni Terlingen. All rights reserved. 7 | // 8 | 9 | // Uses code from https://github.com/vfa-tranhv/MobileAILab-HairColor-iOS 10 | 11 | import UIKit 12 | import AVFoundation 13 | 14 | final class CameraPreviewView: UIView { 15 | 16 | private weak var previewLayer: AVCaptureVideoPreviewLayer? 17 | 18 | override func awakeFromNib() { 19 | super.awakeFromNib() 20 | 21 | // Observe device rotation 22 | let selector = #selector(deviceOrientationDidChange(_:)) 23 | UIDevice.subscribeToDeviceOrientationNotifications(self, selector: selector) 24 | } 25 | 26 | // Insert layer at index 0 27 | func addCaptureVideoPreviewLayer(_ previewLayer: AVCaptureVideoPreviewLayer) { 28 | self.previewLayer?.removeFromSuperlayer() 29 | self.layer.insertSublayer(previewLayer, at: 0) 30 | self.previewLayer = previewLayer 31 | self.previewLayer?.videoGravity = .resizeAspectFill 32 | } 33 | 34 | override func layoutSubviews() { 35 | super.layoutSubviews() 36 | previewLayer?.frame = bounds 37 | } 38 | 39 | // Change video orientation to always display video in correct orientation 40 | @objc private func deviceOrientationDidChange(_ notification: Notification) { 41 | previewLayer?.connection?.videoOrientation = UIDevice.current.videoOrientation 42 | } 43 | } 44 | -------------------------------------------------------------------------------- /BlindAssist/Inference/Inference.h: -------------------------------------------------------------------------------- 1 | // 2 | // Inference.h 3 | // BlindAssist 4 | // 5 | // Created by Giovanni Terlingen on 22/10/2018. 6 | // Copyright © 2018 Giovanni Terlingen. All rights reserved. 7 | // 8 | 9 | #import 10 | #import 11 | 12 | #import "blindassist.h" 13 | 14 | struct Color { 15 | uint8_t r; 16 | uint8_t g; 17 | uint8_t b; 18 | }; 19 | 20 | static struct Color colors[] = { 21 | {.r = 128, .g = 64, .b = 128}, // road 22 | {.r = 244, .g = 35, .b = 232}, // sidewalk 23 | {.r = 70, .g = 70, .b = 70 }, // building 24 | {.r = 102, .g = 102, .b = 156}, // wall 25 | {.r = 190, .g = 153, .b = 153}, // fence 26 | {.r = 153, .g = 153, .b = 153}, // pole 27 | {.r = 250, .g = 170, .b = 30 }, // traffic light 28 | {.r = 220, .g = 220, .b = 0 }, // traffic sign 29 | {.r = 107, .g = 142, .b = 35 }, // vegetation 30 | {.r = 152, .g = 251, .b = 152}, // terrain 31 | {.r = 70, .g = 130, .b = 180}, // sky 32 | {.r = 220, .g = 20, .b = 60 }, // person 33 | {.r = 255, .g = 0, .b = 0 }, // rider 34 | {.r = 0, .g = 0, .b = 142}, // car 35 | {.r = 0, .g = 0, .b = 70 }, // truck 36 | {.r = 0, .g = 60, .b = 100}, // bus 37 | {.r = 0, .g = 80, .b = 100}, // train 38 | {.r = 0, .g = 0, .b = 230}, // motorcycle 39 | {.r = 119, .g = 11, .b = 32 } // bycycle 40 | }; 41 | 42 | @interface Inference : NSObject 43 | 44 | +(int) handlePrediction:(VNRequest*)request :(UIImageView*)predictionView :(scene_information*)information; 45 | 46 | @end 47 | -------------------------------------------------------------------------------- /BlindAssist/Info.plist: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | CFBundleDevelopmentRegion 6 | $(DEVELOPMENT_LANGUAGE) 7 | CFBundleExecutable 8 | $(EXECUTABLE_NAME) 9 | CFBundleIdentifier 10 | $(PRODUCT_BUNDLE_IDENTIFIER) 11 | CFBundleInfoDictionaryVersion 12 | 6.0 13 | CFBundleName 14 | $(PRODUCT_NAME) 15 | CFBundlePackageType 16 | APPL 17 | CFBundleShortVersionString 18 | 1.0 19 | CFBundleVersion 20 | 1 21 | LSRequiresIPhoneOS 22 | 23 | NSCameraUsageDescription 24 | Camera access is needed for inference 25 | UILaunchStoryboardName 26 | LaunchScreen 27 | UIRequiredDeviceCapabilities 28 | 29 | armv7 30 | 31 | UISupportedInterfaceOrientations 32 | 33 | UIInterfaceOrientationPortrait 34 | UIInterfaceOrientationLandscapeLeft 35 | UIInterfaceOrientationLandscapeRight 36 | 37 | UISupportedInterfaceOrientations~ipad 38 | 39 | UIInterfaceOrientationPortrait 40 | UIInterfaceOrientationPortraitUpsideDown 41 | UIInterfaceOrientationLandscapeLeft 42 | UIInterfaceOrientationLandscapeRight 43 | 44 | 45 | 46 | -------------------------------------------------------------------------------- /BlindAssist/Onboarding/OnboardingViewController.swift: -------------------------------------------------------------------------------- 1 | // 2 | // OnboardingViewController.swift 3 | // BlindAssist 4 | // 5 | // Created by khoa on 30.09.2018. 6 | // Copyright © 2018 Giovanni Terlingen. All rights reserved. 7 | // 8 | 9 | import UIKit 10 | import Anchors 11 | 12 | final class OnboardingViewController: UIViewController { 13 | private lazy var pagerView: PagerView = self.makePagerView() 14 | @objc var onDone: (() -> Void)? 15 | 16 | // MARK: - Life cycle 17 | 18 | override func viewDidLoad() { 19 | super.viewDidLoad() 20 | 21 | view.backgroundColor = .white 22 | view.addSubview(pagerView) 23 | activate( 24 | pagerView.anchor.edges 25 | ) 26 | } 27 | 28 | // MARK: - Make 29 | 30 | private func makePagerView() -> PagerView { 31 | let contents: [Content] = [ 32 | Content(title: "What", text: "An iOS app which will support the blind in traffic", image: "smiley"), 33 | Content(title: "Why", text: "To support blind people on the road", image: "car"), 34 | Content(title: "How", text: "Image segmentation to segment camera images in realtime", image: "camera") 35 | ] 36 | 37 | let pageViews: [PageView] = contents.enumerated().map({ i, content in 38 | let view = PageView() 39 | view.titleLabel.text = content.title 40 | view.textLabel.text = content.text 41 | view.imageView.image = UIImage(named: content.image) 42 | view.button.isHidden = i < contents.count - 1 43 | view.button.addTarget(self, action: #selector(onButtonTouch), for: .touchUpInside) 44 | return view 45 | }) 46 | 47 | return PagerView(views: pageViews) 48 | } 49 | 50 | @objc func onButtonTouch() { 51 | onDone?() 52 | } 53 | } 54 | 55 | private struct Content { 56 | let title: String 57 | let text: String 58 | let image: String 59 | } 60 | -------------------------------------------------------------------------------- /BlindAssist/Assets.xcassets/AppIcon.appiconset/Contents.json: -------------------------------------------------------------------------------- 1 | { 2 | "images" : [ 3 | { 4 | "idiom" : "iphone", 5 | "size" : "20x20", 6 | "scale" : "2x" 7 | }, 8 | { 9 | "idiom" : "iphone", 10 | "size" : "20x20", 11 | "scale" : "3x" 12 | }, 13 | { 14 | "idiom" : "iphone", 15 | "size" : "29x29", 16 | "scale" : "2x" 17 | }, 18 | { 19 | "idiom" : "iphone", 20 | "size" : "29x29", 21 | "scale" : "3x" 22 | }, 23 | { 24 | "idiom" : "iphone", 25 | "size" : "40x40", 26 | "scale" : "2x" 27 | }, 28 | { 29 | "idiom" : "iphone", 30 | "size" : "40x40", 31 | "scale" : "3x" 32 | }, 33 | { 34 | "idiom" : "iphone", 35 | "size" : "60x60", 36 | "scale" : "2x" 37 | }, 38 | { 39 | "idiom" : "iphone", 40 | "size" : "60x60", 41 | "scale" : "3x" 42 | }, 43 | { 44 | "idiom" : "ipad", 45 | "size" : "20x20", 46 | "scale" : "1x" 47 | }, 48 | { 49 | "idiom" : "ipad", 50 | "size" : "20x20", 51 | "scale" : "2x" 52 | }, 53 | { 54 | "idiom" : "ipad", 55 | "size" : "29x29", 56 | "scale" : "1x" 57 | }, 58 | { 59 | "idiom" : "ipad", 60 | "size" : "29x29", 61 | "scale" : "2x" 62 | }, 63 | { 64 | "idiom" : "ipad", 65 | "size" : "40x40", 66 | "scale" : "1x" 67 | }, 68 | { 69 | "idiom" : "ipad", 70 | "size" : "40x40", 71 | "scale" : "2x" 72 | }, 73 | { 74 | "idiom" : "ipad", 75 | "size" : "76x76", 76 | "scale" : "1x" 77 | }, 78 | { 79 | "idiom" : "ipad", 80 | "size" : "76x76", 81 | "scale" : "2x" 82 | }, 83 | { 84 | "idiom" : "ipad", 85 | "size" : "83.5x83.5", 86 | "scale" : "2x" 87 | }, 88 | { 89 | "idiom" : "ios-marketing", 90 | "size" : "1024x1024", 91 | "scale" : "1x" 92 | } 93 | ], 94 | "info" : { 95 | "version" : 1, 96 | "author" : "xcode" 97 | } 98 | } -------------------------------------------------------------------------------- /BlindAssist/Onboarding/PageView.swift: -------------------------------------------------------------------------------- 1 | // 2 | // PageView.swift 3 | // BlindAssist 4 | // 5 | // Created by khoa on 30.09.2018. 6 | // Copyright © 2018 Giovanni Terlingen. All rights reserved. 7 | // 8 | 9 | import UIKit 10 | import Anchors 11 | 12 | final class PageView: UIView { 13 | private(set) lazy var backgroundImageView: UIImageView = { 14 | let view = UIImageView() 15 | view.contentMode = .scaleAspectFill 16 | view.clipsToBounds = true 17 | 18 | return view 19 | }() 20 | 21 | private(set) lazy var imageView: UIImageView = { 22 | let view = UIImageView() 23 | view.contentMode = .scaleAspectFit 24 | 25 | return view 26 | }() 27 | 28 | private(set) lazy var titleLabel: UILabel = { 29 | let label = UILabel() 30 | label.textAlignment = .center 31 | label.textColor = UIColor.black 32 | label.numberOfLines = 0 33 | label.font = UIFont.preferredFont(forTextStyle: .headline) 34 | 35 | return label 36 | }() 37 | 38 | private(set) lazy var textLabel: UILabel = { 39 | let label = UILabel() 40 | label.textAlignment = .center 41 | label.textColor = UIColor.black 42 | label.numberOfLines = 0 43 | label.font = UIFont.preferredFont(forTextStyle: .title3) 44 | 45 | return label 46 | }() 47 | 48 | private(set) lazy var button: UIButton = { 49 | let button = UIButton(type: .custom) 50 | button.setTitle("Done", for: .normal) 51 | button.setTitleColor(.black, for: .normal) 52 | button.setTitleColor(.gray, for: .highlighted) 53 | 54 | return button 55 | }() 56 | 57 | // MARK: - Init 58 | 59 | override init(frame: CGRect) { 60 | super.init(frame: frame) 61 | 62 | addSubview(backgroundImageView) 63 | addSubview(imageView) 64 | addSubview(titleLabel) 65 | addSubview(textLabel) 66 | addSubview(button) 67 | 68 | activate( 69 | backgroundImageView.anchor.edges, 70 | imageView.anchor.size.equal.to(150), 71 | imageView.anchor.centerX, 72 | imageView.anchor.top.equal.to(anchor.top).constant(150), 73 | titleLabel.anchor.top.equal.to(imageView.anchor.bottom).constant(50), 74 | titleLabel.anchor.paddingHorizontally(20), 75 | textLabel.anchor.top.equal.to(titleLabel.anchor.bottom).constant(20), 76 | textLabel.anchor.paddingHorizontally(20), 77 | button.anchor.centerX, 78 | button.anchor.bottom.constant(-70) 79 | ) 80 | } 81 | 82 | required init?(coder aDecoder: NSCoder) { 83 | fatalError() 84 | } 85 | } 86 | 87 | -------------------------------------------------------------------------------- /BlindAssist/Onboarding/PagerView.swift: -------------------------------------------------------------------------------- 1 | // 2 | // PagerView.swift 3 | // BlindAssist 4 | // 5 | // Created by khoa on 30.09.2018. 6 | // Copyright © 2018 Giovanni Terlingen. All rights reserved. 7 | // 8 | 9 | import UIKit 10 | import Anchors 11 | 12 | /// Show many views in horizonal paging 13 | final class PagerView: UIView { 14 | private let views: [UIView] 15 | private let scrollView = UIScrollView() 16 | private let contentView = UIView() 17 | private let pageControl = UIPageControl() 18 | 19 | // MARK: - Init 20 | 21 | required init(views: [UIView]) { 22 | self.views = views 23 | super.init(frame: .zero) 24 | 25 | setup() 26 | setupConstraints() 27 | } 28 | 29 | required init?(coder aDecoder: NSCoder) { 30 | fatalError("init(coder:) has not been implemented") 31 | } 32 | 33 | // MARK: - Logic 34 | 35 | func goToPage(index: Int) { 36 | let offset = CGPoint( 37 | x: scrollView.frame.size.width * CGFloat(index), 38 | y: 0 39 | ) 40 | scrollView.setContentOffset(offset, animated: true) 41 | } 42 | 43 | // MARK: - Setup 44 | 45 | private func setup() { 46 | addSubview(scrollView) 47 | addSubview(pageControl) 48 | scrollView.addSubview(contentView) 49 | views.forEach { 50 | contentView.addSubview($0) 51 | } 52 | 53 | scrollView.isPagingEnabled = true 54 | scrollView.showsHorizontalScrollIndicator = false 55 | scrollView.delegate = self 56 | 57 | pageControl.currentPageIndicatorTintColor = UIColor.green 58 | pageControl.pageIndicatorTintColor = .gray 59 | pageControl.numberOfPages = views.count 60 | pageControl.isHidden = views.count < 2 61 | } 62 | 63 | private func setupConstraints() { 64 | activate( 65 | scrollView.anchor.edges, 66 | contentView.anchor.edges, 67 | pageControl.anchor.centerX, 68 | pageControl.anchor.bottom.constant(-20) 69 | ) 70 | 71 | views.enumerated().forEach { tuple in 72 | let view = tuple.element 73 | 74 | activate( 75 | view.anchor.top.bottom.width.height.equal.to(scrollView.anchor) 76 | ) 77 | 78 | if tuple.offset == 0 { 79 | activate( 80 | view.anchor.left 81 | ) 82 | } else { 83 | activate( 84 | view.anchor.left.equal.to(views[tuple.offset-1].anchor.right) 85 | ) 86 | } 87 | 88 | if tuple.offset == views.count - 1 { 89 | activate( 90 | view.anchor.right 91 | ) 92 | } 93 | } 94 | } 95 | } 96 | 97 | extension PagerView: UIScrollViewDelegate { 98 | func scrollViewDidScroll(_ scrollView: UIScrollView) { 99 | pageControl.currentPage = Int(scrollView.contentOffset.x / scrollView.frame.size.width) 100 | } 101 | } 102 | 103 | -------------------------------------------------------------------------------- /BlindAssist.xcodeproj/xcshareddata/xcschemes/BlindAssist.xcscheme: -------------------------------------------------------------------------------- 1 | 2 | 5 | 8 | 9 | 15 | 21 | 22 | 23 | 24 | 25 | 30 | 31 | 32 | 33 | 39 | 40 | 41 | 42 | 43 | 44 | 54 | 56 | 62 | 63 | 64 | 65 | 66 | 67 | 73 | 75 | 81 | 82 | 83 | 84 | 86 | 87 | 90 | 91 | 92 | -------------------------------------------------------------------------------- /BlindAssist/Inference/Inference.m: -------------------------------------------------------------------------------- 1 | // 2 | // Inference.m 3 | // BlindAssist 4 | // 5 | // Created by Giovanni Terlingen on 22/10/2018. 6 | // Copyright © 2018 Giovanni Terlingen. All rights reserved. 7 | // 8 | 9 | /** 10 | * We keep this class in Objective-C, since performance is critical, 11 | * the same exact code was tested on Swift and was significantly 12 | * slower compared to this implementation. 13 | */ 14 | 15 | #import 16 | 17 | #import "Inference.h" 18 | 19 | @implementation Inference 20 | 21 | +(int) handlePrediction:(VNRequest*)request :(UIImageView*)predictionView :(scene_information*) information { 22 | NSArray *results = [request.results copy]; 23 | MLMultiArray *multiArray = ((VNCoreMLFeatureValueObservation*)(results[0])).featureValue.multiArrayValue; 24 | 25 | // Shape of MLMultiArray is sequence: channels, height and width 26 | int channels = multiArray.shape[0].intValue; 27 | int height = multiArray.shape[1].intValue; 28 | int width = multiArray.shape[2].intValue; 29 | 30 | // Holds the temporary maxima, and its index (only works if less than 256 channels!) 31 | double *tmax = (double*) malloc(width * height * sizeof(double)); 32 | uint8_t *tchan = (uint8_t*) malloc(width * height); 33 | 34 | double *pointer = (double*) multiArray.dataPointer; 35 | 36 | int cStride = multiArray.strides[0].intValue; 37 | int hStride = multiArray.strides[1].intValue; 38 | int wStride = multiArray.strides[2].intValue; 39 | 40 | // Just copy the first channel as starting point 41 | for (int h = 0; h < height; h++) { 42 | for (int w = 0; w < width; w++) { 43 | tmax[w + h * width] = pointer[h * hStride + w * wStride]; 44 | tchan[w + h * width] = 0; // first channel 45 | } 46 | } 47 | 48 | // We skip first channel on purpose. 49 | for (int c = 1; c < channels; c++) { 50 | for (int h = 0; h < height; h++) { 51 | for (int w = 0; w < width; w++) { 52 | double sample = pointer[h * hStride + w * wStride + c * cStride]; 53 | if (sample > tmax[w + h * width]) { 54 | tmax[w + h * width] = sample; 55 | tchan[w + h * width] = c; 56 | } 57 | } 58 | } 59 | } 60 | 61 | // Now free the maximum buffer, useless 62 | free(tmax); 63 | 64 | // Holds the segmented image 65 | uint8_t *bytes = (uint8_t*) malloc(width * height * 4); 66 | 67 | // Calculate image color 68 | for (int i = 0; i < height * width; i++) { 69 | struct Color rgba = colors[tchan[i]]; 70 | bytes[i * 4 + 0] = (rgba.r); 71 | bytes[i * 4 + 1] = (rgba.g); 72 | bytes[i * 4 + 2] = (rgba.b); 73 | bytes[i * 4 + 3] = (255 / 2); // semi transparent 74 | } 75 | 76 | CGColorSpaceRef colorSpace = CGColorSpaceCreateDeviceRGB(); 77 | CGContextRef context = CGBitmapContextCreate(bytes, width, height, 8, 4 * width, colorSpace, kCGImageAlphaPremultipliedLast); 78 | CFRelease(colorSpace); 79 | CGImageRef cgImage = CGBitmapContextCreateImage(context); 80 | CGContextRelease(context); 81 | 82 | UIImage *image = [UIImage imageWithCGImage:cgImage scale:0 orientation:UIImageOrientationUp]; 83 | CGImageRelease(cgImage); 84 | 85 | dispatch_async(dispatch_get_main_queue(), ^{ 86 | [predictionView setImage:image]; 87 | }); 88 | 89 | free(bytes); 90 | 91 | // predict results for this frame 92 | analyse_frame(tchan, height, width); 93 | 94 | free(tchan); 95 | 96 | return poll_results(information); 97 | } 98 | 99 | @end 100 | -------------------------------------------------------------------------------- /BlindAssist/Inference/InferenceViewController.swift: -------------------------------------------------------------------------------- 1 | // 2 | // MainController.swift 3 | // BlindAssist 4 | // 5 | // Created by khoa on 10.10.2018. 6 | // Copyright © 2018 Giovanni Terlingen. All rights reserved. 7 | // 8 | 9 | import UIKit 10 | import Anchors 11 | import AVFoundation 12 | import Vision 13 | import CoreML 14 | import CoreMotion 15 | 16 | final class InferenceViewController: UIViewController { 17 | 18 | private lazy var cameraPreview = CameraPreviewView() 19 | private lazy var predictionView = UIImageView() 20 | private var session: AVCaptureSession? 21 | private var motionManager: CMMotionManager? 22 | private var isFacingHorzion: Bool = false 23 | private var tts: AVSpeechSynthesizer = AVSpeechSynthesizer() 24 | private var request: VNCoreMLRequest? 25 | private var lastPredictionTime: Double = 0 26 | 27 | private let GravityCheckInterval: TimeInterval = 1.0 28 | private let PredictionInterval: TimeInterval = 3.0 29 | 30 | required init() { 31 | super.init(nibName: nil, bundle: nil) 32 | } 33 | 34 | required init?(coder aDecoder: NSCoder) { 35 | fatalError() 36 | } 37 | 38 | override func viewDidLoad() { 39 | super.viewDidLoad() 40 | setup() 41 | setupConstraints() 42 | } 43 | 44 | private func setup() { 45 | view.backgroundColor = .white 46 | predictionView.contentMode = .scaleToFill 47 | 48 | speak("Initializing application") 49 | 50 | motionManager = CMMotionManager() 51 | motionManager?.deviceMotionUpdateInterval = TimeInterval(GravityCheckInterval) 52 | 53 | if let queue = OperationQueue.current { 54 | motionManager!.startDeviceMotionUpdates(to: queue, withHandler: { motionData, error in 55 | self.handleGravity(motionData!.gravity) 56 | }) 57 | } 58 | 59 | do { 60 | let model = try VNCoreMLModel(for: cityscapes().model) 61 | request = VNCoreMLRequest(model: model, completionHandler: self.handlePrediction) 62 | request!.imageCropAndScaleOption = VNImageCropAndScaleOption.centerCrop 63 | } catch { 64 | fatalError("Can't load BlindAssist CoreML model: \(error)") 65 | } 66 | 67 | speak("Finished loading, detecting environment") 68 | } 69 | 70 | private func setupConstraints() { 71 | view.addSubview(cameraPreview) 72 | view.addSubview(predictionView) 73 | 74 | activate( 75 | cameraPreview.anchor.left.top.right, 76 | cameraPreview.anchor.width, 77 | cameraPreview.anchor.height.ratio(1.0), 78 | predictionView.anchor.edges.equal.to(cameraPreview.anchor) 79 | ) 80 | } 81 | 82 | override func viewDidAppear(_ animated: Bool) { 83 | super.viewDidAppear(animated) 84 | AVCaptureDevice.requestAccess(for: .video) { granted in 85 | self.permissions(granted) 86 | } 87 | } 88 | 89 | override func viewDidDisappear(_ animated: Bool) { 90 | super.viewDidDisappear(animated) 91 | session?.stopRunning() 92 | } 93 | 94 | private func permissions(_ granted: Bool) { 95 | if granted && session == nil { 96 | setupSession() 97 | } 98 | } 99 | 100 | private func setupSession() { 101 | guard let device = AVCaptureDevice.default(.builtInWideAngleCamera, for: AVMediaType.video, position: .back) else { 102 | fatalError("Camera not available") 103 | } 104 | guard let input = try? AVCaptureDeviceInput(device: device) else { 105 | fatalError("Camera data not available") 106 | } 107 | let output = AVCaptureVideoDataOutput() 108 | output.setSampleBufferDelegate(self, queue: DispatchQueue.global(qos: .userInteractive)) 109 | 110 | let session = AVCaptureSession() 111 | session.addInput(input) 112 | session.addOutput(output) 113 | 114 | let previewLayer = AVCaptureVideoPreviewLayer(session: session) 115 | DispatchQueue.main.async(execute: { 116 | self.cameraPreview.addCaptureVideoPreviewLayer(previewLayer) 117 | }) 118 | 119 | self.session = session 120 | session.startRunning() 121 | } 122 | 123 | private func deviceOrientationDidChange() { 124 | session?.outputs.forEach { 125 | $0.connections.forEach { 126 | $0.videoOrientation = UIDevice.current.videoOrientation 127 | } 128 | } 129 | } 130 | 131 | private func handlePrediction(request: VNRequest, error: Error?) { 132 | if (!isFacingHorzion) { 133 | return 134 | } 135 | 136 | var information = scene_information() 137 | let result = Inference.handlePrediction(request, self.predictionView, &information) 138 | if (result != SUCCESS) { 139 | return 140 | } 141 | 142 | let currentTime = Date().timeIntervalSince1970 143 | 144 | if (lastPredictionTime == 0 || (currentTime - lastPredictionTime) > PredictionInterval) { 145 | // Clear tts queue 146 | tts.stopSpeaking(at: .word) 147 | 148 | if information.poles_detected > 0 { 149 | speak("Poles detected.") 150 | } 151 | if information.vehicle_detected > 0 { 152 | speak("Parked car detected.") 153 | } 154 | if information.bikes_detected > 0 { 155 | speak("Bikes detected.") 156 | } 157 | if information.walk_position == FRONT { 158 | speak("You can walk in front of you.") 159 | } else if information.walk_position == LEFT { 160 | speak("You can walk left.") 161 | } else if information.walk_position == RIGHT { 162 | speak("You can walk right.") 163 | } 164 | lastPredictionTime = Date().timeIntervalSince1970 165 | } 166 | } 167 | 168 | func speak(_ string: String) { 169 | let utterance = AVSpeechUtterance(string: string) 170 | utterance.voice = AVSpeechSynthesisVoice(language: "en-US") 171 | utterance.rate = AVSpeechUtteranceMaximumSpeechRate * 0.60 172 | tts.speak(utterance) 173 | } 174 | 175 | func handleGravity(_ gravity: CMAcceleration) { 176 | isFacingHorzion = gravity.y <= -0.97 && gravity.y <= 1.0 177 | if (!isFacingHorzion) { 178 | // TODO: Make some beep for this 179 | speak("Warning: camera is not facing the horizon.") 180 | } 181 | } 182 | } 183 | 184 | extension InferenceViewController: AVCaptureVideoDataOutputSampleBufferDelegate { 185 | 186 | func captureOutput(_ output: AVCaptureOutput, didOutput sampleBuffer: CMSampleBuffer, from connection: AVCaptureConnection) { 187 | deviceOrientationDidChange() 188 | 189 | guard let pixelBuffer = CMSampleBufferGetImageBuffer(sampleBuffer) else { 190 | return 191 | } 192 | 193 | var requestOptions: [VNImageOption: Any] = [:] 194 | if let cameraIntrinsicData = CMGetAttachment(sampleBuffer, key: kCMSampleBufferAttachmentKey_CameraIntrinsicMatrix, attachmentModeOut: nil) { 195 | requestOptions = [.cameraIntrinsics: cameraIntrinsicData] 196 | } 197 | 198 | let handler = VNImageRequestHandler(cvPixelBuffer: pixelBuffer, options: requestOptions) 199 | do { 200 | try handler.perform([request!]) 201 | } catch { 202 | fatalError("Error while requesting predicition") 203 | } 204 | } 205 | } 206 | -------------------------------------------------------------------------------- /BlindAssist/blindassist.c: -------------------------------------------------------------------------------- 1 | // 2 | // blindassist.c 3 | // BlindAssist 4 | // 5 | // Created by Giovanni Terlingen on 31-07-18. 6 | // Copyright © 2018 Giovanni Terlingen. All rights reserved. 7 | // 8 | 9 | #include 10 | 11 | #include "blindassist.h" 12 | 13 | /* 14 | * This code is responsible for analyzing predicted frames and generate a suitable 15 | * explaination of them for the blind user. 16 | * 17 | * This code will retrieve segmented images using analyse_frame, 18 | * everytime this method is called, a calculation will be done for the best walkable 19 | * position for the blind user. 20 | * 21 | * There are also checks performed to detect obstacles such as poles within the scene. 22 | * 23 | * Before a predicition is made, several frames are analysed to guarantee a better 24 | * understanding of scene. 25 | * 26 | * This code is using ratios. Each part of a frame needs to contain a certain 27 | * amount of class pixels to make sure it represents the actual object in real life. 28 | * 29 | * After calculation is done, a client can retrieve the results using poll_results. 30 | */ 31 | 32 | /** 33 | * The name of classes ordered by their index 34 | */ 35 | enum classes { 36 | ROAD, 37 | SIDEWALK, 38 | BUILDING, 39 | WALL, 40 | FENCE, 41 | POLE, 42 | TRAFFIC_LIGHT, 43 | TRAFFIC_SIGN, 44 | VEGETATION, 45 | TERRAIN, 46 | SKY, 47 | PERSON, 48 | RIDER, 49 | CAR, 50 | TRUCK, 51 | BUS, 52 | TRAIN, 53 | MOTORCYCLE, 54 | BICYCLE 55 | }; 56 | 57 | /** 58 | * The minimal amount of sidewalk/terrain a frame needs to contain to 59 | * consider as 'safe' to walk 60 | **/ 61 | static const float MINIMAL_WALKABLE_RATIO = 0.1f; 62 | 63 | /** 64 | * The minimal amount of poles a frame needs to contain to be considered as dangerous 65 | **/ 66 | static const float MINIMAL_POLE_RATIO = 0.05f; 67 | 68 | /** 69 | * The minimal amount of a vehicle the frame needs to contain 70 | * to be considered as dangerous 71 | **/ 72 | static const float MINIMAL_VEHICLE_RATIO = 0.4f; 73 | 74 | /** 75 | * The minimal amount of a bike the frame needs to contain to 76 | * be considered as dangerous 77 | **/ 78 | static const float MINIMAL_BIKE_RATIO = 0.2f; 79 | 80 | /** 81 | * The amount of frames which needs to be analyzed before predicting a result 82 | **/ 83 | static const int FRAMES_TO_ANALYZE = 5; 84 | 85 | /** 86 | * Defines scores for the best position to walk. 87 | */ 88 | int left_walk_score = 0; 89 | int right_walk_score = 0; 90 | int center_walk_score = 0; 91 | 92 | /** 93 | * These values will increment once a car/bike is detected in the 94 | * a frame. They must cover a certain part of the frame 95 | * to consider it as dangerous. 96 | */ 97 | int vehicles_score = 0; 98 | int bikes_score = 0; 99 | 100 | /** 101 | * Will increment if poles are detected in the environment. 102 | */ 103 | int poles_score = 0; 104 | 105 | /** 106 | * The amount of frames which are currently analyzed. 107 | * Gets reset after a result has been predicted 108 | */ 109 | int current_analyzed_frames = 0; 110 | 111 | /** 112 | * Analyses a frame and pushes it to the results. 113 | * 114 | * @param classes an array with size (h * w) of the segmented image, each pixel defines a class 115 | * @param height the height of the segmented image 116 | * @param width the width of the segmented image 117 | * @return 0 on success, or negative on failure 118 | */ 119 | int analyse_frame(uint8_t *classes, int height, int width) { 120 | 121 | int local_left_walk_score = 0; 122 | int local_right_walk_score = 0; 123 | int local_center_walk_score = 0; 124 | 125 | int local_vehicle_score = 0; 126 | int local_bike_score = 0; 127 | 128 | int local_obstacle_score = 0; 129 | 130 | // Loop through each pixel and get the class 131 | for (int i = 0; i < height * width; i++) { 132 | int w = i % height; 133 | int isLeft = w <= width / 2; 134 | int isCenter = w >= width / 3 && w <= (width / 3) * 2; 135 | 136 | int class = classes[i]; 137 | // sidewalk or terrain (safe to walk on) 138 | if (class == SIDEWALK || class == TERRAIN) { 139 | if (isCenter) { 140 | local_center_walk_score++; 141 | } 142 | isLeft ? local_left_walk_score++ : local_right_walk_score++; 143 | } else if (class == POLE) { 144 | local_obstacle_score++; 145 | } else if (class == CAR || class == TRUCK) { 146 | // TODO: WHAT TO DO WITH A BUS OR TRAIN? 147 | local_vehicle_score++; 148 | } else if (class == BICYCLE || class == MOTORCYCLE) { 149 | local_bike_score++; 150 | } 151 | } 152 | 153 | // We divide h * w by 2 in the following calculations. 154 | // This is due left/right/center detection. 155 | 156 | if (local_left_walk_score > local_right_walk_score) { 157 | float leftWalkRatio = (local_left_walk_score / ((height * width) / 2.0f)); 158 | if (leftWalkRatio >= MINIMAL_WALKABLE_RATIO) { 159 | // It's safe to walk here 160 | left_walk_score++; 161 | } 162 | } else { 163 | float rightWalkRatio = (local_right_walk_score / ((height * width) / 2.0f)); 164 | if (rightWalkRatio >= MINIMAL_WALKABLE_RATIO) { 165 | // It's safe to walk here 166 | right_walk_score++; 167 | } 168 | } 169 | 170 | float centerWalkRatio = (local_center_walk_score / ((height * width) / 2.0f)); 171 | if (centerWalkRatio >= MINIMAL_WALKABLE_RATIO) { 172 | // It's safe to walk here 173 | center_walk_score++; 174 | } 175 | 176 | float poleRatio = (local_obstacle_score / ((float)(height * width))); 177 | if (poleRatio > MINIMAL_POLE_RATIO) { 178 | // There are clearly poles detected 179 | poles_score++; 180 | } 181 | 182 | float vehiclesRatio = (local_vehicle_score / ((float)(height * width))); 183 | if (vehiclesRatio > MINIMAL_VEHICLE_RATIO) { 184 | // There is clearly a car in the front detected 185 | vehicles_score++; 186 | } 187 | 188 | float bikeRatio = (local_bike_score / ((float)(height * width))); 189 | if (bikeRatio > MINIMAL_BIKE_RATIO) { 190 | // There are some bikes in front of the user 191 | bikes_score++; 192 | } 193 | 194 | current_analyzed_frames++; 195 | 196 | return SUCCESS; 197 | } 198 | 199 | /** 200 | * Generates a scene information of the analyzed frames 201 | */ 202 | int poll_results(scene_information *information) { 203 | 204 | if (current_analyzed_frames >= FRAMES_TO_ANALYZE) { 205 | if (center_walk_score > 0) { 206 | information->walk_position = FRONT; 207 | } else if (left_walk_score > 0 || right_walk_score > 0) { 208 | if (left_walk_score > right_walk_score) { 209 | information->walk_position = LEFT; 210 | } else { 211 | information->walk_position = RIGHT; 212 | } 213 | } else { 214 | information->walk_position = NONE; 215 | } 216 | if (poles_score > 0) { 217 | information->poles_detected = 1; 218 | } 219 | if (vehicles_score > 0) { 220 | information->vehicle_detected = 1; 221 | } 222 | if (bikes_score > 0) { 223 | information->bikes_detected = 1; 224 | } 225 | 226 | // reset values 227 | current_analyzed_frames = 0; 228 | left_walk_score = 0; 229 | right_walk_score = 0; 230 | center_walk_score = 0; 231 | 232 | vehicles_score = 0; 233 | bikes_score = 0; 234 | poles_score = 0; 235 | 236 | return SUCCESS; 237 | } 238 | 239 | return -1; 240 | } 241 | -------------------------------------------------------------------------------- /BlindAssist.xcodeproj/project.pbxproj: -------------------------------------------------------------------------------- 1 | // !$*UTF8*$! 2 | { 3 | archiveVersion = 1; 4 | classes = { 5 | }; 6 | objectVersion = 51; 7 | objects = { 8 | 9 | /* Begin PBXBuildFile section */ 10 | 24D1263B874E7BD5AD704DA7 /* Pods_BlindAssist.framework in Frameworks */ = {isa = PBXBuildFile; fileRef = 4C7508745D9FA74F266C9884 /* Pods_BlindAssist.framework */; }; 11 | A10C11FC213ECED600372056 /* SceneKit.framework in Frameworks */ = {isa = PBXBuildFile; fileRef = A10C11FB213ECED600372056 /* SceneKit.framework */; }; 12 | A10C11FE213ECF2B00372056 /* ARKit.framework in Frameworks */ = {isa = PBXBuildFile; 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445 | TARGETED_DEVICE_FAMILY = "1,2"; 446 | }; 447 | name = Release; 448 | }; 449 | /* End XCBuildConfiguration section */ 450 | 451 | /* Begin XCConfigurationList section */ 452 | A1BF439E2070D11C0030848D /* Build configuration list for PBXProject "BlindAssist" */ = { 453 | isa = XCConfigurationList; 454 | buildConfigurations = ( 455 | A1BF43B72070D11E0030848D /* Debug */, 456 | A1BF43B82070D11E0030848D /* Release */, 457 | ); 458 | defaultConfigurationIsVisible = 0; 459 | defaultConfigurationName = Release; 460 | }; 461 | A1BF43B92070D11E0030848D /* Build configuration list for PBXNativeTarget "BlindAssist" */ = { 462 | isa = XCConfigurationList; 463 | buildConfigurations = ( 464 | A1BF43BA2070D11E0030848D /* Debug */, 465 | A1BF43BB2070D11E0030848D /* Release */, 466 | ); 467 | defaultConfigurationIsVisible = 0; 468 | defaultConfigurationName = Release; 469 | }; 470 | /* End XCConfigurationList section */ 471 | }; 472 | rootObject = A1BF439B2070D11C0030848D /* Project object */; 473 | } 474 | -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | GNU GENERAL PUBLIC LICENSE 2 | Version 3, 29 June 2007 3 | 4 | Copyright (C) 2007 Free Software Foundation, Inc. 5 | Everyone is permitted to copy and distribute verbatim copies 6 | of this license document, but changing it is not allowed. 7 | 8 | Preamble 9 | 10 | The GNU General Public License is a free, copyleft license for 11 | software and other kinds of works. 12 | 13 | The licenses for most software and other practical works are designed 14 | to take away your freedom to share and change the works. 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Interpretation of Sections 15 and 16. 613 | 614 | If the disclaimer of warranty and limitation of liability provided 615 | above cannot be given local legal effect according to their terms, 616 | reviewing courts shall apply local law that most closely approximates 617 | an absolute waiver of all civil liability in connection with the 618 | Program, unless a warranty or assumption of liability accompanies a 619 | copy of the Program in return for a fee. 620 | 621 | END OF TERMS AND CONDITIONS 622 | 623 | How to Apply These Terms to Your New Programs 624 | 625 | If you develop a new program, and you want it to be of the greatest 626 | possible use to the public, the best way to achieve this is to make it 627 | free software which everyone can redistribute and change under these terms. 628 | 629 | To do so, attach the following notices to the program. It is safest 630 | to attach them to the start of each source file to most effectively 631 | state the exclusion of warranty; and each file should have at least 632 | the "copyright" line and a pointer to where the full notice is found. 633 | 634 | 635 | Copyright (C) 636 | 637 | This program is free software: you can redistribute it and/or modify 638 | it under the terms of the GNU General Public License as published by 639 | the Free Software Foundation, either version 3 of the License, or 640 | (at your option) any later version. 641 | 642 | This program is distributed in the hope that it will be useful, 643 | but WITHOUT ANY WARRANTY; without even the implied warranty of 644 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 645 | GNU General Public License for more details. 646 | 647 | You should have received a copy of the GNU General Public License 648 | along with this program. If not, see . 649 | 650 | Also add information on how to contact you by electronic and paper mail. 651 | 652 | If the program does terminal interaction, make it output a short 653 | notice like this when it starts in an interactive mode: 654 | 655 | Copyright (C) 656 | This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'. 657 | This is free software, and you are welcome to redistribute it 658 | under certain conditions; type `show c' for details. 659 | 660 | The hypothetical commands `show w' and `show c' should show the appropriate 661 | parts of the General Public License. Of course, your program's commands 662 | might be different; for a GUI interface, you would use an "about box". 663 | 664 | You should also get your employer (if you work as a programmer) or school, 665 | if any, to sign a "copyright disclaimer" for the program, if necessary. 666 | For more information on this, and how to apply and follow the GNU GPL, see 667 | . 668 | 669 | The GNU General Public License does not permit incorporating your program 670 | into proprietary programs. If your program is a subroutine library, you 671 | may consider it more useful to permit linking proprietary applications with 672 | the library. If this is what you want to do, use the GNU Lesser General 673 | Public License instead of this License. But first, please read 674 | . 675 | --------------------------------------------------------------------------------