GitHub - ruba751/Summer-project

    This project is about detecting an exit from within a room with an open exit 
    using Orb_slam2

    I got help for doing this project from alpha quadratic team
    (Wajeeh Atrash, Saji Asii, Farouk kraeem)

    Inorder to activate this project:
    1- you need to run main.py
    2- when orb slam finishes press "fly"
    and that's it :)

    first of all we need to scan the room by using movment.py - this code will go up and down scanning the room 
    second we will proccess the point cloud, cleaning the points whithin the room - detectExit.py
    determining which guarter has the exit, calculating the angle we need to move the drone by in order to reach that exit 
    with concideration to some errors that may occur during the drone movment
    and finaly make the drone fly towards the point we consider as an exit

    After scanning the room, orb slam returns a cloud point
    we will calculate the midean point of all points, create a rectangle of length 2*(distance from the midean point and the center(0,0)
    cleaning all points within this rectangle
    detecting which quarter has more valid points (after the cleaning in last step)
    calculate the midean point in that choosen quarter
    calculate the angle and distance to that point from the center
    fly the drone to that point 

  middle red dot represents the center, second one represents the exit