https://github.com/pera-swarm/localization
This repository contains the development of the localization system for the swarm robots of the project Pera Swarm. It is based on ARMarkers, OpenCV with Python. An Raspberry Pi 3 computer with camera is used as processing device.
https://github.com/pera-swarm/localization
opencv python swarm-robotics
Last synced: 11 months ago
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This repository contains the development of the localization system for the swarm robots of the project Pera Swarm. It is based on ARMarkers, OpenCV with Python. An Raspberry Pi 3 computer with camera is used as processing device.
- Host: GitHub
- URL: https://github.com/pera-swarm/localization
- Owner: Pera-Swarm
- License: apache-2.0
- Created: 2020-07-29T10:03:48.000Z (almost 6 years ago)
- Default Branch: master
- Last Pushed: 2024-08-30T23:52:39.000Z (almost 2 years ago)
- Last Synced: 2025-04-14T06:53:15.676Z (about 1 year ago)
- Topics: opencv, python, swarm-robotics
- Language: Python
- Homepage: https://pera-swarm.github.io/docs/localization
- Size: 299 KB
- Stars: 0
- Watchers: 3
- Forks: 3
- Open Issues: 5
-
Metadata Files:
- Readme: README.md
- License: LICENSE
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README
[](https://opensource.org/licenses/Apache-2.0)
# FYP-localization-robots
Python repository for address the Localization problem of Swarm Robotics
### Requirements
Please install following pip packages if they aren't pre-installed
```
pip install numpy
pip install aruco
pip install paho-mqtt
pip3 install opencv-python
pip3 install opencv-contrib-python
pip3 install pyyaml
```
or use following command
```
pip install -r requirement.txt
```
You need to copy and rename the following files in _scripts_ directory and fill the necessary configuration details before run the scripts.
- config-mapping_sample.yaml INTO config-mapping.yaml
- config-mqtt_sample.yaml INTO config-mqtt.yaml
### Run the scripts
You can try scripts on the ./scripts/ directory
### Build a executable file (not working so far)
Install PyInstaller from PyPI:
```
pip install pyinstaller
```
Go to your program’s directory and run:
```
pyinstaller --onefile script.py
```
After, please make sure to copy the './board' folder into the directory which executes the exe file.
### Read More
- [ar-markers 0.5.0](https://pypi.org/project/ar-markers/)
- [Augmented Reality using ArUco Markers in OpenCV (C++ / Python)](https://www.learnopencv.com/augmented-reality-using-aruco-markers-in-opencv-c-python/)
- [OpenCV: Detection of ArUco Markers](https://docs.opencv.org/trunk/d5/dae/tutorial_aruco_detection.html)
- [OpenCV: Detection of ArUco Boards](https://docs.opencv.org/master/db/da9/tutorial_aruco_board_detection.html)
- [Calibrating the board](https://mecaruco2.readthedocs.io/en/latest/notebooks_rst/Aruco/sandbox/ludovic/aruco_calibration_rotation.html)