sr.robot3

Student Robotics API for Python 3

This package uses PEP420-style namespace packaging.

Development

Requirements

This project uses the Poetry dependency and virtualenv manager.

You will also need:

• Python 3.8+
• Make

Setup

• Clone the repository from GitHub to a folder on your local machine
• cd to that folder, and tell Poetry to install dependencies and set up a virtualenv poetry install
• You can now enter the virtual environment using poetry shell and develop using your IDE of choice.

Tests

The full type, test and lint suite can be run using make: make.

You can also run parts of the suite.

• Unit tests: make test
• Unit tests with HTML coverage: make test-cov
• Linting: make lint
• Static type checks: make type

Adding camera calibrations

You will need to print off a chAruco marker grid.

opencv_interactive-calibration -t=charuco -sz=GRID_SIZE

Replace GRID_SIZE with the length of one of the larger squares (in mm) from the printed marker grid.

Use -ci=1 for specifying camera index if multiple cameras are connected.

Point the camera at the marker grid. Until DF is at or below 30 then press S to save. This will output a cameraParameters.xml file. Place this file in sr/robot3/vision/calibrations named by the camera model.

You will need to add a detection strategy for the camera in to sr/robot3/vision/backend.py.

Contributions

This project is released under the MIT Licence. For more information, please see LICENSE.

The CONTRIBUTORS file can be generated by executing CONTRIBUTORS.gen. This generated file contains a list of people who have contributed to sr.robot3.