Package: crazyKhoreia
crazyKhoreiaBrief description.crazyKhoreia is a robotic perception system intended for UAVs (aka drones), which takes a digital image and converts it into a waypoint matrix using X, Y and Z coordinates in meters for UAVs choreography design.A preprint paper of this project is availablehere.If this work is useful to you, please cite us:@article{Restrepo2023, author = "Santiago Restrepo and Victor Romero Cano", title = "{CrazyKhoreia, a robotic perception system for UAV path planning from digital images}", year = "2023", month = "1", url = "https://www.techrxiv.org/articles/preprint/CrazyKhoreia_a_robotic_perception_system_for_UAV_path_planning_from_digital_images/21836868", doi = "10.36227/techrxiv.21836868.v1" }How does it work?crazyKhoreia takes a digital image and uses a vectorizing technic based on openCVfindContoursalgorithm to obtain contours, then, it gets waypoints from those contours, after that, depending on the usage mode (either lightPainting or multi-UAV formation), it optimizes the waypoints and finds a feasible 2D path for travelling throughallof them, or it computes safe trajectories for multi-UAV formation.Light painting mode (class lightPainting)Light painting is a photography technic consisting on capturing a long exposure photograph using a moving light source, the light source's movement creates an effect on the camera sensor which captures its trail, therefore, it "paints" all over the camera's frame, creating a painting optical effect.Source:Rafael Rodrigo PerurenaMulti UAV formation mode (class multiDroneFormation)A multi UAV formation is made by several UAVs grouped together in patterns to construct a figure visible with a naked eye. It's been used by companies such asIntelorDSSto create terrific light shows performed by UAVs like the Super Bowl's half-time shows.Source:IntelInstallation instructions.Prerequisites.Before using crazyKhoreia, please install the following dependencies.$pip3installopencv-python$pip3installnumpy$pip3installmatplotlib$pip3installscipy$pip3installscikit-learnInstalling from Pypi with Python 3.To install crazyKhoreia you'll need Python 3 and pip:pip3 install crazyKhoreiaInstalling from source.If you'd like to develop, edit or have full access into the crazyKhoreia system, then you may install it from source.git clone https://github.com/santiagorg2401/crazyKhoreia.gitUsage.crazyKhoreia's usage it's pretty straightforward, you'll only need a digital image and a few parameters:ParameterUsage modeClassDescriptionData typedimsalllightPaintingmultiDroneFormation2x3 float array containing flight space constraints in the x, y, and z axis [[MIN_X, MIN_Y, MIN_Z],[MAX_X, MAX_Y, MAX_Z]]arrayin_pathalllightPaintingmultiDroneFormationImage file path.strout_pathalllightPaintingmultiDroneFormationFiles output path.strledlight paintinglightPaintingSet led toTrueif you want to add led control within the waypoints output file, else, setFalse.booldetaillight paintinglightPaintingUsed inclean_waypointsmethod to delete the points that their euclidian distance is minor thandetail.floatspeedlight paintinglightPaintingUsed incalculate_statsto estimate flight duration, assuming constant speed.Side note:It doesn't affect the waypoints dataset.floatsleepTimelight paintinglightPaintingUsed incalculate_statsto estimate flight duration, assuming that the UAV stops at each reached waypoint for the flew time duration plus asleepTimepercentage from it.Side note:It doesn't affect the waypoints dataset.floatvideolight paintinglightPaintingSet video toTrueif you want to render an animation of the light painting generation, else setFalse.boolboxShapemultiDroneFormationmultiDroneFormationRefers to the bounding box for each UAV, contains an 1x3 array, containing the box's: (length (X axis), wide (Y axis), height (Z axis)) in meters.arrayTake into account that lightPainting and multiDroneFormation classes creates an instance of the crazyKhoreia class in its constructor method.To run the program, create an instance of the lightPainting class.from crazyKhoreia.lightPainting import lightPaintinglp = lightPainting(dims, in_path, out_path, detail=0.05, speed=1.0, sleepTime=1.5, video=False, led=False)Or if you want to execute multiDroneFormation.from crazyKhoreia.multiDroneFormation import multiDroneFormationmdf = multiDroneFormation(dims, boxShape, in_path, out_path, nmbr_drones)After its execution you'll notice the output files within the set output path.Trouble?Start a newdiscussionif you have any question related to the project, but, if you have a technical issue or a bug to report, then please create anissue.Authors.Santiago Restrepo García.Tutor.Víctor Adolfo Romero Cano.