This project generates trajectories for the Crazyswarm to perform light writing. A long exposure photograph will capture the given text in the given font.
Clone this repository in the same folder as crazyswarm.
.
├── lightwriting
└── crazyswarm
Create two folders named traj and data in ./crazyswarm/ros_ws/src/crazyswarm/scripts/.
Read the modified crazyswarm repository for further details.
You need to install the following packages in python 2.7: numpy, opencv, scipy, scikit-learn, matplotlib, pypoly, yaml.
Installing pip
sudo apt-get install python-pip
Installing the packages
sudo pip install numpy scipy
sudo pip install -U scikit-learn
sudo pip install matplotlib
sudo pip install PyPolynomial
sudo pip install pyyaml
Also install convert, a command line utility by imagemagick to convert text to images.
Change the TEXT and FONT variables in the Makefile and run
make curve_fitting
The trajectories will be stored in the traj directory in the crazyswarm workspace.
- Nanda Kishore
- Aditya Barve