Automatic drone pathfinding and navigation: a Python framework to allow simple drones to pathfind in a 3D scene and be issued commands.
First, Blender must be installed, using sudo snap install blender --classic.
Also pip install the requirements for the Blender python interpreter, since that's the interpreter we will use. The command is in the Makefile.
Simply run the following command:
blender scenes/scene.blend --background --python scripts/main.py
With one of the scripts in the /scripts directory. Of course, replace scene.blend with the blend file containing the photogrammetrized mesh of the scene you wish to navigate inside of.
This section explains the general organization and behavior of the code. The entry point is the main.py file.
The script must be called with a Blender file like we just said. This file contains a 3D model (presumably of the scene in which you want to navigate). This means we use Blender's Python interpreter.
A SpaceRepresentation object will then be created based on the scene. A Pathfinder object will be created for later use. Upon specifying a destination, the SpaceRepresentation will use the Pathfinder to create a FlowField, representing the best trajectories to reach the destination from any point of the space.
Finally, a Piloter module will control the drone as it moves through the cells.
Run tests through the makefile since they necesitate a Blender scene, just call make tests.
MIT license.