SourceBots API
Project description
sbot
sbot - SourceBots Robot API - Powered by j5
This is the API for SourceBots, based on the j5 library for writing Robotics APIs. It will first be deployed at Smallpeice 2019.
Much like it's predecessor, robot-api, sbot supports
multiple backends, although should be more reliable as there is no UNIX-AF socket layer.
Installation
Install: pip install sbot
Install with vision support: pip install sbot[vision]
Usage
from sbot import Robot
r = Robot()
Or alternatively:
from sbot import Robot
r = Robot(wait_start=False)
# Setup in here
r.wait_start()
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 sbot/vision/calibrations named after the camera model.
You will need to edit the calibration file used in sbot/vision/backend.py.
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