The camera complements the beacons (leds) in supporting the location. The camera takes pictures of the leds and from these pictures the angle of the leds on the picture is calculated. We get the adequate angle for the localisation by additionning the found angle with the angle of the servomotor.
To install requirements simply run pip install -r requirements.txt, or run the make init command.
In short the code we use to recognize the beacons is in the capture_beacons.py file. The other scripts are legacy.
The get_focal.py is an attempt to get the distance to a beacon from a picture.
The get_angle_from_image computes the angle between a beacon and the centre of the image.
As we did not get good enough results with the previous methods, we decided to use an additionnal library imutils to handle multiple beacons in a single picture.