A ROS-based system to estimate and visualize in 3D the position and rotation of a flying drone based on the live feed of a single webcam. Virtual obstacles added and path planning.
rosrun thesis_drone rviz_visual.py
works only when running it from <<~>> directory ,otherwise an error occurs.
In order to fix that the parameters should be loaded via a relative path and not an absolute one
All points and vectors are represented as arrays which makes the code sometimes confusing so transforming them to Vector2D and Vector3D classes is needs