run with python sim.py

Hey sluggos, this simulation is pretty simple to use. This should be used to tests your ROV computer vision/autonomous code. Here's how it works.

requirements: python version of opencv pyopengl pygame numpy (don't know if this is installed by default)

ALL OF THESE CAN AND SHOULD BE INSTALLED WITH A VIRTUAL ENV.

Evey frame, algo.run() is given the image, the RGB array which is already set up nicely work work with opencv, and a controller to move around the ROV. There is full degree of movement with translations (like sliding along x,y,z) and rotations (pitch, yaw, roll). These can be used by doing something like controller.move_in() or controller.pitch_left(). controller.stop() should be called at the start of each algo.run() iteration because there is no way to return specific transformations to neutral.

In order to debug, there are also keyboard bindings to move around the enviroment:

w - pitch up

s - pitch down

a - turn left

d - right

q - roll left

e - roll right

scroll in - move in (along z)

scroll down - move back

up - move up

down - move down

left - move left

right - move right

Thank you to Dylan for contributing the line following code.