Remove OpenCV-based lighthouse geometry estimator #563
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Removes LighthouseBsGeoEstimator and associated OpenCV dependency checking code. This feature was effectively deprecated due to: - Poor UX: required manual OpenCV installation - Limited functionality: only supported 1-2 base stations - No tests or active maintenance - Complex pkg_resources dependency checking Users can still use the (now standard and) robust lighthouse geometry estimation for multi-basestation setups. Follows UI removal in crazyflie-clients-python@b0062f4ab8dd7ac436301a9a06414f2b7eebcb8a
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Pull Request Overview
This PR removes the OpenCV-based lighthouse geometry estimator (LighthouseBsGeoEstimator) and its associated dependency checking code from the cflib. The removal addresses user experience issues, limited functionality (1-2 base stations only), lack of maintenance/testing, and complex dependency management while users can still utilize the standard multi-basestation lighthouse geometry estimation.
- Removal of deprecated OpenCV-based lighthouse geometry estimator
- Cleanup of import statements and module exports
- Deletion of associated test files and implementation
Reviewed Changes
Copilot reviewed 3 out of 3 changed files in this pull request and generated no comments.
| File | Description |
|---|---|
| cflib/localization/init.py | Removes import and export of LighthouseBsGeoEstimator class |
| cflib/localization/lighthouse_bs_geo.py | Complete file deletion (implementation removed) |
| test/localization/test_lighthouse_bs_geo.py | Complete file deletion (tests removed) |
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ataffanel
approved these changes
Sep 16, 2025
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Removes LighthouseBsGeoEstimator and associated OpenCV dependency checking code. This feature was effectively deprecated due to:
Users can still use the (now standard and) robust lighthouse geometry estimation for multi-basestation setups.
Together with UI removal in bitcraze/crazyflie-clients-python#754