Required libraries:
-numpy pip install numpy
-opencCV pip install opencv-python
-matplotlib pip install matplotlib
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tqdm (https://pypi.org/project/tqdm/): pip install tqdm
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pyvisgraph (https://github.com/TaipanRex/pyvisgraph): pip install pyvisgraph
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shapely (https://pypi.org/project/Shapely/): REQUIRES GEOS: brew install geos pip install shapely
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pybresenham (https://pypi.org/project/PyBresenham/)