README.md

Spatial strawberry detection for fruit quality assessment

See paper: Spatial strawberry detection for fruit quality assessment

RECORD

cd scripts
python3 record.py

./convert.bash

REPLAY

roslaunch oakd replay_publisher.launch 

SLAM

roslaunch oakd depthimage_to_laserscan.launch
roslaunch oakd gmapping.launch

without odometry try (didn't seem to work reliably):

roslaunch oakd laser_scan_match.launch

RTABMAP

http://wiki.ros.org/rtabmap_ros/Tutorials/HandHeldMapping

roslaunch oakd replay_publisher.launch 

roslaunch rtabmap_launch rtabmap.launch args:="--delete_db_on_start" rgb_topic:=/replay_publisher/color/image depth_topic:=/replay_publisher/stereo/depth camera_info_topic:=/replay_publisher/color/camera_info frame_id:=oak-d_frame approx_sync:=true wait_imu_to_init:=false visual_odometry:=false odom_topic:=/odom

rosrun imu_filter_madgwick imu_filter_node    imu/data_raw:=/imu    imu/data:=/replay_publisher/imu/data     _use_mag:=false    _publish_tf:=false

LINKS

• http://tools.luxonis.com/
• https://github.com/luxonis/depthai-ml-training/tree/master/colab-notebooks
• https://machinelearningspace.com/2d-object-tracking-using-kalman-filter/
• https://docs.luxonis.com/projects/api/en/latest/samples/ObjectTracker/spatial_object_tracker/
• ultralytics/ultralytics#1429