Test/xyz accuracy#12
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- Introduced spatial detection settings in config.yaml, including model path and thresholds. - Updated main_2025.py to load and utilize spatial detection and object tracking components in the pipeline. - Added blobconverter and pyyaml as dependencies in requirements-pytorch.txt. Co-Authored-By: Yujie Meng <192458226+Yujie-Meng@users.noreply.github.com> Co-Authored-By: Yujie Meng <yujiemengca@gmail.com> Co-Authored-By: Yujie <yujiemengca@gmail.com>
…proach - Brings in ultralytics + depthai into requirements.txt from stereodepth - Drops depthai_detector.py (Pipeline 2.0 class) in favour of existing spatial_detection_node.py / object_tracker_node.py functional approach - Removes tests/unit/test_pipeline_nodes.py Co-authored-by: Yujie Meng <192458226+Yujie-Meng@users.noreply.github.com> Co-authored-by: Yujie Meng <yujiemengca@gmail.com> Co-authored-by: Yujie <yujiemengca@gmail.com>
- Fix dead xout_rgb: switch color_cam.video → preview so bbox coords align - Add rgb_queue read + cv2 bbox overlay and imshow in main loop - Make model_path required in create_spatial_detection_network (no fallback) - Drop blobconverter dep; add opencv-python to requirements-pytorch.txt - Update config.yaml: model_path now required, documents conversion path Co-authored-by: Yujie Meng <192458226+Yujie-Meng@users.noreply.github.com> Co-authored-by: Yujie Meng <yujiemengca@gmail.com> Co-authored-by: Yujie <yujiemengca@gmail.com>
Replace deprecated MonoCamera/ColorCamera with Camera.build(), YoloSpatialDetectionNetwork with SpatialDetectionNetwork.build() using Luxonis model zoo, XLinkOut with createOutputQueue(), and dai.Device with dai.Pipeline context manager. Co-authored-by: Yujie Meng <192458226+Yujie-Meng@users.noreply.github.com> Co-authored-by: Yujie Meng <yujiemengca@gmail.com> Co-authored-by: Yujie <yujiemengca@gmail.com>
Resolves missing-function-docstring warning causing CI exit code 16. Co-authored-by: Yujie Meng <192458226+Yujie-Meng@users.noreply.github.com>
…estimate Co-authored-by: Yujie Meng <192458226+Yujie-Meng@users.noreply.github.com> Co-authored-by: Yujie Meng <yujiemengca@gmail.com> Co-authored-by: Yujie <yujiemengca@gmail.com> Co-Authored-By: Claude Sonnet 4.6 (1M context) <noreply@anthropic.com>
Replaces the two-bucket constant offset (27/74mm split at 750mm) with a piecewise-linear interpolation over 4 measured anchors (0.5/1.0/1.5/2.0m) that tapers smoothly to zero past 2.2m, where the camera's factory calibration is trusted. The previous scheme over-corrected at 2m, turning a -31mm raw bias into -105mm; the new one avoids this by capturing the genuine non-monotonicity of the bias profile. Residual bias after calibration (vs. raw): | Distance | Raw | Calibrated | |----------|--------|------------| | 0.5m | +27.5 | -0.14 | | 1.0m | +75.1 | +0.12 | | 1.5m | +73.2 | +0.48 | | 2.0m | -48.7 | -3.61 | Also commits the underlying test logs (2026-04-30, 2026-05-07) and the calibration visualization for reproducibility.  Co-authored-by: Yujie Meng <192458226+Yujie-Meng@users.noreply.github.com> Co-authored-by: Yujie Meng <yujiemengca@gmail.com> Co-authored-by: Yujie <yujiemengca@gmail.com>
CI failed black --check on the previous commit (column-aligned tuples and an extra blank line). Reformat to satisfy the checker; no semantic change. Co-authored-by: Yujie Meng <192458226+Yujie-Meng@users.noreply.github.com> Co-authored-by: Yujie Meng <yujiemengca@gmail.com> Co-authored-by: Yujie <yujiemengca@gmail.com>
Co-authored-by: Yujie Meng <192458226+Yujie-Meng@users.noreply.github.com> Co-authored-by: Yujie Meng <yujiemengca@gmail.com> Co-authored-by: Yujie <yujiemengca@gmail.com>
This commit introduces several new binary image files for z-coordinate calibration at various distances (0.5m, 1.0m, 1.5m, 2.0m, 2.5m) and an overall accuracy graph. These visualizations will aid in the analysis and validation of the calibration process. Co-authored-by: Yujie Meng <192458226+Yujie-Meng@users.noreply.github.com> Co-authored-by: Yujie Meng <yujiemengca@gmail.com> Co-authored-by: Yujie <yujiemengca@gmail.com>
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First test for XYZ accuracy for the OAK-D camera.