Geometrical Stem Detection
Description
The program allows to identify, in real-time, the stems of sugarbeets using a top-down image.
The idea is to first detect the leaves of the plant using a geometrical approach. The stem is then derived out of the intersection of all leaf directions.
Key contributors
- Ferdinand Langer (ferdinand.langer@uni-bonn.de)
- Leonard Mandtler (mandtler@uni-bonn.de)
Related publications
TODO
Dependencies
- catkin
- boost >= 1.54
- OpenCV >= 3.0
- yaml-cpp
- ROS Kinetic
Installation guide
On Ubuntu 16.04, most of the dependencies can be installed from the package manager:
sudo apt install git libopencv-dev catkin
You can install yaml-cpp by following the instructions at yaml-cpp
Additionally, make sure you have catkin-tools installed:
sudo apt install python-pip
sudo pip install catkin_tools
If you do not have a catkin workspace already, create one:
cd
mkdir catkin_ws
cd catkin_ws
mkdir src
catkin init
Clone the repository in your catkin workspace:
cd ~/catkin_ws/src
git clone https://github.com/Photogrammetry-Robotics-Bonn/geometrical_stem_detection.git
Then, build the ROS nodes for vegetation segmentation and stem detection:
catkin build piros_vegsec piros_stemdet
How to use it
This whole project is meant to run on a mobile ROS platform performing the stem detection.
An example bag file is provided in the piros_stemdet/example
directory. To run
the program on the bag run:
roslaunch piros_stemdet example.launch
For each image, all the detected stems are published on the topic /piros_stemdet/stem
and printed on the terminal. For a visual representation, refer to the topic /piros_stemdet/mask
.
For further information about the single nodes, refer to piros_vegsec README and piros_stemdet README.
License
This project is licensed under the FreeBSD License. See the LICENSE.txt file for details.