aod_detection

Thesis for detecting Acute Oak Decline (AOD) in oak trees across the UK using object detection.

Google Drive Link

Please reach out to the account owner for access to the Google Drive containing raw data and other resources.

colab_notebooks directory:

• video_replay.ipynb: applies model and runs inference on input video, saves processed videos in sample_videos directory
• augment_data.ipynb: runs augmentation techniques on images and saves back to images folder
• yolo_custom_model_training.ipynb`: builds custom yolov5 model based on yolov5s through transfer learning

Create Local ROS2_ENV Environment

Source: RoboStack (https://robostack.github.io/GettingStarted.html)

# create and activate ROS environment
conda create -n ros_env python=3.10
conda init
conda activate ros_env

# Add channels and turn off default one
conda config --env --add channels conda-forge
conda config --env --add channels robostack-staging
conda config --env --remove channels defaults

# Full ROS2 desktop install
conda install ros-humble-desktop

# Additional tools for local dev
conda install compilers cmake pkg-config make ninja colcon-common-extensions catkin_tools rosdep

# Install Gazebo packages
conda install ros-humble-gazebo-ros-pkgs ros-humble-gazebo-ros

Reset setup.bash

The install/setup.bash script can be set:

# This script extends the environment with the environment of other prefix
# paths which were sourced when this file was generated as well as all packages
# contained in this prefix path.

# function to source another script with conditional trace output
# first argument: the path of the script
_colcon_prefix_chain_bash_source_script() {
  if [ -f "$1" ]; then
    if [ -n "$COLCON_TRACE" ]; then
      echo "# . \"$1\""
    fi
    . "$1"
  else
    echo "not found: \"$1\"" 1>&2
  fi
}

# Optional: Adjust or comment out this section if sourcing from the Conda environment causes issues
# COLCON_CURRENT_PREFIX="/Users/hannahgillespie/miniconda3/envs/ros_env"
# _colcon_prefix_chain_bash_source_script "$COLCON_CURRENT_PREFIX/local_setup.bash"

# Correctly source this prefix (workspace's install directory)
# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced script
COLCON_CURRENT_PREFIX="$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd)"
_colcon_prefix_chain_bash_source_script "$COLCON_CURRENT_PREFIX/local_setup.bash"

unset COLCON_CURRENT_PREFIX
unset _colcon_prefix_chain_bash_source_script

Run Simulation

conda activate ros2_env
source install/setup.bash
colcon build
ros2 launch drone_video_feed launch.py