Fruit-Tracking-with-Realsense-D435

Main Author: Yi Hsuan Huang

Tracking fruits with realsense D435

Function

1. Get distance: get the distance of objects detected by yolo detector
   • ybias means the result text shown below the center of the object
2. Draw Point cloud: use GLFW to draw point cloud
3. Epipolar Geometry: draw epipolar line between two image using cv::findFundamentalMat
4. Camera Pose:
   • Refer to [Avi Singh's blog] (https://avisingh599.github.io/vision/monocular-vo/)
   • Drawing visual odometry
   • Scale: space between continuous point in 3D
   • Frame: fps to calculate once
5. Tracking
   • Draw Tracking Line: Just for testing
   • Tracking: with bug
   • Faster Tracking: when the tracked point < 2000, re-detect the image feature points

.dll must include:

1. CUDA:

cublas64_80.dll curand64_80.dll

2. GLFW:

glfw3.dll opengl32sw.dll glfw3dll.exp (optional) 

3. openCV:

opencv_core320.dll opencv_core320d.dll opencv_cudaarithm320.dll opencv_cudaarithm320d.dll
opencv_cudev320.dll opencvcudev320d.dll opencv_features2d320.dll opencv_features2d320d.dll
opencv_ffmpeg320_64.dll opencv_flann320.dll opencv_flann320d.dll opencv_imgproc320.dll  
opencv_improc320d.dll
opencv_world320.dll opencv_world320d.dll opencv_xfeatures2d320.dll opencv_xfeatures2d320d.dll

4. YOLOv2:

yolo_cpp_dll.dll

5. Realsense:

realsense2.dll

6. Qt core:

D3Dcompiler_47.dll libEGL.dll libGLESV2.dll Qt5Core.dll Qt5Gui.dll Qt5Svg.dll Qt5Widgets.dll