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Integrate XYZ coordinates with pathing and add test documentation #11

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4faeee1
spatial detection network for depth/ needs testing
Qstrich Mar 17, 2026
a5ab705
Merge stereodepth into depthai1, keeping functional XLink pipeline ap…
tqmsh Mar 29, 2026
6ce7108
Port frame capture from stereodepth; remove blobconverter fallback
tqmsh Mar 29, 2026
59c9103
Migrate pipeline from depthai 2.x to 3.x (Pipeline 2.0)
tqmsh Apr 1, 2026
67b40e4
Fix pylint C0116: add docstring to main()
tqmsh May 2, 2026
bccffaf
Add z-coordinate calibration offsets to correct systematic depth over…
tqmsh May 7, 2026
c32f1fe
Smoothed piecewise-linear z-calibration; commit accuracy test data
tqmsh May 10, 2026
dad4823
Apply black formatting to main_2025.py
tqmsh May 10, 2026
909d260
integrate XYZ coords with pathing and test
xingyi1145 May 18, 2026
99c3da0
add test document
xingyi1145 May 18, 2026
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11 changes: 11 additions & 0 deletions .gitignore
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Original file line number Diff line number Diff line change
Expand Up @@ -2,13 +2,24 @@
.idea/
.vscode/
*.DS_Store

# Python
__pycache__/
venv/
venv_win/

# Logging
logs/

# Pytorch and Ultralytics
*.pt
*.pth

# Model blobs (large binaries, download via scripts/download_model.py)
models/

# Cache
.cache/

# Context/prompt files
*.txt
7 changes: 2 additions & 5 deletions config.yaml
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Expand Up @@ -88,12 +88,9 @@ auto_landing:
enabled: true

spatial_detection:
# Path to a custom .blob model file for OAK-D.
# Set to null to auto-download the default YOLOv4-tiny (416x416, COCO 80 classes).
# To use a custom model: train with YOLO, export to ONNX, convert via blobconverter.
model_path: null
# Luxonis model zoo name. Auto-downloaded on first run, cached after.
model_name: "yolov6-nano"
confidence_threshold: 0.5
iou_threshold: 0.5
depth_lower_mm: 100 # Ignore detections closer than this (mm)
depth_upper_mm: 10000 # Ignore detections farther than this (mm)

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