There doesn’t seem to be any calibration for the camera? It seems that it would be critical to know the rotation/orientation of the camera for the weed detection and other things to work properly.
Here’s how I’d suggest this be done. Run the camera to where it is above the tool tray. Then example the tray’s orientation in the image to determine the rotation/orientation of the camera.
Without this, we can’t ‘stitch together’ images very easily. With the images being stitched, then when the weed detector runs, it won’t be able to tell if foliage at the edges of an image are weeds or plants that are planted somewhere else but have ‘grown into’ the view.