I spent a bit of time taking about 1,000 photos of some yellow plastic discs I had lying around to use as simulators of grids of plants in the workshop rather than out in a field.

This proved to be a great investment and has made testing the machine much easier.

As can be seen from the above, my current monitor wont allow full display of the high resolution camera images, but nonetheless shows the issue with perspective quite nicely. Looking at the above, we might think that the grid was nice and regular and giving good results, but, as below, I had to jiggle the back row of discs to compensate for the perspective:

It shows that further calculations need to be made within the Jetson software stack to allow for perspective, which would completely throw off the navigation results if one of the plants were missing in the extremities of the grid. It's a nice challenge for the old brain cells!