tracker_ros

Description

OpenCVの物体追跡のモジュールをROSで使いやすくしました。(opencv3.4以上推奨)

• KCF(Kernelized Correlation Filters)

• GOTURN(Generic Object Tracking Using Regression Networks)

Demo

Setup

• clone this repository & catkin_make

  cd ~/catkin_ws/src
  
  git clone https://gitlab.com/TeamSOBITS/tracker_ros.git
  
  cd ..
  
  catkin_make
  

• download caffe model
  Download here and then...

  sudo cp /.../PATH/TO/DOWNLOADs/goturn.prototxt ~/.ros/
  
  sudo cp /.../PATH/TO/DOWNLOADs/goturn.caffemodel ~/.ros/
  

Run

実行すると、"DrawBoundinbBox"という名前のwindowが出ます。
追跡したい範囲をドラッグで囲んでください。

roslaunch tracker_ros kcf_2d.launch #rgbカメラのみ

roslaunch tracker_ros kcf_3d.launch #対象物のframeが出る

roslaunch tracker_ros kcf_rviz.launch #debug用

roslaunch tracker_ros goturn_2d.launch #rgbカメラのみ

roslaunch tracker_ros goturn_3d.launch #対象物のframeが出る

roslaunch tracker_ros goturn_rviz.launch #debug用

Subscribe

• /camera/rgb/image_raw [sensor_msgs:Image]
• /camera/depth/points [sensor_msgs:PoinCloud2]
• /tracker_ros/update_bbox [darknet_dnn:BoundingBox]

Publish

• kcf

  • /tracker_ros/kcf/result_bbox [darknet_dnn:BoundingBox]
  • /tracker_ros/kcf/result_flag [std_msgs:Bool]
  • /tracker_ros/kcf/result_img [sensor_msgs:Image]

• goturn

  • /tracker_ros/goturn/result_bbox [darknet_dnn:BoundingBox]
  • /tracker_ros/goturn/result_flag [std_msgs:Bool]
  • /tracker_ros/goturn/result_img [sensor_msgs:Image]