This package provides object tracking by centroidtracker algorithm and YOLOv3
- Ubuntu 18.04
- ROS (Melodic)
- Python 2.7.x
- Download
centroidtracker_ros
package.
$ cd ~/catkin_ws/src/
$ git clone https://github.com/HHorimoto/centroidtracker_ros.git
$ cd ~/catkin_ws
$ catkin_make
- Download
darknet_ros
pakage if you do not have.
Please follow this instruction
Launch centroidtracker_ros.launch
$ roslaunch centroidtracker_ros centroidtracker_ros.launch
-
object_name : name of the object to be tracked. default :
bottle
-
topic_darknet : an array of bounding boxes from yolo. default :
/darknet_ros/bounding_boxes
-
max_disappeared : store the number of maximum consecutive frames a given object is allowed to be marked as
disappeared
until we need to deregister the object from tracking. If the FPS is low, you should decrease the value. default :5
[1] Adrian Rosebrock, Simple object tracking with OpenCV, PyImageSearch, https://pyimagesearch.com/2018/07/23/simple-object-tracking-with-opencv/, accessed on 11 August 2022
[2] Marko Bjelonic, YOLO ROS, https://github.com/leggedrobotics/darknet_ros, 2016--2018