HHorimoto / centroidtracker_ros

This package provides object tracking by centroidtracker algorithm and YOLOv3

centroidtracker_ros

This package provides object tracking by centroidtracker algorithm and YOLOv3

Requirement

• Ubuntu 18.04
• ROS (Melodic)
• Python 2.7.x

Set Up

1. Download centroidtracker_ros package.

$ cd ~/catkin_ws/src/
$ git clone https://github.com/HHorimoto/centroidtracker_ros.git
$ cd ~/catkin_ws
$ catkin_make

2. Download darknet_ros pakage if you do not have.

Please follow this instruction

How to Use

Launch centroidtracker_ros.launch

$ roslaunch centroidtracker_ros centroidtracker_ros.launch

Parameters

• 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

References

[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