Beyond Pixels based tracker

This node is based on the work depicted by Beyond Pixels: Leveraging Geometry and Shape Cues for Online Multi-Object Tracking. Published on the Proceedings of the IEEE International Conference on Robotics and Automation.

How to launch

Example, supposing default topic values.

1. Launch CameraInfo publisher (Sensing Tab -> Calibration Publisher).

2. Launch the Image rectifier (roslaunch image_processor image_rectifier.launch).

3. Launch an image based object detector (yolo3, ssd, etc).

4. From a sourced terminal:

   • roslaunch vision_beyond_track vision_beyond_track.launch

or from Runtime Manager:

Computing Tab -> Detection/ vision_tracker -> vision_beyond_track

Parameters

Launch file available parameters:

Subscribed topics

Published topics

Video

Changelog for package vision_beyond_track

1.11.0 (2019-03-21)

• [fix] Install commands for all the packages (#1861)

  • Initial fixes to detection, sensing, semantics and utils

  • fixing wrong filename on install command

  • Fixes to install commands

  • Hokuyo fix name

  • Fix obj db

  • Obj db include fixes

  • End of final cleaning sweep

  • Incorrect command order in runtime manager

  • Param tempfile not required by runtime_manager

  • • Fixes to runtime manager install commands

  • Remove devel directory from catkin, if any

  • Updated launch files for robosense

  • Updated robosense

  • Fix/add missing install (#1977)

  • Added launch install to lidar_kf_contour_track

  • Added install to op_global_planner

  • Added install to way_planner

  • Added install to op_local_planner

  • Added install to op_simulation_package

  • Added install to op_utilities

  • Added install to sync

  • • Improved installation script for pointgrey packages

  • Fixed nodelet error for gmsl cameras

  • USe install space in catkin as well

  • add install to catkin

  • Fix install directives (#1990)

  • Fixed installation path

  • Fixed params installation path

  • Fixed cfg installation path

  • Delete cache on colcon_release
• Fix license notice in corresponding package.xml
• Initial release of object filter
• Contributors: Abraham Monrroy, Abraham Monrroy Cano, amc-nu

1.10.0 (2019-01-17)

• Fixes for catkin_make
• Use colcon as the build tool (#1704)
  • Switch to colcon as the build tool instead of catkin
  • Added cmake-target
  • Added note about the second colcon call
  • Added warning about catkin* scripts being deprecated
  • Fix COLCON_OPTS
  • Added install targets
  • Update Docker image tags
  • Message packages fixes
  • Fix missing dependency
• Feature/perception visualization cleanup (#1648)
  • • Initial commit for visualization package

  • Removal of all visualization messages from perception nodes

  • Visualization dependency removal

  • Launch file modification

  • • Fixes to visualization

  • Error on Clustering CPU

  • Reduce verbosity on markers

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