/P-DNN

DNN Tracking Using P control

Primary LanguagePython

P-DNN


Tracking 1 person (Id 0), Using DNN. Bounding Box height and Bounding Box centroid is using as P-control.


Input : Image from computer camera(VideoCaputre(0)) or USB Camera... extra


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Publish 1 : /cmd_vel , command of linear velocity and angluar velocity ( coordinate is Z is up(sky not ground) and X is forward of car)


Publish 2 : /camera , Image data using for Perecption, in this code there is no perception term, you can add other node for perception


Works fine with CPU too

Ubuntu 20.04
ROS Noetic
>> cd ~/catkin_ws/src
>> git clone ~
>> cd ..
>> catkin_make
>> source ./devel/setup.bash
>> rosrun usb_cam opencv-capture.py

P-DNN Tracking

CAP_-2023-05-21_19.13.37.mp4

P-DNN Stablity of Bouding Box

id_stability-2023-05-21_19.16.31.mp4