ros_vision_track
Directory Structure
├── ros_vision_track
│ ├── config
│ │ └── rviz
│ ├── ros_vision_track
│ │ └── camera_processing
│ │ ├── trackers
│ │ ├── weights
│ │ └── yolov5
│ ├── launch
│ ├── resource
│ └── test
Note: This is setup like a ROS2 package, but you do not need to build it to run the scripts. However to use launch files the package needs to be built.
Setup
To get started
git clone --recurse-submodules https://github.com/adrian-soch/ros_vision_track.git
Install Python requirements
# Pytorch GPU Version go here: https://pytorch.org/get-started/locally/
# (Optional) PyTorch CPU Version
pip install torch torchvision
pip install numpy
# OpenCV CPU Version
pip install opencv-python
pip install opencv-contrib-python
Yolov5 requirements
numpy>=1.18.5
opencv-python>=4.1.1
Pillow>=7.1.2
psutil # system resources
PyYAML>=5.3.1
requests>=2.23.0
scipy>=1.4.1
Running the Code
Image detection and tracking:
# Play the rosbag
ros2 bag play <Path to rosbag>/<bag name>.db3
# Start the python code
cd <Path to ros_vision_track>/ros_vision_track
python3 camera_processing_yolovX_node.py
Modifying parameters
To modify the parameters go to ros_vision_track/camera_processing/vision_track.py
.