├── 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.
To get started
git clone --recurse-submodules https://github.com/adrian-soch/ros_vision_track.git
# 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
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
# 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
To modify the parameters go to ros_vision_track/camera_processing/vision_track.py.