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MIT

3D-LIDAR-Multi-Object-Tracking

3D-MOT(多目标检测和追踪) 代码有详细注解 (2020 · 秋)

参考:https://github.com/k0suke-murakami/object_tracking

@双愚 , 若fork或star请注明来源

版本(建议先看kitti分支)

  • main : 使用个人采集数据集
  • kitti : 使用kitti数据集,初学者建议切换看这个分支,无须自己配置🎉️🎉️🎉️🎉️🎉️

两文件夹介绍

此仓库的两文件夹

Intro

This package includes Ground Removal, Object Clustering, Bounding Box, IMM-UKF-JPDAF, Track Management and Object Classification for 3D-LIDAR multi object tracking. The idea is mainly come from this paper.

代码对应论文:3D-LIDAR Multi Object Tracking for Autonomous Driving(Master论文)

下面介绍用kitti数据集相关操作

Setup

Frameworks and Packages

Make sure you have the following is installed:

Dataset

数据集已处理好,放在百度网盘上,需要自己下载

编译

将本仓库下的2个文件夹移动到catkin_wp/src下,然后执行下面操作

// 创建环境变量 src中运行
mkdir -p catkin_wp/src
cd catkin_wp/src
catkin_init_workspace

// 编译(需要回到工作空间catkin_wp)
cd ..
catkin_make  // 产生build和devel文件夹


//设置环境变量,找到src里的功能包(每个新的shell窗口都要执行以下source devel/setup.bash)
source devel/setup.bash  // 不同shell,不同哦.sh  .zsh           通过设置gedit ~/.zshrc,不用每次都source

详情可参考:https://www.yuque.com/docs/share/e59d5c91-b46d-426a-9957-cd262f5fc241?# 《09.创建工作空间与功能包※※※》

修改配置文件

举例:修改输入topic对应的frame_id(有好几处,可以全局搜索进行修改)

cd object_tracking/src/groundremove/main.cpp

#第8行      "/kitti/velo/pointcloud" --话题名(可以根据不同数据集修改topic话题名) 
ros::Subscriber sub = nh.subscribe("/kitti/velo/pointcloud", 160, cloud_cb); 

# 修改frame_id = "velo_link"

Start

各模块代码路径:

PLEASE make sure you load the files, src/ego_velo.txt and src/ego_yaw.txt in src/imm_ukf_jpda.cpp l68, l69

Terminal 1
roscore
Terminal 2

--loop循环paly不推荐加,tracking和上一帧有关,误差越来越大

# kitti官方 注意修改路径path
rosbag play path/kitti_2011_09_26_drive_0005_synced.bag --loop


Terminal 3
rviz

arch

Terminal 4

#  推荐运行launch
roslaunch  object_tracking test.launch
#  复杂
rosrun object_tracking ground
rosrun object_tracking cluster
rosrun object_tracking tracking

Result

arch

Youtube Clip

IMAGE ALT TEXT HERE

License

Copyright (c) 双愚. All rights reserved.

Licensed under the MIT License.

MIT License Copyright (c) 2020 双愚 Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions: The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software. THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.

简介

3D-MOT(点云多目标检测和追踪C++) (2020 · 秋) 代码有详细注解 展开 收起
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