imdsafi09 / tracking_lib

Tracking objects obtaining from segmentor and improve segmentation. https://github.com/LidarPerception/segmenters_lib

tracking_lib

　　The LiDAR tracking library, for tracking objects obtaining from segmentation-based detection and improve segmentation.

How to use

1. We name your ros workspace as CATKIN_WS and git clone as a ROS package.

   $ cd $(CATKIN_WS)
   # we recommand you to organize your workspace as following
   $ mkdir -p src/perception/libs
   
   # git clone basic common libraries
   $ cd $(CATKIN_WS)/src/
   $ git clone https://github.com/LidarPerception/common_lib.git common
   
   # git clone perception libraries, tracking_lib and its dependencies
   $ cd $(CATKIN_WS)/src/perception/libs
   $ git clone https://github.com/LidarPerception/roi_filters_lib.git roi_filters
   $ git clone https://github.com/LidarPerception/object_builders_lib.git object_builders
   $ git clone https://github.com/LidarPerception/segmenters_lib.git segmenters
   $ git clone https://github.com/LidarPerception/feature_extractors_lib.git feature_extractors
   $ git clone https://github.com/LidarPerception/tracking_lib.git tracking
   
   # build your ros workspace for our Tracking-help segmentation demo
   $ cd $(CATKIN_WS)
   $ catkin build -DCMAKE_BUILD_TYPE=Release

2. Run demo under KiTTI raw dataset using kitti_ros's replayer.
   • Terminal 1: KiTTI raw dataset replay, more tutorials.

     $ cd $(CATKIN_WS)
     $ source devel/setup.bash
     # change Mode for Keyboard Listening Device
     $ sudo chmod 777 /dev/input/event3
     # launch kitti_ros's kitti_player for frame-by-frame algorithm testing
     $ roslaunch kitti_ros kitti_player.launch kitti_data_path:=<path-to-your-downloaded-raw-dataset> fps:=1

   • Terminal 2: launch Tracking-help Segmentation demo.

     $ cd $(CATKIN_WS)
     $ source devel/setup.bash
     $ roslaunch tracking_lib demo.launch

Parameters

　detection.yaml and tracking.yaml configure the detection_node and tracking_node in sample. kitti/*.yaml configure the algorithm parameters for KiTTI Dataset, Segmenter.yaml and TrackingWorker.yaml separately for Seg-based Segmentation, Tracking.

./config
├── detection.yaml
├── kitti
│   ├── Segmenter.yaml
│   └── TrackingWorker.yaml
└── tracking.yaml

TODO lists

Non-ground Segmenters

• Tracking-help Segmentation. IV, 2012. A basic implementation in tracking_node

  @inproceedings{himmelsbach2012tracking,
    title={Tracking and classification of arbitrary objects with bottom-up/top-down detection},
    author={Himmelsbach, Michael and Wuensche, H-J},
    booktitle={Intelligent Vehicles Symposium (IV), 2012 IEEE},
    pages={577--582},
    year={2012},
    organization={IEEE}
  }