Awesome
<!-- <p align="center"> <a href="" target='_blank'> <img src="https://visitor-badge.laobi.icu/badge?page_id=PardisTaghavi.real_time_tracking_AB3DMOT&left_color=gray&right_color=red"> </a> </p> -->"AB3DMOT" modification for real-time tracking in ROS
Requirements
Ubuntu 18.04/ ROS Melodic
Installation
- clone this repo in catkin_ws/src directory:
git clone https://github.com/PardisTaghavi/real_time_tracking_AB3DMOT.git
cd ab3d/src
- create conda environments with the required libraries:
conda env create --file environment.yml
- activate conda environment:
conda activate AB3D
- install AB3DMOT and mmdetection3d repositories and follow their instructions for installatoion
git clone https://github.com/xinshuoweng/AB3DMOT.git
git clone https://github.com/open-mmlab/mmdetection3d.git
- Build the package in catkin workspace with
catkin build ab3d or catkin_make
and Don't forget to source the package source devel/setup.bash
chmod +x modelROS.py(do it one time to change accessibility of the file)
a rosbag file from kitti dataset is available in the following link for testing purposes: https://drive.google.com/file/d/1WHaCPYf0tYoGBJDB780DLfgqdfXo0V_p/view?usp=sharing you should play the rosbag on a seperate terminal
rosbag play <name of rosbag>.bag
- launch the code:
roslaunch ab3d ab3dLaunch.launch
"Special thanks to the authors of the original code AB3DMOT and mmdetection3d for laying the foundation of this project."
AB3DMOT : https://github.com/xinshuoweng/AB3DMOT
mmdetection3d : https://github.com/open-mmlab/mmdetection3d
kitti dataset : https://www.cvlibs.net/datasets/kitti/