def main():
global tracker
global msg
msg = IntList()
global inverse_cam_matrix, cam_to_quad, tcam
#Initialize ROS node
rospy.init_node('sort_tracker', anonymous=False)
rate = rospy.Rate(10)
# Get the parameters
global camera_parameters
(camera_topic, detection_topic, tracker_topic, cost_threshold, max_age, min_hits,camera_parameters) = get_parameters()
inverse_cam_matrix = np.linalg.inv(np.reshape(np.array(camera_parameters['camera_matrix']['data']), (camera_parameters['camera_matrix']['rows'],camera_parameters['camera_matrix']['cols'])))
cam_to_quad = np.linalg.inv(np.reshape(np.array(camera_parameters['rotation']),(3,3)))
tcam = np.reshape(np.array(camera_parameters['translation']),(3,1))
tracker = sort.Sort(max_age=max_age, min_hits=min_hits) #create instance of the SORT tracker
cost_threshold = cost_threshold
#Subscribe to image topic
image_sub = rospy.Subscriber(camera_topic,Image,callback_image)
#Subscribe to darknet_ros to get BoundingBoxes from YOLOv3
sub_detection = rospy.Subscriber(detection_topic, BoundingBoxes , callback_det)
#Publish results of object tracking
pub_trackers = rospy.Publisher(tracker_topic, IntList, queue_size=10)
#print(msg) #Testing msg that is published
#pub_trackers.publish(msg)
sub_odometry = rospy.Subscriber("Odometry",Odometry,callback_odom)
global pub_bbposes
pub_bbposes = rospy.Publisher("BBposes",BBPoses,queue_size=10)
rospy.spin()
def main():
global tracker
global msg
msg = IntList()
while not rospy.is_shutdown():
#Initialize ROS node
rospy.init_node('sort_tracker', anonymous=False)
rate = rospy.Rate(10)
# Get the parameters
(camera_topic, detection_topic, tracker_topic, cost_threshold, max_age,
min_hits) = get_parameters()
tracker = sort.Sort(
max_age=max_age,
min_hits=min_hits) #create instance of the SORT tracker
cost_threshold = cost_threshold
#Subscribe to image topic
image_sub = rospy.Subscriber(camera_topic, Image, callback_image)
#Subscribe to darknet_ros to get BoundingBoxes from YOLOv3
sub_detection = rospy.Subscriber(detection_topic, BoundingBoxes,
callback_det)
#Publish results of object tracking
pub_trackers = rospy.Publisher(tracker_topic, IntList, queue_size=10)
#print(msg) #Testing msg that is published
#pub_trackers.publish(msg)
rate.sleep()
rospy.spin()
def main():
global tracker
global encoder
global msg
msg = IntList()
max_cosine_distance = 0.2
nn_budget = 100
metric = nn_matching.NearestNeighborDistanceMetric("cosine",
max_cosine_distance,
nn_budget)
tracker = Tracker(metric)
model_filename = "/home/joemasterjohn/deep_sort_ws/src/sort-deepsort-yolov3-ROS/sort_track/src/deep_sort/model_data/mars-small128.pb" #Change it to your directory
encoder = gdet.create_box_encoder(model_filename)
#Initialize ROS node
rospy.init_node('sort_tracker', anonymous=True)
rate = rospy.Rate(100)
# Get the parameters
(camera_topic, detection_topic, tracker_topic) = get_parameters()
#Subscribe to image topic
image_sub = rospy.Subscriber(camera_topic, Image, callback_image)
#Subscribe to darknet_ros to get BoundingBoxes from YOLOv3
sub_detection = rospy.Subscriber(detection_topic, BoundingBoxes,
callback_det)
pub_trackers = rospy.Publisher(tracker_topic, IntList, queue_size=10)
while not rospy.is_shutdown():
#Publish results of object tracking
#print(msg)
pub_trackers.publish(msg)
rate.sleep()
def main():
global tracker
global msg
global detections
global total_time
global total_frames
global start_time
global cycle_time
global tracker_id
global iou_threshold
global display
global detection_event
display = False
total_frames = 0
detection_event = False
# holds tracker id
counter = IntList()
while not rospy.is_shutdown():
#Initialize ROS node
# frame +=1
rospy.init_node('sort_tracker', anonymous=False)
# Get the parameters
(queue_size, camera_topic, detection_topic, tracker_topic,
cost_threshold, iou_threshold, display, max_age, min_hits,
fps) = get_parameters()
cost_threshold = cost_threshold
# loop twice per frame
rate = rospy.Rate(3)
tracker = sort.Sort(
max_age=max_age,
min_hits=min_hits) #create instance of the SORT tracker
#Subscribe to darknet_ros to get BoundingBoxes from yolov3-detections
sub_detection = rospy.Subscriber(detection_topic, BoundingBoxes,
callback_det)
#Subscribe to image topic
image_sub = rospy.Subscriber(camera_topic, Image, callback_image)
#Publish results of object tracking
# pub_trackers = rospy.Publisher(tracker_topic, IntList, queue_size=queue_size)
# print(msg)
# 1.5 = 2
total_frames = math.ceil(total_frames + 1 / 2)
#pub_trackers.publish(msg)
rate.sleep()
rospy.spin()