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YOLO + SORT/DEEP SORT for ROS

Tracker ROS node (sort and deep sort) using yolov5_ros (YOLOv5). Detected bounding boxes from YOLO are used by the sort tracker.
Target: Ubuntu 20.04 and ROS Noetic

The documetation below will be updated soon!

Docker installation

Go to the docker folder and run the following:
./build_image.sh
./run_container.sh path_to_your_workspace
You can use the docker container to build and run the code.
Clone the repositories outside the container and mount the volume with the workspace to the container.

Installation

In order to install darknet_ros, clone the latest version into your catkin workspace and compile the package using ROS.

cd catkin_workspace/src
git clone --recursive https://github.com/leggedrobotics/darknet_ros.git
cd ../
catkin build darknet_ros

In order to install sort_track, clone this repository in your catkin workspace and compile the package using ROS

cd src
git clone https://github.com/ilyas95/sort-deepsort-yolov3-ROS
catkin build sort_track

How to use

Remember to source your workspace in every new terminal window by using

source ~/catkin_workspace/devel/setup.bash

Run darknet_ros detector (For my project I used mainly YOLOv3-tiny but it should work for the other YOLOs)

roslaunch darknet_ros yolo_v3-tiny.launch

If you use the computer camera, you may need to install usb_cam ROS package and run this before running darknet_ros node:

roslaunch usb_cam usb_cam-test.launch

If you still have Waiting for image. message, try to see in the file ros.yaml what is the camera topic Then you can choose between:

  • SORT

To run:

roslaunch sort_track sort.launch
  • DEEP SORT

Before running go to catkin_workspace/src/sort_track/src and open track_deep.py In line 90, modify model_filename to your directory To run:

roslaunch sort_track sort_deep.launch

IMPORTANT!! Before running the tracker nodes, you have to make the python scripts executable. For SORT, go to catkin_workspace/src/sort-deepsort-yolov3-ROS/sort_track/src and make track.py executable. For DEEP SORT, go to the same folder and make track_deep.py executable. 46     47

  • DEEP SORT 48 ​ 49 ​ 50 Before running go to catkin_workspace/src/sort_track/src and open track_deep.py 51 In line 90, modify model_filename to your directory 52 To run: 53 ​ 54    roslaunch sort_track sort_deep.launch 55 IMPORTANT!! Before running the tracker nodes, you have to make the python scripts executable. 56 For SORT, go to catkin_workspace/src/sort-deepsort-yolov3-ROS/sort_track/src and make track.py executable. 57 For DEEP SORT, go to the same folder and make track_deep.py executable. 58

Disclaimer

This project is using code from:

abewley/sort: Simple, online, and realtime tracking of multiple objects in a video sequence.

nwojke/deep_sort: Simple Online Realtime Tracking with a Deep Association Metric.

leggedrobotics/darknet_ros: YOLO ROS: Real-Time Object Detection for ROS