Tracker ROS node (sort and deep sort) using darknet_ros (YOLOv3). Detected bounding boxes from YOLO are used by the sort tracker.

In order to install darknet_ros, clone the latest version using SSH (see how to set up an SSH key) into your catkin workspace and compile the package using ROS.

cd catkin_workspace/src
git clone --recursive [email protected]: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

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.

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