human detection and tracking in 3D space based on Yolov3 and deepsort
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
git clone --recursive https://github.com/leggedrobotics/darknet_ros.git
cd ../
catkin build darknet_ros
cd ~
git clone git@github.com:EcustBoy/human_tracking_3D.git
cp -r ./human_tracking_3D/* ~/catkin_ws/src
cd ~/catkin_ws/src
catkin build sort_track
cd ../
catkin_make
roslaunch usb_cam usb_cam-test.launch
roslaunch realsense2_camera rs_aligned_depth.launch
launch darknet_ros
roslaunch darknet_ros yolo_v3-tiny.launch
make sure the camera publish topic name is same as darknet_ros subscribe topic name
launch deepsort node
roslaunch sort_track sort_deep.launch
calculate human position in 3D space (core)
cd ~/catkin_ws/src/sort-deepsort-yolov3-ROS/sort_track/src
pyhton2 ./my_track_deep.py
launch node which subscribes yolo detection results and calculates human 3D position coordinate based on camera equation publish (x,y,depth,id) for each human
visualize in rviz
rosrun visualize_bbox visualize_bbox
you can see the real-time human detection results(bounding box) in rviz