ROS Index
Package Summary
| Tags | No category tags. |
| Version | 0.44.0 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://github.com/autowarefoundation/autoware_universe.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-04-25 |
| Dev Status | UNKNOWN |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Manato HIRABAYASHI
- Yoshi RI
Authors
bytetrack
Purpose
The core algorithm, named ByteTrack, mainly aims to perform multi-object tracking.
Because the algorithm associates almost every detection box including ones with low detection scores,
the number of false negatives is expected to decrease by using it.
Inner-workings / Algorithms
Cite
- Yifu Zhang, Peize Sun, Yi Jiang, Dongdong Yu, Fucheng Weng, Zehuan Yuan, Ping Luo, Wenyu Liu, and Xinggang Wang, “ByteTrack: Multi-Object Tracking by Associating Every Detection Box”, in the proc. of the ECCV 2022, [ref]
- This package is ported version toward Autoware from this repository (The C++ implementation by the ByteTrack’s authors)
2d tracking modification from original codes
The paper just says that the 2d tracking algorithm is a simple Kalman filter.
Original codes use the top-left-corner and aspect ratio and size as the state vector.
This is sometimes unstable because the aspect ratio can be changed by the occlusion.
So, we use the top-left and size as the state vector.
Kalman filter settings can be controlled by the parameters in config/bytetrack_node.param.yaml.
Inputs / Outputs
bytetrack_node
Input
| Name | Type | Description |
|---|---|---|
in/rect |
tier4_perception_msgs/DetectedObjectsWithFeature |
The detected objects with 2D bounding boxes |
Output
| Name | Type | Description |
|---|---|---|
out/objects |
tier4_perception_msgs/DetectedObjectsWithFeature |
The detected objects with 2D bounding boxes |
out/objects/debug/uuid |
tier4_perception_msgs/DynamicObjectArray |
The universally unique identifiers (UUID) for each object |
bytetrack_visualizer
Input
| Name | Type | Description |
|---|---|---|
in/image |
sensor_msgs/Image or sensor_msgs/CompressedImage
|
The input image on which object detection is performed |
in/rect |
tier4_perception_msgs/DetectedObjectsWithFeature |
The detected objects with 2D bounding boxes |
in/uuid |
tier4_perception_msgs/DynamicObjectArray |
The universally unique identifiers (UUID) for each object |
Output
| Name | Type | Description |
|---|---|---|
out/image |
sensor_msgs/Image |
The image that detection bounding boxes and their UUIDs are drawn |
Parameters
bytetrack_node
| Name | Type | Default Value | Description |
|---|---|---|---|
track_buffer_length |
int | 30 | The frame count that a tracklet is considered to be lost |
bytetrack_visualizer
| Name | Type | Default Value | Description |
|---|---|---|---|
use_raw |
bool | false | The flag for the node to switch sensor_msgs/Image or sensor_msgs/CompressedImage as input |
Assumptions/Known limits
Reference repositories
License
The codes under the lib directory are copied from the original codes and modified.
The original codes belong to the MIT license stated as follows, while this ported packages are provided with Apache License 2.0:
MIT License
Copyright (c) 2021 Yifu Zhang
Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the “Software”), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED “AS IS”, WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
Changelog for package autoware_bytetrack
0.44.0 (2025-04-18)
0.43.0 (2025-03-21)
- Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43
- chore: rename from [autoware.universe]{.title-ref} to [autoware_universe]{.title-ref} (#10306)
- refactor: add autoware_cuda_dependency_meta (#10073)
- Contributors: Esteve Fernandez, Hayato Mizushima, Yutaka Kondo
0.42.0 (2025-03-03)
0.41.2 (2025-02-19)
- chore: bump version to 0.41.1 (#10088)
- Contributors: Ryohsuke Mitsudome
0.41.1 (2025-02-10)
0.41.0 (2025-01-29)
- Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
- fix(autoware_bytetrack): fix bugprone-reserved-identifier (#9647) fix: bugprone-reserved-identifier
- Contributors: Fumiya Watanabe, kobayu858
0.40.0 (2024-12-12)
- Merge branch 'main' into release-0.40.0
- Revert "chore(package.xml): bump version to 0.39.0 (#9587)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
- fix: fix ticket links in CHANGELOG.rst (#9588)
- chore(package.xml): bump version to 0.39.0
(#9587)
- chore(package.xml): bump version to 0.39.0
- fix: fix ticket links in CHANGELOG.rst
* fix: remove unnecessary diff ---------Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>
- fix: fix ticket links in CHANGELOG.rst (#9588)
- feat(bytetrack): remove unreachable code block from lapjv.h (#9563)
- fix(cpplint): include what you use - perception (#9569)
- fix(autoware_bytetrack): update visualizer param path and not to set default value (#9490) fix: update visualizer param path and not to set default value
- fix(autoware_bytetrack): fix clang-diagnostic-implicit-const-int-float-conversion (#9513) fix: clang-diagnostic-implicit-const-int-float-conversion
- fix(autoware_bytetrack): fix clang-diagnostic-implicit-const-int-float-conversion (#9468)
- 0.39.0
- update changelog
- Merge commit '6a1ddbd08bd' into release-0.39.0
- fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
- fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
- chore(package.xml): bump version to 0.38.0
(#9266)
(#9284)
- unify package.xml version to 0.37.0
- remove system_monitor/CHANGELOG.rst
- add changelog
* 0.38.0
- refactor(cuda_utils): prefix package and namespace with autoware (#9171)
- Contributors: Esteve Fernandez, Fumiya Watanabe, Kotaro Uetake, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo, kobayu858
0.39.0 (2024-11-25)
- Merge commit '6a1ddbd08bd' into release-0.39.0
- fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
- fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
- chore(package.xml): bump version to 0.38.0
(#9266)
(#9284)
- unify package.xml version to 0.37.0
- remove system_monitor/CHANGELOG.rst
- add changelog
* 0.38.0
- refactor(cuda_utils): prefix package and namespace with autoware (#9171)
- Contributors: Esteve Fernandez, Yutaka Kondo
0.38.0 (2024-11-08)
- unify package.xml version to 0.37.0
- refactor(tensorrt_common)!: fix namespace, directory structure &
move to perception namespace
(#9099)
- refactor(tensorrt_common)!: fix namespace, directory structure & move to perception namespace
- refactor(tensorrt_common): directory structure
- style(pre-commit): autofix
* fix(tensorrt_common): correct package name for logging ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com> Co-authored-by: Kenzo Lobos Tsunekawa <<kenzo.lobos@tier4.jp>>
- refactor(kalman_filter): prefix package and namespace with autoware
(#7787)
- refactor(kalman_filter): prefix package and namespace with autoware
- move headers to include/autoware/
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com>
- refactor(bytetrack): fix namespace and directory structure
(#8125)
- chore: fix namespace
- chore: change include name
- refactor: rename perception/bytetrack to perception/autoware_bytetrack
* refactor: fix node exe ---------Co-authored-by: Taekjin LEE <<taekjin.lee@tier4.jp>>
- Contributors: Amadeusz Szymko, Esteve Fernandez, Yoshi Ri, Yutaka Kondo
0.26.0 (2024-04-03)
Wiki Tutorials
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- launch/bytetrack.launch.xml
-
- in_image [default: /sensing/camera/camera0/image_rect_color]
- in_image_compressed [default: $(var in_image)/compressed]
- detection_rect [default: /perception/object_recognition/detection/rois0]
- tracked_rect [default: /perception/object_recognition/detection/tracked/rois0]
- bytetrack_param_path [default: $(find-pkg-share autoware_bytetrack)/config/bytetrack.param.yaml]
- bytetrack_visualizer_param_path [default: $(find-pkg-share autoware_bytetrack)/config/bytetrack_visualizer.param.yaml]
- enable_visualizer [default: true]