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vision_beyond_track package from autoware_learn repo

amathutils_lib autoware_build_flags autoware_health_checker emergency_handler gnss lanelet2_extension libvectormap libwaypoint_follower map_file object_map op_planner op_ros_helpers op_simu op_utility ros_observer tvm_utility vector_map vector_map_server vehicle_sim_model autoware_connector ekf_localizer gnss_localizer image_processor imm_ukf_pda_track lidar_apollo_cnn_seg_detect lidar_euclidean_cluster_detect lidar_fake_perception lidar_kf_contour_track lidar_localizer lidar_naive_l_shape_detect lidar_point_pillars lidar_shape_estimation naive_motion_predict ndt_cpu ndt_gpu ndt_tku obj_db pcl_omp_registration pixel_cloud_fusion points_downsampler points_preprocessor pos_db range_vision_fusion road_occupancy_processor roi_object_filter trafficlight_recognizer twist_generator vel_pose_diff_checker vision_beyond_track vision_darknet_detect vision_lane_detect vision_segment_enet_detect vision_ssd_detect astar_search costmap_generator decision_maker dp_planner ff_waypoint_follower freespace_planner lane_planner lattice_planner ll2_global_planner mpc_follower op_global_planner op_local_planner op_simulation_package op_utilities pure_pursuit state_machine_lib twist_filter twist_gate way_planner waypoint_maker waypoint_planner autoware_quickstart_examples autoware_can_msgs autoware_config_msgs autoware_external_msgs autoware_lanelet2_msgs autoware_map_msgs autoware_msgs autoware_system_msgs tablet_socket_msgs vector_map_msgs carla_autoware_bridge gazebo_camera_description gazebo_imu_description lgsvl_simulator_bridge vehicle_gazebo_simulation_interface vehicle_gazebo_simulation_launcher wf_simulator autoware_bag_tools autoware_camera_lidar_calibrator autoware_launcher autoware_launcher_rviz calibration_publisher data_preprocessor graph_tools kitti_box_publisher kitti_launch kitti_player lanelet_aisan_converter log_tools map_tf_generator map_tools marker_downsampler mqtt_socket multi_lidar_calibrator oculus_socket pc2_downsampler rosbag_controller runtime_manager sound_player system_monitor tablet_socket twist2odom udon_socket vehicle_engage_panel vehicle_socket decision_maker_panel detected_objects_visualizer fastvirtualscan gazebo_world_description glviewer integrated_viewer points2image rosinterface autoware_rviz_plugins vehicle_description vehicle_model adi_driver as autoware_driveworks_gmsl_interface autoware_driveworks_interface vlg22c_cam custom_msgs garmin hokuyo javad_navsat_driver kvaser sick_lms5xx memsic_imu microstrain_driver nmea_navsat autoware_pointgrey_drivers sick_ldmrs_description sick_ldmrs_driver sick_ldmrs_laser sick_ldmrs_msgs sick_ldmrs_tools vectacam xsens_driver ymc ds4 ds4_driver ds4_msgs lanelet2 lanelet2_core lanelet2_examples lanelet2_io lanelet2_maps lanelet2_matching lanelet2_projection lanelet2_python lanelet2_routing lanelet2_traffic_rules lanelet2_validation mrt_cmake_modules

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 1.12.0
License Apache 2
Build type CATKIN
Use RECOMMENDED

Repository Summary

Description autoware src learn and recode.
Checkout URI https://github.com/is-whale/autoware_learn.git
VCS Type git
VCS Version 1.14
Last Updated 2025-03-14
Dev Status UNKNOWN
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

object tracker based on beyond pixel

Additional Links

No additional links.

Maintainers

  • Yuki Tsuji

Authors

No additional authors.
autoware/core_perception/vision_beyond_track/README.md

Beyond Pixels based tracker

This node is based on the work depicted by Beyond Pixels: Leveraging Geometry and Shape Cues for Online Multi-Object Tracking. Published on the Proceedings of the IEEE International Conference on Robotics and Automation.

How to launch

Example, supposing default topic values.

  1. Launch CameraInfo publisher (Sensing Tab -> Calibration Publisher).

  2. Launch the Image rectifier (roslaunch image_processor image_rectifier.launch).

  3. Launch an image based object detector (yolo3, ssd, etc).

  4. From a sourced terminal:

    • roslaunch vision_beyond_track vision_beyond_track.launch

or from Runtime Manager:

Computing Tab -> Detection/ vision_tracker -> vision_beyond_track

Parameters

Launch file available parameters:

Parameter Type Description
camera_info_src String Camera intrinsics. Default /camera_info.
objects_topic_src String Image detections to track. Default /detection/vision_objects.
camera_height Double Camera Height in meters. Default 1.2.

Subscribed topics

Topic Type Objective
/camera_info sensor_msgs/CameraInfo Camera intrinsics.
/detection/vision_objects autoware_msgs/DetectedObjectArray Obtain the rectangles of the detected objects on image.

Published topics

Topic Type Objective
/detection/tracked_objects autoware_msgs::DetectedObjectArray Contains the coordinates of the bounding boxes in image coordinates for the successfully tracked objects.

Video

Beyond Autoware

CHANGELOG

Changelog for package vision_beyond_track

1.11.0 (2019-03-21)

  • [fix] Install commands for all the packages (#1861)
    • Initial fixes to detection, sensing, semantics and utils
    • fixing wrong filename on install command
    • Fixes to install commands
    • Hokuyo fix name
    • Fix obj db
    • Obj db include fixes
    • End of final cleaning sweep
    • Incorrect command order in runtime manager
    • Param tempfile not required by runtime_manager
      • Fixes to runtime manager install commands
    • Remove devel directory from catkin, if any
    • Updated launch files for robosense
    • Updated robosense
    • Fix/add missing install (#1977)
    • Added launch install to lidar_kf_contour_track
    • Added install to op_global_planner
    • Added install to way_planner
    • Added install to op_local_planner
    • Added install to op_simulation_package
    • Added install to op_utilities
    • Added install to sync
      • Improved installation script for pointgrey packages
    • Fixed nodelet error for gmsl cameras
    • USe install space in catkin as well
    • add install to catkin
    • Fix install directives (#1990)
    • Fixed installation path
    • Fixed params installation path
    • Fixed cfg installation path
    • Delete cache on colcon_release
  • Fix license notice in corresponding package.xml
  • Initial release of object filter
  • Contributors: Abraham Monrroy, Abraham Monrroy Cano, amc-nu

1.10.0 (2019-01-17)

  • Fixes for catkin_make
  • Use colcon as the build tool (#1704)
    • Switch to colcon as the build tool instead of catkin
    • Added cmake-target
    • Added note about the second colcon call
    • Added warning about catkin* scripts being deprecated
    • Fix COLCON_OPTS
    • Added install targets
    • Update Docker image tags
    • Message packages fixes
    • Fix missing dependency
  • Feature/perception visualization cleanup (#1648)
      • Initial commit for visualization package
    • Removal of all visualization messages from perception nodes
    • Visualization dependency removal
    • Launch file modification
      • Fixes to visualization
    • Error on Clustering CPU
    • Reduce verbosity on markers
    • intial commit
      • Changed to 2 spaces indentation
    • Added README
    • Fixed README messages type
    • 2 space indenting
    • ros clang format
    • Publish acceleration and velocity from ukf tracker
    • Remove hardcoded path
    • Updated README
    • updated prototype
    • Prototype update for header and usage
    • Removed unknown label from being reported
    • Updated publishing orientation to match develop
      • Published all the trackers
    • Added valid field for visualization and future compatibility with ADAS ROI filtering
    • Add simple functions
    • Refacor code
      • Reversed back UKF node to develop
    • Formatted speed
    • Refactor codes
    • Refactor codes
    • Refactor codes
    • Refacor codes
    • Make tracking visualization work
    • Relay class info in tracker node
    • Remove dependency to jskbbox and rosmarker in ukf tracker
    • apply rosclang to ukf tracker
    • Refactor codes
    • Refactor codes
    • add comment
    • refactor codes

    * Revert "Refactor codes" This reverts commit 135aaac46e49cb18d9b76611576747efab3caf9c. * Revert "apply rosclang to ukf tracker" This reverts commit 4f8d1cb5c8263a491f92ae5321e5080cb34b7b9c. * Revert "Remove dependency to jskbbox and rosmarker in ukf tracker" This reverts commit 4fa1dd40ba58065f7afacc5e478001078925b27d. * Revert "Relay class info in tracker node" This reverts commit 1637baac44c8d3d414cc069f3af12a79770439ae.

    • delete dependency to jsk and remove pointcloud_frame
    • get direction nis
    • set velocity_reliable true in tracker node
    • Add divided function
    • add function
    • Sanity checks
    • Relay all the data from input DetectedObject
    • Divided function work both for immukf and sukf
    • Add comment
    • Refactor codes
    • Pass immukf test
    • make direction assisted tracking work
    • Visualization fixes
    • Refacor codes
    • Refactor codes
    • Refactor codes
    • refactor codes
    • refactor codes
    • Refactor codes
    • refactor codes
    • Tracker Merging step added
    • Added launch file support for merging phase
    • lane assisted with sukf
    • Refactor codes
    • Refactor codes
      • change only static objects
    • keep label of the oldest tracker
    • Static Object discrimination
    • Non rotating bouding box
    • no disappear if detector works
    • Modify removeRedundant a bit
    • Replacement of JSK visualization for RViz Native Markers
    • Added Models namespace to visualization
    • Naming change for matching the perception component graph
      • Added 3D Models for different classes in visualization
    • 2D Rect node visualize_rects added to visualization_package
  • Contributors: Abraham Monrroy Cano, Esteve Fernandez, amc-nu

1.9.1 (2018-11-06)

1.9.0 (2018-10-31)

  • Feature/beyond pixel tracker (#1473)
    • Add beyond_pixel node
    • Update prototype of beyond pixel (#1430)
    • Add parser of DetectedObjectArray for beyond tracker(#1430)
      • Adaptations to the original code
    • Added README
    • Added Runtime Manager entry
    • Added Video link
    • Added install commands for cmake
      • Add ID only to tracked objects
    • Display valid IDs on the 3D labels
    • Display only objects with image coords
      • Added Minimum dimensions
    • Register angle from the vision tracker if available
    • Keep message publishing rate continuous
    • Revert platform_automation_msgs (#1498)
    • Code cleanup
    • Fixed a crash when the dimensions are outside of the image
    • Fix annoying catkin_make causing to run twice the Cmake generation
  • Contributors: Abraham Monrroy

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps Name
autoware_build_flags
catkin
autoware_msgs
cv_bridge
image_transport
roscpp
sensor_msgs
std_msgs
tf

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

  • launch/vision_beyond_track.launch
      • camera_info_src [default: /camera_info]
      • objects_topic_src [default: /detection/image_detector/objects]
      • camera_height [default: 1.2]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged vision_beyond_track at Robotics Stack Exchange

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