bytetrack_ros

This package is a port of ByteTrack to ROS2. The object detector is assumed to be YOLOX-ROS.

MOT16-04.mp4

• demo video is MOT16-04, using yolox-s model.

Requirements

• ROS2 Foxy or later
• OpenCV
• Eigen3
• bbox_ex_msgs
• YOLOX-ROS
• OpenVINO or TensorRT
• ros_video_player

Usage (OpenVINO)

Install

source /opt/ros/foxy/setup.bash
# source /opt/ros/humble/setup.bash

source /opt/intel/openvino_2021/bin/setupvars.sh

cd ~/ros2_ws/src
git clone https://github.com/fateshelled/bytetrack_ros
git clone https://github.com/fateshelled/ros_video_player
git clone --recursive https://github.com/Ar-Ray-code/YOLOX-ROS

# Download onnx file and Convert to IR format.
./YOLOX-ROS/weights/openvino/install.bash yolox_s

RUN

cd ~/ros2_ws
source /opt/ros/foxy/setup.bash
# source /opt/ros/humble/setup.bash
source ./install/setup.bash

# launch with WebCam
ros2 launch bytetrack_cpp_node bytetrack_openvino.launch.py

# launch with Video File
ros2 launch bytetrack_cpp_node bytetrack_openvino.launch.py video_path:={video file path}

ros graph