"AB3DMOT" modification for real-time tracking in ROS

Requirements

Ubuntu 18.04/ ROS Melodic

Installation

• clone this repo in catkin_ws/src directory:

git clone https://github.com/PardisTaghavi/real_time_tracking_AB3DMOT.git cd ab3d/src

• create conda environments with the required libraries:

conda env create --file environment.yml

• activate conda environment:

conda activate AB3D

• install AB3DMOT and mmdetection3d repositories and follow their instructions for installatoion

git clone https://github.com/xinshuoweng/AB3DMOT.git git clone https://github.com/open-mmlab/mmdetection3d.git

• Build the package in catkin workspace with

catkin build ab3d or catkin_make and Don't forget to source the package source devel/setup.bash

• chmod +x modelROS.py (do it one time to change accessibility of the file)

a rosbag file from kitti dataset is available in the following link for testing purposes: https://drive.google.com/file/d/1WHaCPYf0tYoGBJDB780DLfgqdfXo0V_p/view?usp=sharing you should play the rosbag on a seperate terminal

rosbag play <name of rosbag>.bag

• launch the code:

roslaunch ab3d ab3dLaunch.launch

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"Special thanks to the authors of the original code AB3DMOT and mmdetection3d for laying the foundation of this project."

AB3DMOT : https://github.com/xinshuoweng/AB3DMOT

mmdetection3d : https://github.com/open-mmlab/mmdetection3d

kitti dataset : https://www.cvlibs.net/datasets/kitti/