Multi-tracker

Multi-tracker is a package for multi-object tracking with ROS Noetic. Its modular design allows the user to chose between YOLOv5 and Detectron2 as object detectors and ByteTrack or PySOT as object trackers.

It is designed as frontend for the MSL-RAPTOR package and requires multi_tracker_msgs to communicate.

It detects and tracks objects from a ROS topic, specified in the config files, and outputs the bounding boxes in /multi_tracker/angledbox_array, the inference time in /multi_tracker/inference_time as well as the segmentation masks in /multi_tracker/mask, if available.

Installation

In your ROS workspace source folder, clone the repository with its submodules using

git clone --recurse-submodules https://github.com/tgieruc/multi_tracker

Python dependency have to be installed:

pip install -r requirements.txt
pip install -r src/lib/detectron2/requirements.txt

then use Catkin to build the package.

Settings

ROS configuration file is located in the config folder. Two example files are provided, here for Detectron2 and here for YOLOv5. All configuration files for the modules have to be stored in the modules_config folder.

All paths specified in the ROS config file are relative to the modules_config folder. No parameters can be left empty, unused parameters can be set at "".

• multi_tracker/detector/name: either YOLOv5 or Detectron2
• multi_tracker/detector/weights: path to the detector weights
• multi_tracker/detector/config: only for Detectron2, the path to the config file
• multi_tracker/tracker/name: either PySOT or ByteTrack
• multi_tracker/tracker/config: only for PySOT, path to the config file
• multi_tracker/tracker/weights: only for PySOT, path to the config file
• multi_tracker/input: the ROS camera_raw topic
• multi_tracker/visualize: true or false, whether to visualize the output
• multi_tracker/redetect_time: only for PySOT, laps of seconds between each redetection
• multi_tracker/number_object: only for PySOT, total number of objects, including the one doing the tracking
• multi_tracker/bytetrack/track_thresh: only for ByteTrack, see ByteTrack documentation for specific information
• multi_tracker/bytetrack/device: either "cpu" or "gpu"
• multi_tracker/bytetrack/track_buffer: only for ByteTrack, see ByteTrack documentation for specific information
• multi_tracker/bytetrack/match_thresh: only for ByteTrack, see ByteTrack documentation for specific information

Contact

For any questions, please email me at theo.gieruc@gmail.com