deep_sort_tracker_node.py¶
What is this?¶

Tracking objects using target bounding box.
Subscribing Topic¶
~input
(sensor_msgs/Image
)Raw image.
~input/rects
(jsk_recognition_msgs/RectArray
)Rectangles on an input image.
~input/class
(jsk_recognition_msgs/ClassificationResult
)Class labels for each rectangles.
Publishing Topic¶
~output/labels
(jsk_recognition_msgs/LabelArray
)Tracking id labels of each tracked objects.
~output/viz
(sensor_msgs/Image
)Visualized image of recognition result.
Parameters¶
~gpu
(Int, default:0
)GPU id.
~target_labels
(List of String, default:None
)If this param is specified, tracking only specified label class. If this value is
None
, use all label.~pretrained_model
(String, required)Pretrained model path.
~approximate_sync
(Bool, default:False
)Whether to use approximate for input topics.
~queue_size
(Int, default:100
)How many messages you allow about the subscriber to keep in the queue. This should be big when there is much difference about delay between two topics.
~slop
(Float, default:0.1
)How many seconds you allow about the difference of timestamp when you specify
~approximate_sync
.
Sample¶
roslaunch jsk_perception sample_deep_sort_tracker.launch gpu:=0