tracking_lib

　　The LiDAR tracking library, for tracking objects obtaining from segmentation-based detection and improve segmentation.

## How to use 1. We name your ros workspace as `CATKIN_WS` and `git clone` as a ROS package. ```bash

# we recommand you to organize your workspace as following
$ mkdir -p ~/tracking_ws/src

# git clone basic common libraries
$ cd ~/tracking_ws/src
$ git clone https://github.com/xiaxin2000/aeng_563_detection_tracking.git

# build your ros workspace for our Tracking-help segmentation demo
$ cd ~/tracking_ws
$ catkin_make

2. Run demo with kitti rosbag:

   • Terminal 1: rosbag play kitti_2011_09_26_drive_0017_synced.bag (https://drive.google.com/file/d/1yJ7xFdPbLgASEE47FuTSNHeCqHDLvpqe/view?usp=sharing)

   • Play rosbag and modify the detection.yaml and tracking.yaml if necessary.

   • Terminal 2: launch Tracking-help Segmentation demo.

     $ cd ~/tracking_ws
     $ source devel/setup.bash
     $ roslaunch tracking_lib demo.launch

Parameters

　detection.yaml and tracking.yaml configure the detection_node and tracking_node in sample. kitti/*.yaml configure the algorithm parameters for KiTTI Dataset, Segmenter.yaml and TrackingWorker.yaml separately for Seg-based Segmentation, Tracking.

./config
├── detection.yaml
├── kitti
│   ├── Segmenter.yaml
│   └── TrackingWorker.yaml
└── tracking.yaml

TODO lists