This is ROS package of LiDAR Tracking
- ROS Noetic based LiDAR Tracking source code
- Demo youtube link (youtube)
You need to install ROS, PCL, Sophus, Glog, Eigen, JSK, Json...
$ mkdir -p ~/catkin_ws/src
$ git clone https://github.com/inha-cvl/LiDAR-Tracking.git
$ cd ~/catkin_ws
$ catkin_make- Download bag (bagfile)
# Start Tracking with bag file
$ roscore
$ rosparam set /use_sim_time true
$ roslaunch lidar_tracking tracking.launch
$ roslaunch openpcdet 3d_object_detector.launch # Deep Learning-based bounding box publishing needed
$ roslaunch lidar_tracking integration.launch
$ rosbag play songdo.bag --clock