contact_inspection_trackers

1. Requirements

Ubuntu 64-bit 16.04 or 18.04. ROS Kinetic or Melodic. [ROS install](http://wiki.ros.org/ROS/Installation)
PCL 1.2 or higher
OpenCV  

2. Build

cd ~/catkin_ws/src
git clone https://github.com/sanjanamallya/contact_inspection_trackers.git
cd ../
catkin build
source ~/catkin_ws/devel/setup.bash

3. Run

To run GUI free tracking that just latches to a ROI around the center of the Image:
roslaunch 2020_trackers perception_roi_center.launch tracker:="1"

To utilize GUI and a tracking algorithm:
roslaunch 2020_trackers perception.launch tracker:="args"    

args options for trackers:
"1": CSRT
"2": KCF
"3": Boosting
"4": MIL
"5": TLD
"6": MedianFlow
"7": MOSSE

4. Data

(https://drive.google.com/drive/u/0/folders/1cx-L1gHehPKWpD6fyoQyGOGPGdAsmsHt)

5. Topics Information

Currently for depth estimation topics subscribed to from bag file:
Color Image msgs: "/front_depth_camera/depth/image_raw"
Depth Camera msgs: "/front_depth_camera/depth/camera_info/"

Modify perception.launch if these topics are different

Subscribe to:
"/depth_estimation/point_cloud/pose": For pose information of the plane segmented from poi generated from ROI
"/depth_estimation//perception/tracker/bboxOut": For bbox info from tracker
"/perception/tracker/bboxImage": For image annoated with tracked bbox
"/perception/tracker/status": For status of tracker. To check if tracking was successful 

TODO

1. Improve tracker performance