提交tracking节点

CMakeLists.txt

+cmake_minimum_required(VERSION 3.0.2)
+project(jfx_tracking)
+
+
+add_definitions(-D_DEBUG)
+        set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -g  -O0")
+        set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -g  -O0")
+        set(CMAKE_BUILD_TYPE Debug)
+
+#add_subdirectory(yolov5)
+#add_subdirectory(track)
+## Compile as C++11, supported in ROS Kinetic and newer
+add_compile_options(-std=c++11)
+
+#find_package(OpenCV 4.1.1 REQUIRED)
+#find_package(CUDA REQUIRED)
+
+#if (CMAKE_SYSTEM_PROCESSOR MATCHES "aarch64")
+#    message("embed_platform on")
+#    include_directories(/usr/local/cuda/targets/aarch64-linux/include)
+#    link_directories(/usr/local/cuda/targets/aarch64-linux/lib)
+#else()
+#    message("embed_platform off")
+#    include_directories(/usr/local/cuda/include /host/home/sata1/hs_data/code/RunOnTensorRT/trt_soft/TensorRT-7.0.0.11/include )
+#    link_directories(/usr/local/cuda/lib64 /host/home/sata1/hs_data/code/RunOnTensorRT/trt_soft/TensorRT-7.0.0.11/lib )
+#endif()
+
+#set(JFX_YOLOV5_PATH yolov5)
+#set(JFX_COMMON_LIBS_PATH ${PROJECT_SOURCE_DIR}/../jfx_common_libs)
+
+#include_directories(${JFX_YOLOV5_PATH})
+#include_directories(${JFX_YOLOV5_PATH}/modules)
+#include_directories(${JFX_COMMON_LIBS_PATH}/utils)
+#include_directories(${JFX_COMMON_LIBS_PATH}/coordinate)
+#include_directories(${JFX_COMMON_LIBS_PATH}/tracker)
+
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+        #camera_info_manager
+        #cv_bridge
+        #dynamic_reconfigure
+        #image_transport
+        roscpp
+        rospy
+        #sensor_msgs
+        std_srvs
+        )
+
+catkin_package(
+        CATKIN_DEPENDS
+        #camera_info_manager
+        #cv_bridge
+        #dynamic_reconfigure
+        #image_transport
+        roscpp
+        rospy
+        #sensor_msgs
+        std_srvs
+        #DEPENDS
+        #OpenCV
+)
+
+###########
+## Build ##
+###########
+
+
+include_directories(
+        /usr/local/include
+        src
+        src/tracker
+        src/BaseTracker
+        ${catkin_INCLUDE_DIRS}
+)
+
+link_directories(/usr/local/lib)
+link_directories(/usr/local/cuda/lib64)
+link_directories(/usr/lib/aarch64-linux-gnu)
+link_directories(/usr/lib/aarch64-linux-gnu/tegra)
+
+#file(GLOB_RECURSE COORDINATE_SRC_FILES
+#        ${PROJECT_SOURCE_DIR}/../jfx_common_libs/coordinate/*.cpp
+#)
+file(GLOB_RECURSE TRACKER_SRC_FILES
+        ${PROJECT_SOURCE_DIR}/src/tracker/kalman_filter.cpp
+        ${PROJECT_SOURCE_DIR}/src/tracker/munkres.cpp
+)
+
+add_executable(${PROJECT_NAME}_node
+        src/jfx_tracking.cpp
+        src/BaseTracker/Iou.cpp
+        src/BaseTracker/BaseTrack.cpp
+        src/BaseTracker/Track3D.cpp
+        src/BaseTracker/Track2D.cpp
+        #${COORDINATE_SRC_FILES}
+        ${TRACKER_SRC_FILES}
+)
+
+target_link_libraries(${PROJECT_NAME}_node
+        #nvinfer
+        #cudart
+        #yolov5plugins
+        ${catkin_LIBRARIES}
+        #${OpenCV_LIBS}
+        #yaml-cpp
+        )
+
+#add_executable(cv_test
+#        src/test.cpp
+#        ${COORDINATE_SRC_FILES}
+#        ${TRACKER_SRC_FILES}
+#)
+#
+#target_link_libraries(cv_test
+#        ${catkin_LIBRARIES}
+#        ${OpenCV_LIBS}
+#        yaml-cpp
+#        )
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# catkin_install_python(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
+# install(TARGETS ${PROJECT_NAME}_node
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark libraries for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
+# install(TARGETS ${PROJECT_NAME}
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_jfx_vision.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)

launch/jfx_tracking.launch

+<launch>
+   
+   <node pkg="jfx_tracking" type="jfx_tracking_node" name="jfx_tracking_node" output="screen" respawn="true" >
+   </node>
+
+    <!-- nodelet tracking
+    <node pkg="jfx_vision" type="listener_image.py" name="" args="">
+    </node>
+    -->
+</launch>

package.xml

+<?xml version="1.0"?>
+<package format="2">
+  <name>jfx_tracking</name>
+  <version>1.0.0</version>
+  <description>The jfx_tracking package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag -->
+  <!-- Example:  -->
+  <maintainer email="liguoqing@juefx.com">liguoqing</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>TODO</license>
+
+
+  <!-- Url tags are optional, but multiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/jfx_vision</url> -->
+
+
+  <!-- Author tags are optional, multiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintainers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+
+
+  <!-- The *depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
+  <!--   <depend>roscpp</depend> -->
+  <!--   Note that this is equivalent to the following: -->
+  <!--   <build_depend>roscpp</build_depend> -->
+  <!--   <exec_depend>roscpp</exec_depend> -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use build_export_depend for packages you need in order to build against this package: -->
+  <!--   <build_export_depend>message_generation</build_export_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use exec_depend for packages you need at runtime: -->
+  <!--   <exec_depend>message_runtime</exec_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <!-- Use doc_depend for packages you need only for building documentation: -->
+  <!--   <doc_depend>doxygen</doc_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <!-- build dependencies -->
+  <build_depend>std_srvs</build_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>rospy</build_depend>
+  <build_depend>message_filters</build_depend>
+
+  <!-- runtime dependencies -->
+  <exec_depend>std_srvs</exec_depend>
+  <exec_depend>roscpp</exec_depend>
+  <exec_depend>rospy</exec_depend>
+  <exec_depend>message_filters</exec_depend>
+
+</package>

src @ bccd5f19

-Subproject commit 671b2dd7e915a85edb84c5fd658c40ae06f9fcf1
+Subproject commit bccd5f19095e39d827aa49bea200e7bbfa8f14dc