3D SORT Tracker

This tracker was inspired by the 2D SORT tracker. Their code was adapted to work using 3D bounding boxes instead of just 2D bounding boxes.

How to use

Go into the src folder of your catkin workspace and run the following

git clone [this repo]
cd sort_3d
pip install -r requirements.txt

Then catkin_make or build your catkin workspace.

The tracker can be launched by running

roslaunch sort_3d sort_3d.launch

Note: This by default also starts the plotter node (can use rviz to visualize the markers), see the launch file for more information.

Requirements

This node subscribes to a topic of type pcdet_ros_msgs.msg.BoundingBoxes3D, make sure that you have that added to your catkin workspace. The version that is working with this version has been added to the extras folder for future reference.