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# multiple-camera-based tracking system - Master's thesis
The developed ROS nodes are located in the 'src' folder which can be accessed from this link. [src directory](https://robotics.hochschule-rhein-waal.de/gitlab/jobvakayil/multi_cam_tracking_system_thesis/-/tree/main/workspace/virtuallab/src)
## Softwares/Libraries used:
* ROS Melodic
* Python 2.7.17
* OpenCV python 4.2.0
* tensorflow 1.14
## Sensors implemented:
* 4 Raspberry Pi Cameras
* 1 Hukoyo laser scanner
## Packages:
* images_process: ROS node for calibration and transformation of image inputs from camera
* robot_classifier: ROS node for detection of robots and their orientations.
* robot_mapping: ROS node for tracking of both position and orientaion.
* laser_scan_convert: ROS node for converting LaserScan message type to pointcloud