# 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