- Download shadow package and Drone_TLD. Drone_TLD is the rosified verison of the OpenTLD by Zdenek Kalal.
git clone https://github.com/HALLAB-Halifax/Drone_TLD.git
- catkin_make the shadow package.
- You need to add ROS support to MATLAB for Drone_TLD to work. Refer to ROS support for MATLAB to install it.
- Connect to AR.Drone's network and initiate roscore.
- Run ardrone_autonomy to setup the topics to communicate with the AR.Done.
rosrun ardrone_autonomy ardrone_driver
- Run the file run_TLD.m of Drone_TLD on Matlab.
- In the window showing the camera frame draw a bounding box over the target.
- Next run shadow to get the drone to follow the target.
rosrun shadow shadow
- Watch the drone follow the target. Have Fun! :)
Drone_TLD
-
Compile.m: Make sure the veriables
include
andlibpath
point to the right directories. If unsure, use the terminal to get the paths.
pkg-config --cflags opencv
for include
pkg-config --libs opencv
for libpath -
tldExample.m
- Specify the topic to subscribe from for the camera feed.
- Two callback functions are available. Use
functionrgb
when the subscribed topic is color else usefuncBW
for grayscale input.
-
For further info or toubleshooting on TLD refer to the issues section of OpenTLD