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基于ros下应用深度相机的kcf追踪算法实现

开发环境：

Ubuntu 14.04 + ros indigo

传感器：

深度相机（Xtion pro live）

实验平台：

Aiibot

运行：

1.首先启动ros环境：

$roscore

2.运行ros打开深度相机的节点，发出可播放深度图像和rgb图像的topic：

$roslaunch openni_launch openni.launch

3.查看ros的topic列表中是否有深度图像和rgb图像的topic：

$rostopic list

4.编译：

$catkin_make
$source devel/setup.bash

5.运行：

运行前需要打开移动平台，运行移动平台启动程序 aiibot_bringup

程序链接：http://git.aiiage.com:9000/liu.f/aiibot_bringup

启动地盘程序：

$roslaunch aiibot_bringup base_control.launch

启动追踪程序

$rosrun track_pkg kcf_node

6.使用程序

程序启动后，在图像窗口内鼠标左键框选所要跟踪的目标.

速度规划

参数 数值（单位m）
Min_distance 1.5
Max_distance 5.0
Min_linear_speed 0.4
Max_linear_speed 0.6
Min_rotation_speed 0
Max_rotation_speed 0.75

目标距离相机1.5m时开始跟踪，初始速度0.4m/s，速度随着距离的增大而增加， 最大距离5m是速度增加到0.6m/s。旋转速度初始为0, 随着目标偏移相机中心点的角度的增大而增加， 最大叫速度为0.75rad/s。

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