├─ CMakeLists.txt
├─ robot_bringup # launch 文件功能包
├─ robot_msgs
├─ sentry_beta # 哨岗检测节点
│ ├─ CMakeLists.txt
│ ├─ model # Tensorrt 模型
│ ├─ background.png # 场地背景图
│ ├─ libtensorrt_pro.so # tensorRT_pro 静态库(仓库中没有,需要编译,见README)
│ ├─ sentry_node.cpp # 哨岗检测节点主程序
│ ├─ sort # 哨岗目标检测与目标跟踪代码库
│ │ ├─ Hungarian.cpp # 匈牙利算法
│ │ ├─ Hungarian.h
│ │ ├─ pv_kalman_filter.cpp # 二维卡尔曼滤波器Eigen实现
│ │ ├─ pv_kalman_filter.h
│ │ ├─ rsort.cpp # 目标跟踪算法主程序
│ │ ├─ rsort.h
│ │ ├─ trrt_detector.cpp # tensort推理 后处理 输出格式转换
│ │ ├─ trrt_detector.h
│ │ ├─ visualize.cpp # 可视化函数
│ │ └─ visualize.h
│ └─ tensorrt # tensorRT_pro项目的头文件
└─ tools # 模块用到的其他工具
├─ homo_mat # Master Slave对应的相机外参单应变换矩阵
└─ homography.cpp # 哨岗相机外参标定模块
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