ros中使用deepsort

在ROS中使用DeepSORT，需要安装相关依赖包和配置环境：

1. 安装Python 3.x和pip包管理器；
2. 安装TensorFlow和OpenCV等相关依赖包；
3. 下载DeepSORT源代码并进行编译安装；
4. 在ROS应用程序中调用DeepSORT API进行目标跟踪。

以下是一个可能的ROS节点示例代码，可以使用DeepSORT跟踪摄像头中的目标：

#!/usr/bin/env python
import rospy
import cv2
import numpy as np
from sensor_msgs.msg import Image
from cv_bridge import CvBridge, CvBridgeError
from deep_sort_tracker import DeepSortTracker

class ObjectTracker:
    def __init__(self):
        self.bridge = CvBridge()
        self.deepsort = DeepSortTracker()

        self.image_sub = rospy.Subscriber("/camera/image_raw", Image, self.image_callback)
        self.image_pub = rospy.Publisher("/camera/image_tracked", Image, queue_size=10)

    def image_callback(self, data):
        try:
            cv_image = self.bridge.imgmsg_to_cv2(data, "bgr8")
        except CvBridgeError as e:
            rospy.logerr(e)

        boxes, classes, scores = self.deepsort.track(cv_image)

        for i in range(len(boxes)):
            box = boxes[i]
            class_name = classes[i]
            score = scores[i]

            # Draw bounding box and label
            cv2.rectangle(cv_image, (box[0], box[1]), (box[2], box[3]), (0, 255, 0), 2)
            cv2.putText(cv_image, f"{class_name} {score:.2f}", (box[0], box[1] - 10),
                        cv2.FONT_HERSHEY_SIMPLEX, 0.5, (0, 255, 0), 2)

        try:
            self.image_pub.publish(self.bridge.cv2_to_imgmsg(cv_image, "bgr8"))
        except CvBridgeError as e:
            rospy.logerr(e)

if __name__ == '__main__':
    rospy.init_node('object_tracker', anonymous=True)
    object_tracker = ObjectTracker()
    try:
        rospy.spin()
    except KeyboardInterrupt:
        print("Shutting down")

其中，DeepSortTracker是一个自定义的类，包含了DeepSORT的初始化和跟踪方法。在image_callback中调用DeepSortTracker.track方法进行目标跟踪，将跟踪结果发布到ROS话题中。