2026-03-15 19:58:52 -05:00
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"""Launch the KeyRe-ID re-identification pipeline alongside the existing
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stereo triangulation pipeline.
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Nodes started
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─────────────
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1. single_person_loc_node (unchanged – stereo 3-D triangulation)
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publishes: /keypoint_markers (MarkerArray)
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/keypoints_3d (PointCloud2)
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2. reid_node (self-contained – left-camera MMPose + KeyRe-ID)
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publishes: /reid/annotated (Image)
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/reid/track_markers (MarkerArray)
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The two nodes are independent: reid_node runs its own MMPose instance on
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the left camera only and does not depend on single_person_loc_node output.
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Run them together to get both 3-D triangulation and persistent person IDs,
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or launch reid_node on its own if only re-identification is needed.
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Viewing the output
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──────────────────
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ros2 run rqt_image_view rqt_image_view → /reid/annotated
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rviz2 → add MarkerArray /reid/track_markers and /keypoint_markers
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"""
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import os
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2026-03-15 21:46:34 -05:00
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import sys
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sys.path.insert(0, os.path.dirname(__file__))
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from _conda_utils import find_conda_python # noqa: E402
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2026-03-15 19:58:52 -05:00
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from launch import LaunchDescription
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from launch.actions import ExecuteProcess
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def generate_launch_description():
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2026-03-15 21:46:34 -05:00
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python_exe = find_conda_python('mmpose')
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2026-03-15 19:58:52 -05:00
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keyreID_path = os.path.expanduser('~/KeyRe-ID')
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return LaunchDescription([
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# # ── 1. Stereo keypoint triangulator (3-D, unchanged) ─────────────────
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# ExecuteProcess(
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# cmd=[
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# python_exe, '-m', 'tracking_re_id.single_person_loc_node',
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# '--ros-args',
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# '-p', 'threshold:=0.3',
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# '-p', 'device:=cuda:0',
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# '-p', 'max_residual:=0.10',
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# '-p', 'headless:=true',
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# ],
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# output='screen',
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# env={**os.environ},
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# ),
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# ── 2. KeyRe-ID re-identification (self-contained) ───────────────────
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ExecuteProcess(
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cmd=[
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python_exe, '-m', 'tracking_re_id.reid_node',
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'--ros-args',
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'-p', f'keyreID_path:={keyreID_path}',
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'-p', 'num_classes:=150',
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'-p', 'camera_num:=2',
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'-p', 'device:=cuda:0',
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'-p', 'seq_len:=4',
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'-p', 'kp_threshold:=0.3',
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'-p', 'match_threshold:=0.65',
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'-p', 'track_dist_px:=120.0',
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'-p', 'track_timeout:=3.0',
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'-p', 'headless:=false',
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],
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output='screen',
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env={**os.environ},
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),
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])
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