52 lines
1.5 KiB
Python
52 lines
1.5 KiB
Python
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"""Reid pipeline in headless mode (no cv2 display windows).
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To view output:
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ros2 run rqt_image_view rqt_image_view → select /reid/annotated
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rviz2 → add MarkerArray on /reid/track_markers and /keypoint_markers
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"""
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import os
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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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python_exe = os.path.expanduser('~/miniconda3/envs/mmpose/bin/python3')
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keyreID_path = os.path.expanduser('~/KeyRe-ID')
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return LaunchDescription([
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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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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:=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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])
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