59 lines
2.0 KiB
Python
59 lines
2.0 KiB
Python
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"""Launch the full 3D tracking + ground-plane estimation pipeline.
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Nodes started:
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1. single_person_loc_node -- headless keypoint triangulator
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publishes: /keypoint_markers (MarkerArray)
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/keypoints_3d (PointCloud2)
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2. ground_plane_node -- ground-plane estimator
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publishes: /ground_plane_markers (MarkerArray)
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/ground_plane_pose (PoseStamped)
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Visualise in RViz with Fixed Frame = 'left', then add:
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MarkerArray /keypoint_markers (3D skeleton + keypoints)
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MarkerArray /ground_plane_markers (plane disc, normal arrow, ground samples)
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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(
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'~/miniconda3/envs/mmpose/bin/python3'
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)
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return LaunchDescription([
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# ── 1. Keypoint triangulator (headless) ─────────────────────────
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ExecuteProcess(
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cmd=[
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python_exe, '-m', '3D_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. Ground-plane estimator ────────────────────────────────────
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ExecuteProcess(
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cmd=[
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python_exe, '-m', '3D_tracking_Re-ID.ground_plane_node',
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'--ros-args',
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'-p', 'stable_frames:=5',
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'-p', 'stable_radius:=0.05',
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'-p', 'duplicate_radius:=0',
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'-p', 'collinearity_threshold:=0.25',
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'-p', 'max_ground_points:=100',
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'-p', 'min_plane_points:=5',
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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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