reid_stuff

tracking_re_id/launch/reid_headless.launch.py

@@ -0,0 +1,51 @@
+"""Reid pipeline in headless mode (no cv2 display windows).
+
+To view output:
+  ros2 run rqt_image_view rqt_image_view   →  select /reid/annotated
+  rviz2  →  add MarkerArray on /reid/track_markers and /keypoint_markers
+"""
+
+import os
+from launch import LaunchDescription
+from launch.actions import ExecuteProcess
+
+
+def generate_launch_description():
+    python_exe = os.path.expanduser('~/miniconda3/envs/mmpose/bin/python3')
+    keyreID_path = os.path.expanduser('~/KeyRe-ID')
+
+    return LaunchDescription([
+
+        ExecuteProcess(
+            cmd=[
+                python_exe, '-m', 'tracking_re_id.single_person_loc_node',
+                '--ros-args',
+                '-p', 'threshold:=0.3',
+                '-p', 'device:=cuda:0',
+                '-p', 'max_residual:=0.10',
+                '-p', 'headless:=true',
+            ],
+            output='screen',
+            env={**os.environ},
+        ),
+
+        ExecuteProcess(
+            cmd=[
+                python_exe, '-m', 'tracking_re_id.reid_node',
+                '--ros-args',
+                '-p', f'keyreID_path:={keyreID_path}',
+                '-p', 'num_classes:=150',
+                '-p', 'camera_num:=2',
+                '-p', 'device:=cuda:0',
+                '-p', 'seq_len:=4',
+                '-p', 'kp_threshold:=0.3',
+                '-p', 'match_threshold:=0.65',
+                '-p', 'track_dist_px:=120.0',
+                '-p', 'track_timeout:=3.0',
+                '-p', 'headless:=true',
+            ],
+            output='screen',
+            env={**os.environ},
+        ),
+
+    ])