reid_stuff

tracking_re_id/launch/reid_pipeline.launch.py

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+"""Launch the KeyRe-ID re-identification pipeline alongside the existing
+stereo triangulation pipeline.
+
+Nodes started
+─────────────
+  1. single_person_loc_node  (unchanged – stereo 3-D triangulation)
+       publishes: /keypoint_markers  (MarkerArray)
+                  /keypoints_3d      (PointCloud2)
+
+  2. reid_node  (self-contained – left-camera MMPose + KeyRe-ID)
+       publishes: /reid/annotated      (Image)
+                  /reid/track_markers  (MarkerArray)
+
+The two nodes are independent: reid_node runs its own MMPose instance on
+the left camera only and does not depend on single_person_loc_node output.
+Run them together to get both 3-D triangulation and persistent person IDs,
+or launch reid_node on its own if only re-identification is needed.
+
+Viewing the output
+──────────────────
+  ros2 run rqt_image_view rqt_image_view  →  /reid/annotated
+  rviz2  →  add MarkerArray /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([
+
+        # # ── 1. Stereo keypoint triangulator (3-D, unchanged) ─────────────────
+        # 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},
+        # ),
+
+        # ── 2. KeyRe-ID re-identification (self-contained) ───────────────────
+        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:=false',
+            ],
+            output='screen',
+            env={**os.environ},
+        ),
+
+    ])