top-down

tracking_re_id/launch/top_down_launch.py

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+"""Launch the full 3D tracking + ground-plane estimation + top-down view pipeline.
+
+Nodes started:
+  1. single_person_loc_node  -- headless stereo keypoint triangulator
+       publishes: /keypoint_markers  (MarkerArray)
+                  /keypoints_3d      (PointCloud2)
+  2. ground_plane_node       -- ground-plane estimator
+       publishes: /ground_plane_markers  (MarkerArray)
+                  /ground_plane_pose     (PoseStamped)
+  3. top_down_node           -- synthetic bird's-eye view of the ground plane
+       publishes: /top_down_image        (Image)
+
+To view the top-down image:
+  ros2 run rqt_image_view rqt_image_view   →   select /top_down_image
+"""
+
+import os
+import sys
+
+sys.path.insert(0, os.path.dirname(__file__))
+from _conda_utils import find_conda_python  # noqa: E402
+
+from launch import LaunchDescription
+from launch.actions import ExecuteProcess
+
+
+def generate_launch_description():
+    python_exe = find_conda_python('mmpose')
+
+    return LaunchDescription([
+
+        # ── 1. Keypoint triangulator (headless) ──────────────────────────────
+        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. Ground-plane estimator ─────────────────────────────────────────
+        ExecuteProcess(
+            cmd=[
+                python_exe, '-m', 'tracking_re_id.ground_plane_node',
+                '--ros-args',
+                '-p', 'stable_frames:=5',
+                '-p', 'stable_radius:=0.05',
+                '-p', 'duplicate_radius:=0',
+                '-p', 'collinearity_threshold:=0.25',
+                '-p', 'max_ground_points:=100',
+                '-p', 'min_plane_points:=5',
+            ],
+            output='screen',
+            env={**os.environ},
+        ),
+
+        # ── 3. Top-down bird's-eye visualiser ────────────────────────────────
+        ExecuteProcess(
+            cmd=[
+                python_exe, '-m', 'tracking_re_id.top_down_node',
+                '--ros-args',
+            ],
+            output='screen',
+            env={**os.environ},
+        ),
+
+    ])