updates

tracking_re_id/launch/full_pipeline.launch.py

@@ -0,0 +1,58 @@
+"""Launch the full 3D tracking + ground-plane estimation pipeline.
+
+Nodes started:
+  1. single_person_loc_node  -- headless 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)
+
+Visualise in RViz with Fixed Frame = 'left', then add:
+  MarkerArray  /keypoint_markers      (3D skeleton + keypoints)
+  MarkerArray  /ground_plane_markers  (plane disc, normal arrow, ground samples)
+"""
+
+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'
+    )
+
+    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},
+        ),
+
+    ])