readme mini-update

readme.md

@@ -2,9 +2,13 @@
 Repository for robust, adaptive 3D person tracking and reidentification in busy areas
 
 ## Environment Setup
-**Your environment MUST have MMPOSE properly installed.** Follow the instructions below to set it up
+**Next, your environment MUST have MMPOSE and the tracking_re_id ROS2 package properly installed** Follow the instructions below to set it up
 
 ```bash
+# wherever you want your workspace root to be (anywhere upstream of tracking_re_id):
+colcon build --symlink-install
+source install/setup.bash
+
 # 3.10 is the latest supported by MMPOSE
 conda create -n mmpose python=3.10 -y
 conda activate mmpose
@@ -27,3 +31,10 @@ pip install "opencv-python==4.11.0.86"
 ```
 
 **This installation is referenced in each launchfile by finding the location of your conda base environment, then finding an environment named "mmpose" - if you use a different name, you must change each launch file.**
+
+## Camera Driver / Calibration
+Many nodes in the ```tracking_re_id``` package rely on the ```/stereo/left/camera_info``` and ```/stereo/right/camera_info``` topics publishing calibration data for the camera. This requires calibration to be performed, replacing ```left.yaml``` and ```right.yaml``` in ```tracking_re_id/calibration```.
+
+Visit https://docs.ros.org/en/jazzy/p/camera_calibration/doc/tutorial_stereo.html for instructions on running the calibration. The left and right yaml files always had ```camera_name=narrow_stereo/left``` and ```camera_name=narrow_stereo/right``` which have to be changed to ```stereo/left``` and ```stereo/right```, respectively.
+
+To run the camera driver after calibration has been conducted, simply execute ```ros2 launch tracking_re_id start_cameras_only.launch.py```. Running ```colcon build``` again is **NOT** required, as you should have run it with ```--symlink-install``` previously.

tracking_re_id/calibration/left.yaml

@@ -0,0 +1,24 @@
+# Left camera calibration file.
+# Replace this with the output from your stereo calibration tool (e.g. camera_calibration ROS package).
+# The file must follow the ROS camera_info YAML format consumed by camera_info_url.
+
+image_width: 1440
+image_height: 1080
+camera_name: left
+camera_matrix:
+  rows: 3
+  cols: 3
+  data: [1, 0, 0, 0, 1, 0, 0, 0, 1]
+distortion_model: plumb_bob
+distortion_coefficients:
+  rows: 1
+  cols: 5
+  data: [0, 0, 0, 0, 0]
+rectification_matrix:
+  rows: 3
+  cols: 3
+  data: [1, 0, 0, 0, 1, 0, 0, 0, 1]
+projection_matrix:
+  rows: 3
+  cols: 4
+  data: [1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0]

tracking_re_id/calibration/right.yaml

@@ -0,0 +1,24 @@
+# Right camera calibration file.
+# Replace this with the output from your stereo calibration tool (e.g. camera_calibration ROS package).
+# The file must follow the ROS camera_info YAML format consumed by camera_info_url.
+
+image_width: 1440
+image_height: 1080
+camera_name: right
+camera_matrix:
+  rows: 3
+  cols: 3
+  data: [1, 0, 0, 0, 1, 0, 0, 0, 1]
+distortion_model: plumb_bob
+distortion_coefficients:
+  rows: 1
+  cols: 5
+  data: [0, 0, 0, 0, 0]
+rectification_matrix:
+  rows: 3
+  cols: 3
+  data: [1, 0, 0, 0, 1, 0, 0, 0, 1]
+projection_matrix:
+  rows: 3
+  cols: 4
+  data: [1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0]

tracking_re_id/launch/start_cameras_only.launch.py

@@ -11,12 +11,17 @@ RIGHT_CAMERA_NAME = 'right'
 
 
 def generate_launch_description():
+    pkg_share = get_package_share_directory('tracking_re_id')
+
     config_path = os.path.join(
         get_package_share_directory('spinnaker_camera_driver'),
         'config',
         'blackfly_s.yaml'
     )
 
+    left_cal = 'file://' + os.path.join(pkg_share, 'calibration', 'left.yaml')
+    right_cal = 'file://' + os.path.join(pkg_share, 'calibration', 'right.yaml')
+
     # ── Camera Drivers (component_container_mt) ─────────────────────────
     #
     # Both cameras share a single process because the FLIR Spinnaker SDK
@@ -39,7 +44,7 @@ def generate_launch_description():
                 parameters=[{
                     'parameter_file': config_path,
                     'serial_number': '25282106',
-                    'camera_info_url': 'file:///home/sentry/camera_ws/stereoCal/left.yaml',
+                    'camera_info_url': left_cal,
                 }],
                 extra_arguments=[{'use_intra_process_comms': True}],
             ),
@@ -51,7 +56,7 @@ def generate_launch_description():
                 parameters=[{
                     'parameter_file': config_path,
                     'serial_number': '25235293',
-                    'camera_info_url': 'file:///home/sentry/camera_ws/stereoCal/right.yaml',
+                    'camera_info_url': right_cal,
                 }],
                 extra_arguments=[{'use_intra_process_comms': True}],
             ),

tracking_re_id/setup.py

@@ -14,6 +14,7 @@ setup(
         ('share/' + package_name, ['package.xml']),
         (os.path.join('share', package_name, 'launch'), glob('launch/*.py')),
         (os.path.join('share', package_name, 'weights'), glob('weights/*.pth')),
+        (os.path.join('share', package_name, 'calibration'), glob('calibration/*.yaml')),
     ],
     install_requires=['setuptools'],
     zip_safe=True,