overlay view

tracking_re_id/launch/full_pipeline.launch.py

@@ -1,4 +1,4 @@
-"""Launch the full 3D tracking + ground-plane estimation pipeline.
+"""Launch the full 3D tracking + ground-plane estimation + image overlay pipeline.
 
 Nodes started:
   1. single_person_loc_node  -- headless keypoint triangulator
@@ -7,10 +7,11 @@ Nodes started:
   2. ground_plane_node       -- ground-plane estimator
        publishes: /ground_plane_markers  (MarkerArray)
                   /ground_plane_pose     (PoseStamped)
+  3. overlay_node            -- undistorted image with plane grid + skeleton
+       publishes: /overlay_image         (Image)
 
-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)
+To view the annotated image:
+  ros2 run rqt_image_view rqt_image_view   →   select /overlay_image
 """
 
 import os
@@ -55,4 +56,14 @@ def generate_launch_description():
             env={**os.environ},
         ),
 
+        # ── 3. Image overlay (undistorted image + plane grid + skeleton) ──
+        ExecuteProcess(
+            cmd=[
+                python_exe, '-m', 'tracking_re_id.overlay_node',
+                '--ros-args',
+            ],
+            output='screen',
+            env={**os.environ},
+        ),
+
     ])