"""Reid pipeline in headless mode (no cv2 display windows).

To view output:
  ros2 run rqt_image_view rqt_image_view   →  select /reid/annotated
  rviz2  →  add MarkerArray on /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([

        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},
        ),

        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:=true',
            ],
            output='screen',
            env={**os.environ},
        ),

    ])