40 lines
2.1 KiB
Markdown
40 lines
2.1 KiB
Markdown
# GDC_ATRIUM
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Repository for robust, adaptive 3D person tracking and reidentification in busy areas
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## Environment Setup
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**Next, your environment MUST have MMPOSE and the tracking_re_id ROS2 package properly installed** Follow the instructions below to set it up
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```bash
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# wherever you want your workspace root to be (anywhere upstream of tracking_re_id):
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colcon build --symlink-install
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source install/setup.bash
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# 3.10 is the latest supported by MMPOSE
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conda create -n mmpose python=3.10 -y
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conda activate mmpose
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# find your max. cuda version
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nvidia-smi
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# We need torch 2.1.x for mmcv 2.1.0, so here's an example using cuda 12.1
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# this is what was used on sentry laptop
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pip install torch==2.1.2 torchvision==0.16.2 --index-url https://download.pytorch.org/whl/cu121
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# mmpose dependencies
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pip install -U openmim
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mim install mmengine
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mim install "mmcv==2.1.0"
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mim install "mmdet==3.2.0"
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mim install "mmpose==1.2.0"
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pip install "numpy<2"
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pip install "opencv-python==4.11.0.86"
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```
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**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.**
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## Camera Driver / Calibration
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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```.
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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.
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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. |