57 lines
2.0 KiB
Python
57 lines
2.0 KiB
Python
"""Launch ground_plane_node alongside single_person_loc_node (headless).
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Runs the keypoint triangulator in headless mode and pipes its output
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into the ground-plane estimator. Both nodes share the mmpose conda
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Python environment.
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"""
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import os
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import sys
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sys.path.insert(0, os.path.dirname(__file__))
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from _conda_utils import find_conda_python # noqa: E402
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from launch import LaunchDescription
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from launch.actions import ExecuteProcess
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def generate_launch_description():
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python_exe = find_conda_python('mmpose')
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return LaunchDescription([
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# ── Keypoint triangulator (headless) ────────────────────────────
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ExecuteProcess(
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cmd=[
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python_exe, '-m', 'tracking_re_id.single_person_loc_node',
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'--ros-args',
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'-p', 'threshold:=0.3',
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'-p', 'device:=cuda:0',
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'-p', 'max_residual:=0.10',
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'-p', 'headless:=true',
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],
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output='screen',
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env={**os.environ},
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),
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# ── Ground-plane estimator ───────────────────────────────────────
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ExecuteProcess(
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cmd=[
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python_exe, '-m', 'tracking_re_id.ground_plane_node',
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'--ros-args',
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# Foot must stay within 15 cm for 5 consecutive frames
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'-p', 'stable_frames:=5',
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'-p', 'stable_radius:=0.15',
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# Suppress ground points closer than 12 cm to an existing one
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'-p', 'duplicate_radius:=0.12',
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# Points are collinear if none deviates > 5 cm from best-fit line
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'-p', 'collinearity_threshold:=0.05',
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'-p', 'max_ground_points:=100',
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'-p', 'min_plane_points:=3',
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],
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output='screen',
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env={**os.environ},
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),
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])
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