73 lines
2.5 KiB
Python
73 lines
2.5 KiB
Python
"""Launch the full 3D tracking + ground-plane estimation + top-down view pipeline.
|
|
|
|
Nodes started:
|
|
1. single_person_loc_node -- headless stereo keypoint triangulator
|
|
publishes: /keypoint_markers (MarkerArray)
|
|
/keypoints_3d (PointCloud2)
|
|
2. ground_plane_node -- ground-plane estimator
|
|
publishes: /ground_plane_markers (MarkerArray)
|
|
/ground_plane_pose (PoseStamped)
|
|
3. top_down_node -- synthetic bird's-eye view of the ground plane
|
|
publishes: /top_down_image (Image)
|
|
|
|
To view the top-down image:
|
|
ros2 run rqt_image_view rqt_image_view → select /top_down_image
|
|
"""
|
|
|
|
import os
|
|
import sys
|
|
|
|
sys.path.insert(0, os.path.dirname(__file__))
|
|
from _conda_utils import find_conda_python # noqa: E402
|
|
|
|
from launch import LaunchDescription
|
|
from launch.actions import ExecuteProcess
|
|
|
|
|
|
def generate_launch_description():
|
|
python_exe = find_conda_python('mmpose')
|
|
|
|
return LaunchDescription([
|
|
|
|
# ── 1. Keypoint triangulator (headless) ──────────────────────────────
|
|
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},
|
|
),
|
|
|
|
# ── 2. Ground-plane estimator ─────────────────────────────────────────
|
|
ExecuteProcess(
|
|
cmd=[
|
|
python_exe, '-m', 'tracking_re_id.ground_plane_node',
|
|
'--ros-args',
|
|
'-p', 'stable_frames:=5',
|
|
'-p', 'stable_radius:=0.05',
|
|
'-p', 'duplicate_radius:=0',
|
|
'-p', 'collinearity_threshold:=0.25',
|
|
'-p', 'max_ground_points:=100',
|
|
'-p', 'min_plane_points:=5',
|
|
],
|
|
output='screen',
|
|
env={**os.environ},
|
|
),
|
|
|
|
# ── 3. Top-down bird's-eye visualiser ────────────────────────────────
|
|
ExecuteProcess(
|
|
cmd=[
|
|
python_exe, '-m', 'tracking_re_id.top_down_node',
|
|
'--ros-args',
|
|
],
|
|
output='screen',
|
|
env={**os.environ},
|
|
),
|
|
|
|
])
|