tracking test

tracking_test.launch

<launch>
  <!-- checker board detector -->
  <!-- <param name="single" value="1" /> -->
  <param name="display" type="int" value="0" />
  <param name="rect0_size_x" value="0.03" />
  <param name="rect0_size_y" value="0.03" />
  <param name="grid0_size_x" value="6" />
  <param name="grid0_size_y" value="5" />
  <param name="type0" value="test_object" />

  <node name="checkerboard_detector" pkg="checkerboard_detector"
        type="checkerboard_detector">
    <remap from="image" to="/camera/rgb/image_rect_color" />
    <remap from="camera_info" to="/camera/rgb/camera_info" />
  </node>

  <node name="objectdetection_tf_publisher"
        pkg="checkerboard_detector"
        type="objectdetection_tf_publisher.py" >
    <!-- <param name="latest_publish" value="true"/> -->
    <param name="use_simple_tf" value="true"/>
  </node>

  <!-- edge tracking -->
  <include file="$(find jsk_pcl_ros)/sample/simple_edge_detector_and_tracker.launch">
    <arg name="input_depth_image" value="/camera/depth/image" />
    <arg name="input_rgb_image" value="/camera/rgb/image_rect_color" />
    <arg name="input_point" value="/camera/depth_registered/points" />
    <arg name="input_info" value="/camera/rgb/camera_info" />
  </include>
</launch>

tracking_test.rviz

Panels:
  - Class: rviz/Displays
    Help Height: 78
    Name: Displays
    Property Tree Widget:
      Expanded:
        - /Global Options1
        - /Status1
        - /PointCloud21
        - /Image1
        - /TF1
        - /PointCloud22
        - /PointCloud23
      Splitter Ratio: 0.5
    Tree Height: 847
  - Class: rviz/Selection
    Name: Selection
  - Class: rviz/Tool Properties
    Expanded:
      - /2D Pose Estimate1
      - /2D Nav Goal1
      - /Publish Point1
    Name: Tool Properties
    Splitter Ratio: 0.588679
  - Class: rviz/Views
    Expanded:
      - /Current View1
    Name: Views
    Splitter Ratio: 0.5
  - Class: rviz/Time
    Experimental: false
    Name: Time
    SyncMode: 0
    SyncSource: PointCloud2
  - Class: jsk_rviz_plugin/SelectPointCloudPublishAction
    Name: SelectPointCloudPublishAction
Visualization Manager:
  Class: ""
  Displays:
    - Alpha: 0.5
      Cell Size: 1
      Class: rviz/Grid
      Color: 160; 160; 164
      Enabled: true
      Line Style:
        Line Width: 0.03
        Value: Lines
      Name: Grid
      Normal Cell Count: 0
      Offset:
        X: 0
        Y: 0
        Z: 0
      Plane: XY
      Plane Cell Count: 10
      Reference Frame: <Fixed Frame>
      Value: true
    - Alpha: 1
      Autocompute Intensity Bounds: true
      Autocompute Value Bounds:
        Max Value: 10
        Min Value: -10
        Value: true
      Axis: Z
      Channel Name: intensity
      Class: rviz/PointCloud2
      Color: 255; 255; 255
      Color Transformer: RGB8
      Decay Time: 0
      Enabled: true
      Invert Rainbow: false
      Max Color: 255; 255; 255
      Max Intensity: 4096
      Min Color: 0; 0; 0
      Min Intensity: 0
      Name: PointCloud2
      Position Transformer: XYZ
      Queue Size: 10
      Selectable: true
      Size (Pixels): 3
      Size (m): 0.01
      Style: Flat Squares
      Topic: /camera/depth_registered/points
      Use Fixed Frame: true
      Use rainbow: true
      Value: true
    - Class: rviz/Image
      Enabled: true
      Image Topic: /camera/rgb/image_rect_color
      Max Value: 1
      Median window: 5
      Min Value: 0
      Name: Image
      Normalize Range: true
      Queue Size: 2
      Transport Hint: raw
      Value: true
    - Class: rviz/TF
      Enabled: true
      Frame Timeout: 15
      Frames:
        All Enabled: true
        camera_depth_frame:
          Value: true
        camera_depth_optical_frame:
          Value: true
        camera_link:
          Value: true
        camera_rgb_frame:
          Value: true
        camera_rgb_optical_frame:
          Value: true
        test_object:
          Value: true
        track_result:
          Value: true
      Marker Scale: 1
      Name: TF
      Show Arrows: true
      Show Axes: true
      Show Names: true
      Tree:
        camera_link:
          camera_depth_frame:
            camera_depth_optical_frame:
              {}
          camera_rgb_frame:
            camera_rgb_optical_frame:
              test_object:
                {}
              track_result:
                {}
      Update Interval: 0
      Value: true
    - Alpha: 1
      Autocompute Intensity Bounds: true
      Autocompute Value Bounds:
        Max Value: 10
        Min Value: -10
        Value: true
      Axis: Z
      Channel Name: intensity
      Class: rviz/PointCloud2
      Color: 255; 0; 4
      Color Transformer: FlatColor
      Decay Time: 0
      Enabled: true
      Invert Rainbow: false
      Max Color: 255; 255; 255
      Max Intensity: 4096
      Min Color: 0; 0; 0
      Min Intensity: 0
      Name: PointCloud2
      Position Transformer: XYZ
      Queue Size: 10
      Selectable: true
      Size (Pixels): 3
      Size (m): 0.02
      Style: Flat Squares
      Topic: /particle_filter_tracker/track_result
      Use Fixed Frame: true
      Use rainbow: true
      Value: true
    - Alpha: 1
      Autocompute Intensity Bounds: true
      Autocompute Value Bounds:
        Max Value: 10
        Min Value: -10
        Value: true
      Axis: Z
      Channel Name: intensity
      Class: rviz/PointCloud2
      Color: 255; 255; 255
      Color Transformer: RGB8
      Decay Time: 0
      Enabled: false
      Invert Rainbow: false
      Max Color: 255; 255; 255
      Max Intensity: 4096
      Min Color: 0; 0; 0
      Min Intensity: 0
      Name: PointCloud2
      Position Transformer: XYZ
      Queue Size: 10
      Selectable: true
      Size (Pixels): 3
      Size (m): 0.01
      Style: Flat Squares
      Topic: /added/output
      Use Fixed Frame: true
      Use rainbow: true
      Value: false
  Enabled: true
  Global Options:
    Background Color: 48; 48; 48
    Fixed Frame: camera_link
    Frame Rate: 30
  Name: root
  Tools:
    - Class: rviz/Interact
      Hide Inactive Objects: true
    - Class: rviz/MoveCamera
    - Class: rviz/Select
    - Class: rviz/FocusCamera
    - Class: rviz/Measure
    - Class: rviz/SetInitialPose
      Topic: /initialpose
    - Class: rviz/SetGoal
      Topic: /move_base_simple/goal
    - Class: rviz/PublishPoint
      Single click: true
      Topic: /clicked_point
  Value: true
  Views:
    Current:
      Class: rviz/Orbit
      Distance: 10
      Enable Stereo Rendering:
        Stereo Eye Separation: 0.06
        Stereo Focal Distance: 1
        Swap Stereo Eyes: false
        Value: false
      Focal Point:
        X: 2.33371
        Y: 0.133282
        Z: 2.43583
      Name: Current View
      Near Clip Distance: 0.01
      Pitch: 0.135399
      Target Frame: <Fixed Frame>
      Value: Orbit (rviz)
      Yaw: 2.5104
    Saved: ~
Window Geometry:
  Displays:
    collapsed: false
  Height: 1576
  Hide Left Dock: false
  Hide Right Dock: false
  Image:
    collapsed: false
  QMainWindow State: 000000ff00000000fd0000000400000000000001f90000059efc020000000afb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000028000003de000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d006100670065010000040c000001700000001600fffffffb0000003a00530065006c0065006300740050006f0069006e00740043006c006f00750064005000750062006c0069007300680041006300740069006f006e0100000582000000440000004300ffffff000000010000010f00000582fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000002800000582000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000009ca0000003efc0100000002fb0000000800540069006d00650100000000000009ca000002f600fffffffb0000000800540069006d00650100000000000004500000000000000000000007cb0000059e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
  SelectPointCloudPublishAction:
    collapsed: false
  Selection:
    collapsed: false
  Time:
    collapsed: false
  Tool Properties:
    collapsed: false
  Views:
    collapsed: false
  Width: 2506
  X: 46
  Y: -4