Document the usage of calibration tools (with a example rosbag if possible)

[mitsudome-r]

Checklist

• [X] I've read the contribution guidelines.
• [X] I've searched other issues and no duplicate issues were found.
• [X] I've agreed with the maintainers that I can plan this task.

Description

Sub ticket of https://github.com/autowarefoundation/autoware.universe/issues/592 Add documentation for using calibration tools

Purpose

Create instructions for calibration tool so that users can generate calibration parameters for sensors. This includes:

• Intrinsic parameter for cameras
• extrinsic parameter between cameras (camera-camera calibration)
• extrinsic parameter between lidars (lidar-lidar calibration)
• extrinsic parameter between a camera and a lidar (camera-lidar calibration)

Definition of done

• [ ] Documentation of intrinsic camera parameters available
• [ ] Documentation of camera extrinsic parameter calibration (camera-camera calibration) available
• [ ] Documentation of extrinsic parameter between lidars (lidar-lidar calibration) available
• [ ] Documentation of extrinsic parameter between a camera and a lidar (camera-lidar calibration) available

[JianKangEgon]

I've experienced in calibration of lidar and imu for a while. If necessary, I can afford myself on the documentation regarding this field. Just feel free to let me know

[Sharrrrk]

Infomation: Modified branch of an open source LiDAR-IMU calibration tool: https://gitlab.com/JianKang_Egon/li_calib/-/tree/main/ Documentation is updated to the README of the tool.

[JianKangEgon]

To calibrate intrinsic parameter of camera, ROS1 provides one package to make it: http://wiki.ros.org/camera_calibration It's been updated to ROS1 Noetic, currently not for ROS2

[mitsudome-r]

We can add documentation for https://github.com/autowarefoundation/autoware/discussions/2727

[stale[bot]]

This pull request has been automatically marked as stale because it has not had recent activity.