fix(extrinsic_calibration_manager): rename tag-based camera topic for xx1

muraki-t4 commented 9 months ago

Description

Rename tag-based camera topic for xx1

Tests performed

Launched extrinsic tag-based calibration and confirmed that calibration has been successfull.

Notes for reviewers

None

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knzo25 commented 9 months ago

Dont merge this We need to use image raws for cameras with distortion

muraki-t4 commented 9 months ago

@knzo25 Does this mean that the topics are different for cameras with and without distortion? If so, should I change the topic in the launch file to switch by the additional distortion argument?

knzo25 commented 9 months ago

The camera info topic contains both the data for distorted (image_raw) and undistorted (image_rect) images. The tools in the main branch assumes the incoming images are distorted and uses the camera_info accordingly. The "exception" to this are some of the C1/C2 cameras used currently in our projects since they can effectively undistort the images before entering the ROS pipeline (it is done in their ISP).

If you want to calibrate XX1 (besides the vehicle_id=4), you need to record the image_raw topics.

Btw: the new version accommodates for this situation and can switch between using image_raw and image_rect with a flag (though untested since we don't have the data to test it and does not form part of our requirements so far)

This issue may give you some idea of what would happen were you to ignore the differences (not exactly the same but still related to the difference between images) https://github.com/tier4/CalibrationTools/issues/137

knzo25 commented 9 months ago

@muraki-t4 What are you planning do to with this PR? Turn it into a draft? Close it?

muraki-t4 commented 9 months ago

@knzo25 Sorry, for my late response. I will close this pr.

I will change the launch files locally until new version is released.

tier4 / CalibrationTools