feat(marker_radar_lidar_calibrator): marker_radar_lidar_calibrator support for different radar msgs and transformation algorithms

vividf commented 3 months ago

Description

Our previous tools assumed that radar has no elevation and we provided two algorithms:

Yaw-only calibration
x,y, yaw calibration

With elevation, we can get the full 6D pose. However, some sensors may impose restrictions on the orientation. In particular, the ARS548 imposes roll=0 for its object interface. We need an algorithm that easily accommodates this new restriction.

With this PR, we provide four algorithms

Yaw-only calibration (yaw_only_rotation_2d)
x,y, yaw calibration (svd_2d)
3d calibration (svd_3d)
3d transformation with roll is restricted to zero (roll_zero_3d)

and two different input msg-type for radar

radar_tracks
radar_scan

Additionally, this PR also includes the xx1 gen2 project in the sensor_calibration_manager.

Tests performed

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vividf commented 3 months ago

@knzo25 I need to double-check and test the functionality for different projects so I set this to draft first.

vividf commented 3 months ago

@knzo25 This PR is ready for review :)

knzo25 commented 1 week ago

I got this message

[metrics_plotter_node.py-4] /home/kenzolobos/workspace/calibration_ws/install/marker_radar_lidar_calibrator/lib/marker_radar_lidar_calibrator/metrics_plotter_node.py:33: MatplotlibDeprecationWarning: 
[metrics_plotter_node.py-4] The set_window_title function was deprecated in Matplotlib 3.4 and will be removed two minor releases later. Use manager.set_window_title or GUI-specific methods instead.
[metrics_plotter_node.py-4]   plt.gcf().canvas.set_window_title("Metrics plotter")

vividf commented 1 week ago

@knzo25 Thanks, fixed the warning in https://github.com/tier4/CalibrationTools/pull/161/commits/63d9577352c0ece0d245c6eda1e0ec0c56b42f57

codecov-commenter commented 21 hours ago

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Codecov Report

Attention: Patch coverage is 0% with 295 lines in your changes missing coverage. Please review.

Project coverage is 4.89%. Comparing base (bab5400) to head (d7670f0). Report is 12 commits behind head on tier4/universe.

Files	Patch %	Lines
...r_calibrator/src/marker_radar_lidar_calibrator.cpp	0.00%	206 Missing :warning:
..._lidar_calibrator/src/transformation_estimator.cpp	0.00%	65 Missing :warning:
.../marker_radar_lidar_calibrator/sensor_residual.hpp	0.00%	14 Missing :warning:
..._based_calibrator/src/mapping_based_calibrator.cpp	0.00%	6 Missing :warning:
...d_plane_calibrator/src/ground_plane_calibrator.cpp	0.00%	2 Missing :warning:
...2d_calibrator/src/lidar_to_lidar_2d_calibrator.cpp	0.00%	2 Missing :warning:

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Additional details and impacted files

```diff @@ Coverage Diff @@ ## tier4/universe #161 +/- ## ================================================= + Coverage 0.93% 4.89% +3.95% ================================================= Files 270 156 -114 Lines 21339 12281 -9058 Branches 383 1301 +918 ================================================= + Hits 200 601 +401 + Misses 20982 11679 -9303 + Partials 157 1 -156 ``` | [Flag](https://app.codecov.io/gh/tier4/CalibrationTools/pull/161/flags?src=pr&el=flags&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=tier4) | Coverage Δ | | |---|---|---| | [differential](https://app.codecov.io/gh/tier4/CalibrationTools/pull/161/flags?src=pr&el=flag&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=tier4) | `4.89% <0.00%> (?)` | | | [total](https://app.codecov.io/gh/tier4/CalibrationTools/pull/161/flags?src=pr&el=flag&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=tier4) | `?` | | Flags with carried forward coverage won't be shown. [Click here](https://docs.codecov.io/docs/carryforward-flags?utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=tier4#carryforward-flags-in-the-pull-request-comment) to find out more.

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