feat(intrinsic_camera_calibrator): cherrypick the new intrinsics calibrator into the galactic branch

[knzo25]

• Partial implementation of the new intrinsic camera calibrator

Signed-off-by: Kenzo Lobos-Tsunekawa kenzo.lobos@tier4.jp

• Improved the data selection for bigger boards somewhat similar to the image pipeline

Signed-off-by: Kenzo Lobos-Tsunekawa kenzo.lobos@tier4.jp

• Implemented all up until the calibration. Need to implement other sources, views, and I/O

Signed-off-by: Kenzo Lobos-Tsunekawa kenzo.lobos@tier4.jp

• Added interface to load rosbags directly

Signed-off-by: Kenzo Lobos-Tsunekawa kenzo.lobos@tier4.jp

• Implemented missing views and fixed some bugs (views: unrectified, rectifies, training, and evaluation)

Signed-off-by: Kenzo Lobos-Tsunekawa kenzo.lobos@tier4.jp

• Removed debug code

• Added the copyright notice Added a simple launcher with the corresponding cfg file Implemented save functionalities Added docstring documentation Removed some debug info

Signed-off-by: Kenzo Lobos-Tsunekawa kenzo.lobos@tier4.jp

• Fixed several bugs and added the image file source interface

Signed-off-by: Kenzo Lobos-Tsunekawa kenzo.lobos@tier4.jp

• Fixed the ruamel versin in the package xml

Signed-off-by: Kenzo Lobos-Tsunekawa kenzo.lobos@tier4.jp

• Implemented the chess board detector and commented out unimplemented features

Signed-off-by: Kenzo Lobos-Tsunekawa kenzo.lobos@tier4.jp

• Implemented calibration through apriltag arrays

Signed-off-by: Kenzo Lobos-Tsunekawa kenzo.lobos@tier4.jp

• Fixed some typos

Signed-off-by: Kenzo Lobos-Tsunekawa kenzo.lobos@tier4.jp

• Implemented the evaluation mode and initial intrinsics loading

Signed-off-by: Kenzo Lobos-Tsunekawa kenzo.lobos@tier4.jp

• Implemented a fast calibration routine that is cointinuously executed during the main calibration process. This is due to the fact that some of the data collection criteria use the intrinsics to obtain 3d information

Signed-off-by: Kenzo Lobos-Tsunekawa kenzo.lobos@tier4.jp

• Fixed small errors and cosmestic changes

Signed-off-by: Kenzo Lobos-Tsunekawa kenzo.lobos@tier4.jp

• Fixed some bugs and applied some suggestions from the code review

Signed-off-by: Kenzo Lobos-Tsunekawa kenzo.lobos@tier4.jp

• Fixed argument format

Signed-off-by: Kenzo Lobos-Tsunekawa kenzo.lobos@tier4.jp

• Added documentation for the new intrinsic camera calibrator

Signed-off-by: Kenzo Lobos-Tsunekawa kenzo.lobos@tier4.jp

• Attempted to center the images

Signed-off-by: Kenzo Lobos-Tsunekawa kenzo.lobos@tier4.jp

• New attempt

Signed-off-by: Kenzo Lobos-Tsunekawa kenzo.lobos@tier4.jp

• Yet again

Signed-off-by: Kenzo Lobos-Tsunekawa kenzo.lobos@tier4.jp

• Yet again

Signed-off-by: Kenzo Lobos-Tsunekawa kenzo.lobos@tier4.jp

• Now the caption is not centered

Signed-off-by: Kenzo Lobos-Tsunekawa kenzo.lobos@tier4.jp

• Forgot the extension change

Signed-off-by: Kenzo Lobos-Tsunekawa kenzo.lobos@tier4.jp

• Fixed the enbaled state of the calibration and evaluation buttons when no data was yet available Also added references to the documentation

Signed-off-by: Kenzo Lobos-Tsunekawa kenzo.lobos@tier4.jp

• Fixed more details in the documentation

Signed-off-by: Kenzo Lobos-Tsunekawa kenzo.lobos@tier4.jp

• Fixed the pause/resume functionality in sources other than topics. Implemented one change from the PR

Signed-off-by: Kenzo Lobos-Tsunekawa kenzo.lobos@tier4.jp

• Fixed a lot of typos

Signed-off-by: Kenzo Lobos-Tsunekawa kenzo.lobos@tier4.jp

• Fixed more typos

Signed-off-by: Kenzo Lobos-Tsunekawa kenzo.lobos@tier4.jp

• Fixed tests

Signed-off-by: Kenzo Lobos-Tsunekawa kenzo.lobos@tier4.jp

---

Signed-off-by: Kenzo Lobos-Tsunekawa kenzo.lobos@tier4.jp

Description

Related links

Tests performed

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[knzo25]

@yabuta Do you know why the following package gives an error? <test_depend>ament_copyright</test_depend>

intrinsic_camera_calibrator: Cannot locate rosdep definition for [ament_copyright]

[yabuta]

@knzo25 Sorry, I dont know. Only humble package?

[knzo25]

ci/cd changed a little so I had to change one part of the code. Additionally, test-related packages were not found although they exist in galactic. Not knowing what else I could do I removed them in the meantime