feat(marker_radar_lidar_calibrator): marker_radar_lidar_calibrator support for different radar msgs and transformation algorithms #180

vividf · 2024-07-23T02:09:21Z

Description

Same description as #161 after rebasing on the documentation branch.

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 three different input msg-type for radar

radar_tracks
radar_scan
radar_cloud

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

Tests performed

Notes for reviewers

Pre-review checklist for the PR author

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Signed-off-by: vividf <[email protected]>

note: this was note made as another PR since it also involved documentation Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]>

Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]>

Signed-off-by: vividf <[email protected]>

knzo25 · 2024-09-30T09:57:12Z

calibrators/marker_radar_lidar_calibrator/src/marker_radar_lidar_calibrator.cpp

+  } else if constexpr (std::is_same<RadarMsgType, radar_msgs::msg::RadarScan>::value) {
+    radar_pointcloud_ptr->reserve(msg->returns.size());
+    for (const auto & radar_return : msg->returns) {
+      float range = radar_return.range;


kind of nit:
you are creating copies. whenever applicable use const references

knzo25 · 2024-09-30T10:07:01Z

calibrators/marker_radar_lidar_calibrator/src/marker_radar_lidar_calibrator.cpp


+void ExtrinsicReflectorBasedCalibrator::calculateCalibrationError(


calculateCalibrationError and computeCalibrationError exist in this file with similar yet different purposes and signatures. This makes it very difficult to read. Choose one and overload, or use different more appropriate words

The current calculateCalibrationError is unnecessarily deep in the call hierarchy.
In code metrics, the less deep the better.

Semantically speaking it should be between:

estimateTransformation(); <-- crossValEvaluation();

Thanks! fixed in c1a1ea3

knzo25 · 2024-09-30T10:15:15Z

calibrators/marker_radar_lidar_calibrator/src/marker_radar_lidar_calibrator.cpp

-      "The pure rotation calibration pose was chosen as the output calibration pose. This may mean "
-      "you need to collect more points");
-    calibrated_radar_to_lidar_eigen_ = calibrated_rotation_radar_to_lidar_transformation;
+      this->get_logger(), "The calibration pose was chosen as the output calibration pose");


The output messages in this method make sense in the context of the code before this PR. Now they do not make much sense. Please fix them

fixed in 9bee4d2

knzo25 · 2024-09-30T10:20:46Z

calibrators/marker_radar_lidar_calibrator/src/marker_radar_lidar_calibrator.cpp

+
+void ExtrinsicReflectorBasedCalibrator::crossValEvaluation()
+{
+  int tracks_size = static_cast<int>(converged_tracks_.size());


can you change the parts that correspond to std::size?

(this applies in several parts of the crossvalidation strategy )

Addressed them in b9e8c9d

knzo25 · 2024-09-30T10:36:19Z

@vividf
Everywhere in the code that a .z() = 0 exists, it is only applicable to the old 2D versions of the algorithm. This one is an important error, and any result that comes with it has a non negligible error
I was worried that the error that I saw using this tool was too high. Hopefully this one fixes it...

knzo25 · 2024-09-30T10:44:30Z

calibrators/marker_radar_lidar_calibrator/src/transformation_estimator.cpp

+{
+  RCLCPP_INFO(
+    rclcpp::get_logger("marker_radar_lidar_calibrator"),
+    "Estimate 3D transformation with roll is always zero");


Is this a statement ?!?!?!

Changed the logging to 12b3562

knzo25 · 2024-09-30T10:45:34Z

calibrators/marker_radar_lidar_calibrator/src/transformation_estimator.cpp

+  RCLCPP_INFO(
+    rclcpp::get_logger("marker_radar_lidar_calibrator"), "%s", initial_params_msg.c_str());
+
+  for (size_t i = 0; i < lidar_points_ocs_->points.size(); i++) {


We have been trying to use std::size_t so far

addressed in 28fdcf9

knzo25 · 2024-09-30T10:46:20Z

calibrators/marker_radar_lidar_calibrator/src/transformation_estimator.cpp

+
+    ceres::CostFunction * cost_function = new ceres::AutoDiffCostFunction<SensorResidual, 3, 5>(
+      new SensorResidual(radar_point_eigen, lidar_point_eigen));
+    problem.AddResidualBlock(cost_function, NULL, params.data());


Thanks, fixed in ef70435

knzo25

Left several comments. The algorithm is solid, but this PR still needs quite a lot of work.
When I have a commit more stable to do some evaluations I will probably have more comments, but I will wait until the current comments have been addressed

Signed-off-by: vividf <[email protected]>

This reverts commit 8ab4a0c.

Signed-off-by: vividf <[email protected]>

vividf and others added 30 commits May 29, 2024 11:17

fix pro tips

3f24568

Signed-off-by: vividf <[email protected]>

fix known limitation

c24af40

Signed-off-by: vividf <[email protected]>

fix initial calibration error explanation

fcef24c

Signed-off-by: vividf <[email protected]>

add BEV enviroment

2f0b9f4

Signed-off-by: vividf <[email protected]>

add vis image for mapping based

7b2ccfe

Signed-off-by: vividf <[email protected]>

change to svg file

bab15eb

Signed-off-by: vividf <[email protected]>

fix errors

cf135db

Signed-off-by: vividf <[email protected]>

add resolution explaination

5cd13bb

Signed-off-by: vividf <[email protected]>

fix lidar to camera

0505594

Signed-off-by: vividf <[email protected]>

remove last point

f913db4

Signed-off-by: vividf <[email protected]>

seperate the context

57f8dda

Signed-off-by: vividf <[email protected]>

remove accurately

ef62228

Signed-off-by: vividf <[email protected]>

remove addtional the

b3558ba

Signed-off-by: vividf <[email protected]>

add link

e56ecbf

Signed-off-by: vividf <[email protected]>

fix message to object and add reason of reliably detecting challenge

23bce5c

Signed-off-by: vividf <[email protected]>

fix section 2

3b945d5

Signed-off-by: vividf <[email protected]>

improve step 3

a326bb7

Signed-off-by: vividf <[email protected]>

fix calibration camera

79c9e47

Signed-off-by: vividf <[email protected]>

add docker solution

b6dfa2b

Signed-off-by: vividf <[email protected]>

fix some sentences in mapping_based

9fe1f4a

Signed-off-by: vividf <[email protected]>

fix the input parameters

793a581

Signed-off-by: vividf <[email protected]>

ci(pre-commit): autofix

d7a2971

chore: applied changes from the auto messages migration

a7d466b

note: this was note made as another PR since it also involved documentation Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]>

chore: mispells

96688a4

Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]>

chore: another attempt to fix the mispell

377e88b

Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]>

chore: forgot to commit one .repos file

a0a8ca9

Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]>

chore: replaced private links for public ones

cf76bb6

Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]>

chore: fix input

f2e9bb3

Signed-off-by: vividf <[email protected]>

chore: fix the FAQ

bd4a440

Signed-off-by: vividf <[email protected]>

chore: fix radar purpose

cb86959

Signed-off-by: vividf <[email protected]>

knzo25 reviewed Sep 30, 2024

View reviewed changes

knzo25 requested changes Sep 30, 2024

View reviewed changes

vividf added 18 commits October 1, 2024 21:18

chore: fix default rviz for text markers

f954bc4

Signed-off-by: vividf <[email protected]>

chore: remove unused header

43189c4

Signed-off-by: vividf <[email protected]>

chore: change function name to evaluateCombinations

2d0accd

Signed-off-by: vividf <[email protected]>

chore: change function name to get2DRotationDelta

0f648c0

Signed-off-by: vividf <[email protected]>

chore: change variable name

dfc339d

Signed-off-by: vividf <[email protected]>

chore: fix waiting to extract the background model

ba05cc4

Signed-off-by: vividf <[email protected]>

chore: fix grammar error

e5570b8

Signed-off-by: vividf <[email protected]>

chore: fix function name and clean code

c1a1ea3

Signed-off-by: vividf <[email protected]>

chore: remove unnessary logging

9bee4d2

Signed-off-by: vividf <[email protected]>

chore: fix int to size_t

b9e8c9d

Signed-off-by: vividf <[email protected]>

chore: fix estimateZeroRollTransformation logging

12b3562

Signed-off-by: vividf <[email protected]>

chore: add std::size_t

28fdcf9

Signed-off-by: vividf <[email protected]>

chore: NULL to nullptr

ef70435

Signed-off-by: vividf <[email protected]>

chore: declare point type only once

002d87c

Signed-off-by: vividf <[email protected]>

chore: remove class member and declare new structure

a62aae7

Signed-off-by: vividf <[email protected]>

chore: fix description of radar_optimization_frame

b2e2da7

Signed-off-by: vividf <[email protected]>

chore: remove if condition

8ab4a0c

Signed-off-by: vividf <[email protected]>

chore: fix function name setDelta

7f7f8e5

Signed-off-by: vividf <[email protected]>

vividf requested a review from knzo25 October 7, 2024 07:10

vividf added 2 commits October 17, 2024 09:33

Revert "chore: remove if condition"

b6c3c69

This reverts commit 8ab4a0c.

chore: fix bug

db3ab9a

Signed-off-by: vividf <[email protected]>

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feat(marker_radar_lidar_calibrator): marker_radar_lidar_calibrator support for different radar msgs and transformation algorithms #180

feat(marker_radar_lidar_calibrator): marker_radar_lidar_calibrator support for different radar msgs and transformation algorithms #180

vividf commented Jul 23, 2024 •

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		void ExtrinsicReflectorBasedCalibrator::calculateCalibrationError(

feat(marker_radar_lidar_calibrator): marker_radar_lidar_calibrator support for different radar msgs and transformation algorithms #180

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feat(marker_radar_lidar_calibrator): marker_radar_lidar_calibrator support for different radar msgs and transformation algorithms #180

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vividf commented Jul 23, 2024 • edited Loading

Description

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Tests performed

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knzo25 commented Sep 30, 2024

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vividf commented Jul 23, 2024 •

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