ARCHITECTURE HOW TO USE load pcd file and show Rviz in new terminal ros2 launch manual_lidar_camera_calibration pointcloud_loader.launch.xml load image file and show opencv window in new terminal ros2 launch manual_lidar_camera_calibration camera_points_publisher.launch.xml launch extrinsic calibrator in new terminal ros2 launch manual_lidar_camera_calibration extrinsic_calibrator.launch.xml click camera points in opencv window use Publish Points tool to click point from pointcloud in Rviz visualize the calibration result in Rviz
