fix: fixed the camera-lidar calibrator that was broken due to some ne…

…w parameters ant the new launcher configuration schmeme

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

sensor/extrinsic_tag_based_pnp_calibrator/launch/calibrator.launch.xml

@@ -5,6 +5,7 @@
   <arg name="base_frame" default="base_link"/>
   <arg name="lidar_model" description="For supported lidar models check the lidartag repository"/>
   <arg name="use_receive_time" default="false" description="If sensor synchronization does not work, we can force the use of system time"/>
+  <arg name="use_rectified_image" default="true" description="We need to know if the image has been rectified so we can determine the use of K or P"/>
   <arg name="calibration_pairs" default="9" description="Number of lidar-image pairs for the calibration to converge"/>
   <arg name="calibration_pairs_min_distance" default="1.5" description="Minimum allowed between a new detection and current pairs"/>
 
@@ -32,6 +33,7 @@
     <param name="max_tag_distance" value="20.0"/>
     <param name="max_allowed_homography_error" value="0.5"/>
     <param name="use_receive_time" value="$(var use_receive_time)"/>
+    <param name="use_rectified_image" value="$(var use_rectified_image)"/>
 
     <param name="calibration_crossvalidation_training_ratio" value="0.7"/>
     <param name="calibration_convergence_min_pairs" value="$(var calibration_pairs)"/>

sensor/new_extrinsic_calibration_manager/launch/default_project/tag_based_pnp_calibrator.launch.xml

@@ -6,6 +6,7 @@
   <arg name="camera_info_topic" default="/sensing/camera/camera0/camera_info"/>
   <arg name="pointcloud_topic" default="/sensing/lidar/top/pointcloud_raw"/>
   <arg name="lidar_model" default="velodyne_vls128" description="this lidar must be supported by the lidartag package"/>
+  <arg name="use_rectified_image" default="true" description="image_rect vs. raw"/>
 
   <let name="rviz_profile" value=""/>
   <let name="rviz_profile" value="$(find-pkg-share extrinsic_tag_based_pnp_calibrator)/rviz/default_profile.rviz"/>
@@ -23,6 +24,7 @@
     <arg name="pointcloud_topic" value="$(var pointcloud_topic)"/>
     <arg name="pointcloud_topic_ex" value="$(var camera_info_topic)"/>
     <arg name="lidar_model" value="$(var lidar_model)"/>
+    <arg name="use_rectified_image" value="$(var use_rectified_image)"/>
     <arg name="calibration_service_name" value="calibrate_camera_lidar"/>
   </include>
 

sensor/new_extrinsic_calibration_manager/new_extrinsic_calibration_manager/views/launcher_configuration_view.py

@@ -88,7 +88,7 @@ def __init__(self, project_name, calibrator_name):
 
             description = e.description if e.description != "no description given" else ""
 
-            if len(e.default_value) > 0:
+            if e.default_value is not None and len(e.default_value) > 0:
                 default_value = e.default_value[-1].text.replace(
                     " ", ""
                 )  # KL: not sure if should the first or last default value