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

[vividf]

Description

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

1. Yaw-only calibration
2. 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

1. Yaw-only calibration (yaw_only_rotation_2d)
2. x,y, yaw calibration (svd_2d)
3. 3d calibration (svd_3d)
4. 3d transformation with roll is restricted to zero (roll_zero_3d)

and two different input msg-type for radar

1. radar_tracks
2. radar_scan

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

Related links

Tests performed

Notes for reviewers

Pre-review checklist for the PR author

The PR author must check the checkboxes below when creating the PR.

• I've confirmed the contribution guidelines.
• The PR follows the pull request guidelines.

In-review checklist for the PR reviewers

The PR reviewers must check the checkboxes below before approval.

• The PR follows the pull request guidelines.
• The PR has been properly tested.
• The PR has been reviewed by the code owners.

Post-review checklist for the PR author

The PR author must check the checkboxes below before merging.

• There are no open discussions or they are tracked via tickets.
• The PR is ready for merge.

After all checkboxes are checked, anyone who has write access can merge the PR.

[vividf]

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

[vividf]

@knzo25
This PR is ready for review :)

[knzo25]

Could you test if we can avoid manual target_link_libraries since we are using ament_auto?

[vividf]

I couldn't avoid it for ceres but opencv can be removed.
update in the commit 756eb81

[knzo25]

This happens because you did not put ceres in the packages file

<depend>libceres-dev</depend>

[vividf]

Same, even adding the 3cf1228, still couldn't remove the find_package and link_library 😿

[knzo25]

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]

@knzo25
Thanks, fixed the warning in 63d9577

[codecov-commenter]

⚠️ Please install the to ensure uploads and comments are reliably processed by Codecov.

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 ⚠️
..._lidar_calibrator/src/transformation_estimator.cpp	0.00%	65 Missing ⚠️
.../marker_radar_lidar_calibrator/sensor_residual.hpp	0.00%	14 Missing ⚠️
..._based_calibrator/src/mapping_based_calibrator.cpp	0.00%	6 Missing ⚠️
...d_plane_calibrator/src/ground_plane_calibrator.cpp	0.00%	2 Missing ⚠️
...2d_calibrator/src/lidar_to_lidar_2d_calibrator.cpp	0.00%	2 Missing ⚠️

❗ Your organization needs to install the Codecov GitHub app to enable full functionality.

Additional details and impacted files

@@                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	Coverage Δ
differential	4.89% <0.00%> (?)
total	?

Flags with carried forward coverage won't be shown. Click here to find out more.

☔ View full report in Codecov by Sentry.
📢 Have feedback on the report? Share it here.

[knzo25]

@vividf
Could confirm that the tool works as expected (functional aspect) with the data from the radar.
I will start providing comments in the code and quasi in parallel reading the evaluation and probably asking for more numbers

EDIT:
To review this I need you to rebase it to either the default branch or the documentation one. I recommend the documentation one, as that will probably be merged before and the merge/rebase needed then will be easier if done this way.
Internally I mentioned that rebase was not needed, but I meant the test branch, not the one we want to merge

[knzo25]

The objective of the rebase is to make this more reasonable:

[vividf]

I rebased this branch on the documentation branch and created a new PR #180
otherwise, there are too many conflicts (have diverged, and have 399 and 19 different commits each) need to be solved.