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

[vividf]

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.

Related links

Tests performed

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[knzo25]

@vividf
Was this addressed? If so can you tell me the commit?

@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...

[vividf]

@knzo25
Before I fixed it in a62aae7 but seems that error is still high.

I just found out that I didn't fix the yaw error function so I just fixed it in 64d8e53.

The error is a bit lower than before but still high (I will send PM to you on slack)

[knzo25]

Thanks, just now I am catching up on the radar calibration, to make list of the next steps

[knzo25]

@vividf

• pre-commit does not pass
• This PR should be rebased if possible
• XX1 Gen2 unrelated to the radar should be in another PR
• Since we are going to (probably) end up restricting the calibration FOV with a cone, it should both put as a marker (guideline) and also not accept samples outside
• (Calibrator data) Variance indicators will be vital, since using single value of elevation in the reflectors end up in a degenerate optimization problem (for example, in the camera-lidar, each tag has 4 points, so the issue does not arise)
• We had talked before, but we need a button to delete a reflector by index. In the same way, it would be convenient to have a cancel a pair addition.
• Camera-lidar, base-lidar, and lidar-lidar have ways to save the data used for calibration for offline analysis. Please add an option (potentially a service), to save the calibration points
• The radar markers were implemented as a line with a square, representing the fact that we do not know the z component of RadarTrack (ARS408). The same is not true for 4D radars (with elevation). Please propose a new way to visualize it

[knzo25]

for msg_type and transformation_type, please provide alternatives with the choice attribute

[knzo25]

for msg_type and transformation_type, please provide alternatives with the choice attribute

[knzo25]

Checked calibration with X2Gen2 data.
Made general comments since the results are not near the required level yet.
Will be updating tickets later