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Package Summary
Tags | No category tags. |
Version | 0.0.0 |
License | Apache License 2.0 |
Build type | AMENT_PYTHON |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/tier4/calibrationtools.git |
VCS Type | git |
VCS Version | tier4/universe |
Last Updated | 2025-03-11 |
Dev Status | UNMAINTAINED |
CI status | No Continuous Integration |
Released | UNRELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
the sensor_calibration_manager package
Additional Links
No additional links.
Maintainers
- Kenzo Lobos Tsunekawa
Authors
No additional authors.
README
No README found.
See repository README.
CHANGELOG
No CHANGELOG found.
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
System Dependencies
Dependant Packages
Name | Deps |
---|---|
sensor_calibration_tools |
Launch files
- launch/x2/marker_radar_lidar_calibrator.launch.xml
-
- radar_name [default: front_center]
- rviz [default: true]
- launch/x2/tag_based_sfm_base_lidars_cameras_calibrator.launch.xml
-
- rviz [default: true]
- config_file [default: omiya_calibration_room_2023.param.yaml]
- publish_tfs [default: true]
- fixed_ground_plane_model [default: false]
- auxiliar_tag_ids [default: [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]]
- waypoint_tag_ids [default: [0, 1, 2, 3, 4, 5]]
- ground_tag_ids [default: [50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99]]
- left_wheel_tag_id [default: 22]
- right_wheel_tag_id [default: 26]
- launch/x2/tag_based_sfm_base_lidars_calibrator.launch.xml
-
- rviz [default: true]
- config_file [default: omiya_calibration_room_2023.param.yaml]
- publish_tfs [default: true]
- fixed_ground_plane_model [default: false]
- auxiliar_tag_ids [default: [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]]
- waypoint_tag_ids [default: [0, 1, 2, 3, 4, 5]]
- ground_tag_ids [default: [50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99]]
- left_wheel_tag_id [default: 22]
- right_wheel_tag_id [default: 26]
- launch/x2/mapping_based_lidar_lidar_calibrator.launch.xml
-
- base_frame [default: base_link]
- mapping_registrator [default: gicp]
- rviz [default: true]
- lost_frame_max_acceleration [default: 10.0]
- local_map_num_keyframes [default: 30]
- dense_pointcloud_num_keyframes [default: 20]
- mapper_resolution [default: 0.5]
- mapper_max_iterations [default: 500]
- mapper_epsilon [default: 0.001]
- mapper_max_correspondence_distance [default: 0.1]
- lidar_calibration_max_frames [default: 20]
- calibration_eval_max_corr_distance [default: 0.2]
- solver_iterations [default: 10]
- calibration_skip_keyframes [default: 10]
- mapping_max_range [default: 50.0]
- max_calibration_range [default: 40.0]
- calibration_use_only_last_frames [default: true]
- crop_z_calibration_pointclouds [default: true]
- crop_z_calibration_pointclouds_value [default: 4.0]
- launch/x2/mapping_based_base_lidar_calibrator.launch.xml
-
- base_frame [default: base_link]
- mapping_registrator [default: gicp]
- rviz [default: true]
- lost_frame_max_acceleration [default: 10.0]
- local_map_num_keyframes [default: 30]
- dense_pointcloud_num_keyframes [default: 20]
- mapper_resolution [default: 0.5]
- mapper_max_iterations [default: 500]
- mapper_epsilon [default: 0.001]
- mapper_max_correspondence_distance [default: 0.1]
- lidar_calibration_max_frames [default: 20]
- calibration_eval_max_corr_distance [default: 0.2]
- calibration_skip_keyframes [default: 10]
- mapping_max_range [default: 50.0]
- max_calibration_range [default: 40.0]
- calibration_use_only_last_frames [default: true]
- crop_z_calibration_pointclouds [default: true]
- crop_z_calibration_pointclouds_value [default: 4.0]
- base_lidar_crop_box_min_x [default: -5.0]
- base_lidar_crop_box_min_y [default: -5.0]
- base_lidar_crop_box_min_z [default: -5.0]
- base_lidar_crop_box_max_x [default: 10.0]
- base_lidar_crop_box_max_y [default: 5.0]
- base_lidar_crop_box_max_z [default: 5.0]
- base_lidar_min_plane_points_percentage [default: 10.0]
- base_lidar_max_inlier_distance [default: 0.03]
- base_lidar_min_plane_points [default: 500]
- base_lidar_max_cos_distance [default: 0.2]
- base_lidar_max_iterations [default: 500]
- base_lidar_overwrite_xy_yaw [default: false]
- launch/x2/tag_based_sfm_base_lidar_calibrator.launch.xml
-
- rviz [default: true]
- config_file [default: omiya_calibration_room_2023.param.yaml]
- publish_tfs [default: true]
- fixed_ground_plane_model [default: false]
- base_frame [default: base_link]
- main_calibration_sensor_frame [default: pandar_40p_left]
- calibration_lidar_model [default: pandar_40p]
- calibration_lidar_topic [default: /sensing/lidar/left_upper/pointcloud_raw]
- auxiliar_tag_ids [default: [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]]
- waypoint_tag_ids [default: [0, 1, 2, 3, 4, 5]]
- ground_tag_ids [default: [50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99]]
- left_wheel_tag_id [default: 22]
- right_wheel_tag_id [default: 26]
- launch/x2/ground_plane_calibrator.launch.xml
-
- max_inlier_distance [default: 0.03]
- min_plane_points [default: 500]
- min_plane_points_percentage [default: 20.0]
- max_cos_distance [default: 0.2]
- max_iterations [default: 500]
- verbose [default: true]
- overwrite_xy_yaw [default: false]
- filter_estimations [default: true]
- use_crop_box_filter [default: true]
- crop_box_min_x [default: -50.0]
- crop_box_min_y [default: -50.0]
- crop_box_min_z [default: -50.0]
- crop_box_max_x [default: 50.0]
- crop_box_max_y [default: 50.0]
- crop_box_max_z [default: 50.0]
- use_pca_rough_normal [default: false]
- rviz [default: true]
- launch/x2/tag_based_pnp_calibrator.launch.xml
-
- camera_name [default: camera0]
- view_only_ui [default: true]
- calibration_pairs [default: 9]
- calibration_pairs_min_distance [default: 1.5]
- launch/rdv/marker_radar_lidar_calibrator.launch.xml
-
- radar_name [default: front_center]
- rviz [default: true]
- launch/rdv/tag_based_sfm_base_lidars_cameras_calibrator.launch.xml
-
- rviz [default: true]
- config_file [default: omiya_calibration_room_2023.param.yaml]
- publish_tfs [default: true]
- fixed_ground_plane_model [default: false]
- auxiliar_tag_ids [default: [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]]
- waypoint_tag_ids [default: [0, 1, 2, 3, 4, 5]]
- ground_tag_ids [default: [50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99]]
- left_wheel_tag_id [default: 22]
- right_wheel_tag_id [default: 26]
- launch/rdv/tag_based_sfm_base_lidars_calibrator.launch.xml
-
- rviz [default: true]
- config_file [default: omiya_calibration_room_2023.param.yaml]
- publish_tfs [default: true]
- fixed_ground_plane_model [default: false]
- auxiliar_tag_ids [default: [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]]
- waypoint_tag_ids [default: [0, 1, 2, 3, 4, 5]]
- ground_tag_ids [default: [50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99]]
- left_wheel_tag_id [default: 22]
- right_wheel_tag_id [default: 26]
- launch/rdv/mapping_based_lidar_lidar_calibrator.launch.xml
-
- base_frame [default: base_link]
- lost_frame_max_acceleration [default: 10.0]
- calibration_skip_keyframes [default: 7]
- mapping_registrator [default: ndt]
- mapping_min_range [default: 5.0]
- mapping_max_range [default: 80.0]
- lidar_calibration_max_frames [default: 3]
- solver_iterations [default: 50]
- calibration_skip_keyframes [default: 3]
- rviz [default: true]
- launch/rdv/mapping_based_base_lidar_calibrator.launch.xml
-
- base_frame [default: base_link]
- rviz [default: true]
- lost_frame_max_acceleration [default: 10.0]
- calibration_skip_keyframes [default: 7]
- mapping_registrator [default: ndt]
- mapping_min_range [default: 5.0]
- mapping_max_range [default: 80.0]
- base_lidar_crop_box_min_x [default: -5.0]
- base_lidar_crop_box_min_y [default: -5.0]
- base_lidar_crop_box_min_z [default: -5.0]
- base_lidar_crop_box_max_x [default: 10.0]
- base_lidar_crop_box_max_y [default: 5.0]
- base_lidar_crop_box_max_z [default: 5.0]
- base_lidar_min_plane_points_percentage [default: 10.0]
- base_lidar_max_inlier_distance [default: 0.03]
- base_lidar_min_plane_points [default: 500]
- base_lidar_max_cos_distance [default: 0.2]
- base_lidar_max_iterations [default: 500]
- base_lidar_overwrite_xy_yaw [default: false]
- launch/rdv/tag_based_sfm_base_lidar_calibrator.launch.xml
-
- rviz [default: true]
- config_file [default: omiya_calibration_room_2023.param.yaml]
- publish_tfs [default: true]
- fixed_ground_plane_model [default: false]
- base_frame [default: base_link]
- main_calibration_sensor_frame [default: pandar_top]
- calibration_lidar_model [default: pandar_64]
- calibration_lidar_topic [default: /sensing/lidar/top/pointcloud_raw]
- auxiliar_tag_ids [default: [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]]
- waypoint_tag_ids [default: [0, 1, 2, 3, 4, 5]]
- ground_tag_ids [default: [50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99]]
- left_wheel_tag_id [default: 22]
- right_wheel_tag_id [default: 26]
- launch/rdv/tag_based_pnp_calibrator.launch.xml
-
- camera_name [default: camera0]
- view_only_ui [default: true]
- calibration_pairs [default: 9]
- calibration_pairs_min_distance [default: 1.5]
- launch/xx1_15/tag_based_sfm_base_lidars_cameras_calibrator.launch.xml
-
- rviz [default: true]
- config_file [default: omiya_calibration_room_2023.param.yaml]
- publish_tfs [default: true]
- fixed_ground_plane_model [default: false]
- auxiliar_tag_ids [default: [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]]
- waypoint_tag_ids [default: [0, 1, 2, 3, 4, 5]]
- ground_tag_ids [default: [50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99]]
- left_wheel_tag_id [default: 22]
- right_wheel_tag_id [default: 26]
- launch/xx1_15/tag_based_pnp_calibrator.launch.xml
-
- camera_name
- view_only_ui [default: true]
- calibration_pairs [default: 9]
- calibration_pairs_min_distance [default: 1.5]
- launch/xx1/mapping_based_lidar_lidar_calibrator.launch.xml
-
- base_frame [default: base_link]
- lost_frame_max_acceleration [default: 10.0]
- calibration_skip_keyframes [default: 7]
- mapping_registrator [default: ndt]
- rviz [default: true]
- launch/xx1/mapping_based_base_lidar_calibrator.launch.xml
-
- base_frame [default: base_link]
- rviz [default: true]
- lost_frame_max_acceleration [default: 10.0]
- calibration_skip_keyframes [default: 7]
- mapping_registrator [default: ndt]
- base_lidar_crop_box_min_x [default: -5.0]
- base_lidar_crop_box_min_y [default: -5.0]
- base_lidar_crop_box_min_z [default: -5.0]
- base_lidar_crop_box_max_x [default: 10.0]
- base_lidar_crop_box_max_y [default: 5.0]
- base_lidar_crop_box_max_z [default: 5.0]
- base_lidar_min_plane_points_percentage [default: 10.0]
- base_lidar_max_inlier_distance [default: 0.03]
- base_lidar_min_plane_points [default: 500]
- base_lidar_max_cos_distance [default: 0.2]
- base_lidar_max_iterations [default: 500]
- base_lidar_overwrite_xy_yaw [default: false]
- launch/xx1/tag_based_sfm_base_lidar_calibrator.launch.xml
-
- rviz [default: true]
- config_file [default: omiya_calibration_room_2023.param.yaml]
- publish_tfs [default: true]
- fixed_ground_plane_model [default: false]
- auxiliar_tag_ids [default: [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]]
- waypoint_tag_ids [default: [0, 1, 2, 3, 4, 5]]
- ground_tag_ids [default: [50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99]]
- left_wheel_tag_id [default: 22]
- right_wheel_tag_id [default: 26]
- launch/xx1/ground_plane_calibrator.launch.xml
-
- max_inlier_distance [default: 0.03]
- min_plane_points [default: 500]
- min_plane_points_percentage [default: 20.0]
- max_cos_distance [default: 0.2]
- max_iterations [default: 500]
- verbose [default: true]
- overwrite_xy_yaw [default: false]
- filter_estimations [default: true]
- use_crop_box_filter [default: true]
- crop_box_min_x [default: -50.0]
- crop_box_min_y [default: -50.0]
- crop_box_min_z [default: -50.0]
- crop_box_max_x [default: 50.0]
- crop_box_max_y [default: 50.0]
- crop_box_max_z [default: 50.0]
- use_pca_rough_normal [default: false]
- rviz [default: true]
- launch/xx1/tag_based_pnp_calibrator.launch.xml
-
- camera_name [default: camera0]
- view_only_ui [default: true]
- calibration_pairs [default: 9]
- calibration_pairs_min_distance [default: 1.5]
- launch/x1/ground_plane_calibrator.launch.xml
-
- max_inlier_distance [default: 0.03]
- min_plane_points [default: 500]
- min_plane_points_percentage [default: 20.0]
- max_cos_distance [default: 0.2]
- max_iterations [default: 500]
- verbose [default: true]
- overwrite_xy_yaw [default: false]
- filter_estimations [default: true]
- use_crop_box_filter [default: true]
- crop_box_min_x [default: -20.0]
- crop_box_min_y [default: -20.0]
- crop_box_min_z [default: -20.0]
- crop_box_max_x [default: 20.0]
- crop_box_max_y [default: 20.0]
- crop_box_max_z [default: 20.0]
- use_pca_rough_normal [default: false]
- rviz [default: true]
- launch/default_project/marker_radar_lidar_calibrator.launch.xml
-
- rviz [default: true]
- radar_parallel_frame
- radar_frame
- lidar_frame
- input_radar_objects
- input_lidar_pointcloud
- launch/default_project/tag_based_sfm_base_lidars_cameras_calibrator.launch.xml
-
- rviz [default: true]
- config_file [default: omiya_calibration_room_2023.param.yaml]
- publish_tfs [default: true]
- fixed_ground_plane_model [default: false]
- base_frame [default: base_link]
- main_calibration_sensor_frame [default: pandar_top]
- calibration_lidar_0_frame [default: pandar_top]
- calibration_lidar_1_frame [default: pandar_front]
- calibration_lidar_2_frame [default: pandar_left]
- calibration_lidar_3_frame [default: pandar_right]
- calibration_camera_0_frame [default: camera0/camera_optical_link]
- calibration_camera_1_frame [default: camera1/camera_optical_link]
- calibration_camera_2_frame [default: camera2/camera_optical_link]
- calibration_camera_3_frame [default: camera3/camera_optical_link]
- calibration_camera_4_frame [default: camera4/camera_optical_link]
- calibration_camera_5_frame [default: camera5/camera_optical_link]
- calibration_camera_6_frame [default: camera6/camera_optical_link]
- calibration_lidar_0_model [default: pandar64]
- calibration_lidar_1_model [default: at128]
- calibration_lidar_2_model [default: pandar_xt32]
- calibration_lidar_3_model [default: pandar_xt32]
- calibration_lidar_0_topic [default: /sensing/lidar/top/pointcloud_raw]
- calibration_lidar_1_topic [default: /sensing/lidar/front/pointcloud_raw]
- calibration_lidar_2_topic [default: /sensing/lidar/left/pointcloud_raw]
- calibration_lidar_3_topic [default: /sensing/lidar/right/pointcloud_raw]
- calibration_camera_info_0_topic [default: /sensing/camera/camera0/camera_info]
- calibration_camera_info_1_topic [default: /sensing/camera/camera1/camera_info]
- calibration_camera_info_2_topic [default: /sensing/camera/camera2/camera_info]
- calibration_camera_info_3_topic [default: /sensing/camera/camera3/camera_info]
- calibration_camera_info_4_topic [default: /sensing/camera/camera4/camera_info]
- calibration_camera_info_5_topic [default: /sensing/camera/camera5/camera_info]
- calibration_camera_info_6_topic [default: /sensing/camera/camera6/camera_info]
- calibration_compressed_image_0_topic [default: /sensing/camera/camera0/image_raw/compressed]
- calibration_compressed_image_1_topic [default: /sensing/camera/camera1/image_raw/compressed]
- calibration_compressed_image_2_topic [default: /sensing/camera/camera2/image_raw/compressed]
- calibration_compressed_image_3_topic [default: /sensing/camera/camera3/image_raw/compressed]
- calibration_compressed_image_4_topic [default: /sensing/camera/camera4/image_raw/compressed]
- calibration_compressed_image_5_topic [default: /sensing/camera/camera5/image_raw/compressed]
- calibration_compressed_image_6_topic [default: /sensing/camera/camera6/image_raw/compressed]
- auxiliar_tag_ids [default: [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]]
- waypoint_tag_ids [default: [0, 1, 2, 3, 4, 5]]
- ground_tag_ids [default: [50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99]]
- left_wheel_tag_id [default: 22]
- right_wheel_tag_id [default: 26]
- launch/default_project/tag_based_sfm_base_lidars_calibrator.launch.xml
-
- rviz [default: true]
- config_file [default: omiya_calibration_room_2023.param.yaml]
- publish_tfs [default: true]
- fixed_ground_plane_model [default: false]
- base_frame [default: base_link]
- main_calibration_sensor_frame [default: pandar_top]
- calibration_lidar_0_frame [default: pandar_top]
- calibration_lidar_1_frame [default: pandar_front]
- calibration_lidar_2_frame [default: pandar_left]
- calibration_lidar_3_frame [default: pandar_right]
- calibration_lidar_0_model [default: pandar64]
- calibration_lidar_1_model [default: at128]
- calibration_lidar_2_model [default: pandar_xt32]
- calibration_lidar_3_model [default: pandar_xt32]
- calibration_lidar_0_topic [default: /sensing/lidar/top/pointcloud_raw]
- calibration_lidar_1_topic [default: /sensing/lidar/front/pointcloud_raw]
- calibration_lidar_2_topic [default: /sensing/lidar/left/pointcloud_raw]
- calibration_lidar_3_topic [default: /sensing/lidar/right/pointcloud_raw]
- auxiliar_tag_ids [default: [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]]
- waypoint_tag_ids [default: [0, 1, 2, 3, 4, 5]]
- ground_tag_ids [default: [50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99]]
- left_wheel_tag_id [default: 22]
- right_wheel_tag_id [default: 26]
- launch/default_project/mapping_based_lidar_lidar_calibrator.launch.xml
-
- base_frame [default: base_link]
- lost_frame_max_acceleration [default: 10.0]
- calibration_skip_keyframes [default: 7]
- mapping_registrator [default: ndt]
- rviz [default: true]
- calibration_lidar_frames [default: [ velodyne_left, velodyne_right]]
- calibration_pointcloud_topics [default: [ /sensing/lidar/left/rectified/pointcloud_ex, /sensing/lidar/right/rectified/pointcloud_ex]]
- mapping_lidar_frame [default: velodyne_top]
- mapping_pointcloud [default: /sensing/lidar/top/pointcloud]
- launch/default_project/mapping_based_base_lidar_calibrator.launch.xml
-
- base_frame [default: base_link]
- mapping_lidar_frame [default: xt32_top]
- mapping_pointcloud [default: /sensing/lidar/top/pointcloud_raw]
- rviz [default: true]
- lost_frame_max_acceleration [default: 10.0]
- calibration_skip_keyframes [default: 7]
- mapping_registrator [default: ndt]
- mapping_min_range [default: 5.0]
- mapping_max_range [default: 80.0]
- base_lidar_crop_box_min_x [default: -5.0]
- base_lidar_crop_box_min_y [default: -5.0]
- base_lidar_crop_box_min_z [default: -5.0]
- base_lidar_crop_box_max_x [default: 10.0]
- base_lidar_crop_box_max_y [default: 5.0]
- base_lidar_crop_box_max_z [default: 5.0]
- base_lidar_min_plane_points_percentage [default: 10.0]
- base_lidar_max_inlier_distance [default: 0.03]
- base_lidar_min_plane_points [default: 500]
- base_lidar_max_cos_distance [default: 0.2]
- base_lidar_max_iterations [default: 500]
- base_lidar_overwrite_xy_yaw [default: false]
- launch/default_project/tag_based_sfm_base_lidar_calibrator.launch.xml
-
- rviz [default: true]
- config_file [default: omiya_calibration_room_2023.param.yaml]
- publish_tfs [default: true]
- fixed_ground_plane_model [default: false]
- auxiliar_tag_ids [default: [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]]
- waypoint_tag_ids [default: [0, 1, 2, 3, 4, 5]]
- ground_tag_ids [default: [50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99]]
- left_wheel_tag_id [default: 22]
- right_wheel_tag_id [default: 26]
- launch/default_project/lidar_lidar_2d_calibrator.launch.xml
-
- base_frame [default: base_link]
- source_frame [default: livox_front_left]
- target_frame [default: velodyne]
- source_pointcloud_topic [default: /sensing/lidar/front_left/livox/lidar]
- target_pointcloud_topic [default: /velodyne_points]
- broadcast_calibration_tf [default: false]
- filter_estimations [default: true]
- max_calibration_range [default: 60.0]
- max_corr_distance [default: 0.5]
- max_iterations [default: 100]
- min_z [default: 0.5]
- max_z [default: 1.5]
- rviz [default: true]
- launch/default_project/ground_plane_calibrator.launch.xml
-
- base_frame [default: base_link]
- lidar_frame [default: velodyne]
- pointcloud_topic [default: /velodyne_points]
- max_inlier_distance [default: 0.03]
- min_plane_points [default: 500]
- min_plane_points_percentage [default: 20.0]
- max_cos_distance [default: 0.2]
- max_iterations [default: 500]
- verbose [default: true]
- overwrite_xy_yaw [default: false]
- filter_estimations [default: true]
- use_crop_box_filter [default: true]
- crop_box_min_x [default: -50.0]
- crop_box_min_y [default: -50.0]
- crop_box_min_z [default: -50.0]
- crop_box_max_x [default: 50.0]
- crop_box_max_y [default: 50.0]
- crop_box_max_z [default: 50.0]
- use_pca_rough_normal [default: false]
- rviz [default: true]
- launch/default_project/tag_based_pnp_calibrator.launch.xml
-
- camera_optical_link_frame
- lidar_frame
- image_decompressed_topic [default: /sensing/camera/camera0/image_rect_color/decompressed]
- image_compressed_topic [default: /sensing/camera/camera0/image_rect_color/compressed]
- camera_info_topic [default: /sensing/camera/camera0/camera_info]
- pointcloud_topic [default: /sensing/lidar/top/pointcloud_raw]
- use_rectified_image [default: true]
- view_only_ui [default: true]
- lidar_model
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