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sensor_calibration_manager package from calibrationtools repo

ground_plane_calibrator interactive_camera_lidar_calibrator ceres_intrinsic_camera_calibrator intrinsic_camera_calibrator lidar_to_lidar_2d_calibrator mapping_based_calibrator marker_radar_lidar_calibrator tag_based_pnp_calibrator tag_based_sfm_calibrator point_cloud_accumulator tier4_calibration_pcl_extensions tier4_calibration_views tier4_ground_plane_utils tier4_sensor_calibration_msgs tier4_tag_utils sensor_calibration_manager sensor_calibration_tools tunable_static_tf_broadcaster

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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

Description sensor calibration tools for autonomous driving and robotics
Checkout URI https://github.com/tier4/calibrationtools.git
VCS Type git
VCS Version tier4/universe
Last Updated 2025-04-14
Dev Status UNKNOWN
CI status No Continuous Integration
Released UNRELEASED
Tags computer-vision camera-calibration calibration autonomous-driving ros2 autoware sensor-calibration lidar-calibration robtics
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.

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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