From 571b5f4d14387589085b06feafc9769d10fa3e9c Mon Sep 17 00:00:00 2001 From: ismetatabay Date: Thu, 7 Sep 2023 18:53:58 +0300 Subject: [PATCH] start with explaining mapping-based calibrator Signed-off-by: ismetatabay --- .../calibrating-sensors.md | 5 +- .../generic-calibration.md | 11 +- .../lidar-lidar-calibration.md | 145 ++++++++++++++++++ 3 files changed, 152 insertions(+), 9 deletions(-) diff --git a/docs/how-to-guides/integrating-autoware/creating-vehicle-and-sensor-description/calibrating-sensors/calibrating-sensors.md b/docs/how-to-guides/integrating-autoware/creating-vehicle-and-sensor-description/calibrating-sensors/calibrating-sensors.md index 7ca4e67a090..4cbe02eb7f7 100644 --- a/docs/how-to-guides/integrating-autoware/creating-vehicle-and-sensor-description/calibrating-sensors/calibrating-sensors.md +++ b/docs/how-to-guides/integrating-autoware/creating-vehicle-and-sensor-description/calibrating-sensors/calibrating-sensors.md @@ -36,7 +36,4 @@ we will modify `extrinsic_calibration_package` for our sensor kit. - [Generic Calibration](./generic-calibration.md) - [Lidar-Lidar Calibration](./lidar-lidar-calibration.md) - - [Map-Based Lidar-Lidar Calibration](https://github.com/tier4/CalibrationTools/blob/tier4/universe/sensor/docs/how_to_extrinsic_map_based.md) - - [Mapping-Based Lidar-Lidar Calibration](https://github.com/tier4/CalibrationTools/blob/tier4/universe/sensor/docs/how_to_extrinsic_mapping_based.md) -- [Ground Plane-Lidar Calibration](https://github.com/tier4/CalibrationTools/blob/tier4/universe/sensor/docs/how_to_extrinsic_ground_plane.md) -- [Camera Intrinsic Calibration](https://github.com/tier4/CalibrationTools/blob/tier4/universe/sensor/docs/how_to_extrinsic_ground_plane.md) + - [Ground Plane-Lidar Calibration](https://github.com/tier4/CalibrationTools/blob/tier4/universe/sensor/docs/how_to_extrinsic_ground_plane.md) diff --git a/docs/how-to-guides/integrating-autoware/creating-vehicle-and-sensor-description/calibrating-sensors/generic-calibration.md b/docs/how-to-guides/integrating-autoware/creating-vehicle-and-sensor-description/calibrating-sensors/generic-calibration.md index 9a0bdfc34bd..3160ee46e33 100644 --- a/docs/how-to-guides/integrating-autoware/creating-vehicle-and-sensor-description/calibrating-sensors/generic-calibration.md +++ b/docs/how-to-guides/integrating-autoware/creating-vehicle-and-sensor-description/calibrating-sensors/generic-calibration.md @@ -29,6 +29,7 @@ So our tutorial_vehicle's recorded topics should like this: Topic: /sensing/camera/camera0/image_rect | Type: sensor_msgs/msg/Image | Count: 2561 | Serialization Format: cdr Topic: /sensing/camera/camera0/camera_info | Type: sensor_msgs/msg/CameraInfo | Count: 2561 | Serialization Format: cdr ``` +## Extrinsic Manual Based Calibration First of all, we will start with creating and modifying `extrinsic_calibration_manager` launch files: @@ -36,6 +37,7 @@ First of all, we will start with creating and modifying `extrinsic_calibration_m cd /src/autoware/calibration_tools/sensor cd extrinsic_calibration_manager/launch mkdir # i.e. for our guide, it will ve mkdir tutorial_vehicle_sensor_kit +cd # i.e. for our guide, it will ve cd tutorial_vehicle_sensor_kit touch manual.launch.xml manual_sensor_kit.launch.xml ``` @@ -95,15 +97,14 @@ The final version of the file (manual.launch.xml) for tutorial_vehicle should be After the completing of manual.launch.xml file, we will be ready to implement manual_sensor_kit.launch.xml for the own sensor model: -We will start adding sensor_kit and vehicle_id as `manual.launch.xml`. Optionally, you can modify sensor_model and vehicle_id over this xml snippet: ```diff + + -+ ++ + -+ ++ + + + @@ -170,9 +171,9 @@ The final version of the manual_sensor_kit.launch.xml for tutorial_vehicle shoul ```xml - + - + diff --git a/docs/how-to-guides/integrating-autoware/creating-vehicle-and-sensor-description/calibrating-sensors/lidar-lidar-calibration.md b/docs/how-to-guides/integrating-autoware/creating-vehicle-and-sensor-description/calibrating-sensors/lidar-lidar-calibration.md index 1ad212cead5..2568da212d8 100644 --- a/docs/how-to-guides/integrating-autoware/creating-vehicle-and-sensor-description/calibrating-sensors/lidar-lidar-calibration.md +++ b/docs/how-to-guides/integrating-autoware/creating-vehicle-and-sensor-description/calibrating-sensors/lidar-lidar-calibration.md @@ -17,3 +17,148 @@ If you want more details about these methods such as usage, troubleshooting etc. Please get initial calibration results from [Generic Calibration](./generic-calibration.md) section, it is important for getting accurate results from this tool. We will use initial calibration parameters that we calculated on previous step on this tutorial. + +## Mapping-based lidar-lidar + +We start with creating launch file four our vehicle like "Extrinsic Manual Calibration" +process: + +```bash +cd /src/autoware/calibration_tools/sensor +cd extrinsic_calibration_manager/launch +cd # i.e. for our guide, it will ve cd tutorial_vehicle_sensor_kit +touch mapping_based.launch.xml mapping_based_sensor_kit.launch.xml +``` + +The created `mapping_based.launch.xml` and `mapping_based_sensor_kit.launch.xml` are version of sample sensor kit +[aip_x1](https://github.com/tier4/CalibrationTools/tree/tier4/universe/sensor/extrinsic_calibration_manager/launch/aip_x1) provided from Tier IV. + +Then we will continue with adding vehicle_id and sensor model names to the `mapping_based.launch.xml`. +(Optionally, values are not important. These parameters Overrode from launch argument) + +```diff ++ ++ ++ ++ ++ +``` + +After that, we will launch our sensor_kit for mapping-based lidar-lidar calibration, +so we must add these lines on manual.launch.xml: + +```diff ++ ++ ++ ++ ++ ++ ++ ++ +``` + +The final version of the file (mapping_based.launch.xml) for tutorial_vehicle should be like this: + +??? note "Sample manual.launch.xml file for tutorial vehicle" + + ```xml + + + + + + + + + + + + + + + + ``` + +After the completing of mapping_based.launch.xml file, +we will be ready to implement mapping_based_sensor_kit.launch.xml for the own sensor model: + +Optionally, +you can modify sensor_kit and vehicle_id as `mapping_based.launch.xml`over this xml snippet: +(You can change rviz_profile path after the saving rviz config as video +which included at the end of the page) + +```diff ++ ++ ++ ++ ++ ++ ++ ++ ++ ++ ++ ++ ++ +``` + +We will not fill anything on camera parameters for calibrator +because we will pair lidar-lidar for the calibration process: + +```diff ++ ++ ++ ++ ++ +``` + +We will add sensor kit frames for each lidar (except mapping lidar), +we have one lidar for pairing to the main lidar sensor for tutorial vehicle, so it should be like: + +```diff ++ +``` + +??? note "i.e., If you have three lidars (one main for mapping, two others)" + + ```xml + + + ``` + +We will add lidar_calibration_service_names, +calibration_lidar_base_frames and calibration_lidar_frames for calibrator. +At the tutorial_vehicle it should be like this snippet: + +```diff ++ + ++ ++ +``` + +??? note "i.e., If you have three lidars (one main for mapping, two others)" + + ```xml + + + + + ```