tier4 · knzo25 · Apr 11, 2024 · Jul 6, 2022 · Aug 31, 2022 · Oct 5, 2023
diff --git a/.cspell.json b/.cspell.json
@@ -1,17 +1,108 @@
 {
   "words": [
-    "apriltags",
+    "3dpoints",
     "Rodrigues",
-    "subsampled",
-    "undistortion",
-    "uniformingly",
+    "antialiasing",
+    "apriltag",
+    "apriltags",
+    "arange",
+    "autoware",
+    "astype",
+    "auxiliar",
+    "axisd",
+    "beforementioned",
+    "calib",
+    "cmap",
+    "coeffs",
+    "crossval",
+    "crossvalidation",
+    "opencv",
+    "discretization",
+    "distro",
+    "downsampling",
+    "downsample",
+    "dtype",
+    "eigen",
+    "eulers",
+    "extrinsics",
+    "figsize",
+    "gicp",
+    "hesai",
+    "homography",
     "hsize",
+    "icp",
+    "idless",
+    "idxs",
+    "imdecode",
+    "imread",
+    "imshow",
+    "imwrite",
+    "intrinsics",
+    "kalman",
+    "keyframes",
+    "libceres",
+    "lidars",
+    "lidartag",
+    "lidartags",
+    "linalg",
+    "matplotlib",
+    "matx",
+    "meshgrid",
+    "misdetection",
+    "nanosec",
+    "neighbours",
+    "ncols",
+    "nrows",
+    "omiya",
+    "overfits",
+    "pandar",
+    "permutate",
+    "pixmap",
+    "pnp",
+    "pointcloud",
+    "pointclouds",
+    "polyline",
+    "prerejective",
+    "pydot",
+    "pyplot",
+    "qcolor",
+    "quaterniond",
+    "ransac",
+    "rclcpp",
+    "rclpy",
+    "registrator",
+    "registrators",
+    "remappings",
+    "representer",
+    "reprojected",
+    "reprojection",
+    "rosbag",
+    "rosidl",
+    "ruamel",
     "rvec",
-    "tvec",
     "rvecs",
+    "rviz",
+    "slerp",
+    "solvepnp",
+    "sqpnp",
+    "srvs",
+    "subsampled",
+    "subsamples",
+    "subsampling",
+    "tvec",
     "tvecs",
-    "nrows",
-    "ncols",
-    "crossval"
+    "undistort",
+    "undistortion",
+    "uniformingly",
+    "velodyne",
+    "vectord",
+    "voxel",
+    "voxels",
+    "xaxis",
+    "xlabel",
+    "xlim",
+    "yaxis",
+    "ylabel",
+    "ylim"
   ]
 }
diff --git a/build_depends.repos b/build_depends.repos
@@ -19,6 +19,10 @@ repositories:
     type: git
     url: https://github.com/astuff/astuff_sensor_msgs.git
     version: 3.2.0
+  core/autoware_internal_msgs:
+    type: git
+    url: https://github.com/autowarefoundation/autoware_internal_msgs.git
+    version: main
   core/common:
     type: git
     url: https://github.com/autowarefoundation/autoware_common.git

diff --git a/...or/point_cloud_accumulator/CMakeLists.txt → ...on/point_cloud_accumulator/CMakeLists.txt b/...or/point_cloud_accumulator/CMakeLists.txt → ...on/point_cloud_accumulator/CMakeLists.txt
diff --git a/...rinsic_interactive_calibrator/__init__.py → common/point_cloud_accumulator/COLCON_IGNORE b/...rinsic_interactive_calibrator/__init__.py → common/point_cloud_accumulator/COLCON_IGNORE
diff --git a/...d_accumulator/point_cloud_accumulator.hpp → ...d_accumulator/point_cloud_accumulator.hpp b/...d_accumulator/point_cloud_accumulator.hpp → ...d_accumulator/point_cloud_accumulator.hpp
diff --git a/...launch/point_cloud_accumulator.launch.xml → ...launch/point_cloud_accumulator.launch.xml b/...launch/point_cloud_accumulator.launch.xml → ...launch/point_cloud_accumulator.launch.xml
diff --git a/sensor/point_cloud_accumulator/package.xml → common/point_cloud_accumulator/package.xml b/sensor/point_cloud_accumulator/package.xml → common/point_cloud_accumulator/package.xml
diff --git a/...cumulator/src/point_cloud_accumulator.cpp → ...cumulator/src/point_cloud_accumulator.cpp b/...cumulator/src/point_cloud_accumulator.cpp → ...cumulator/src/point_cloud_accumulator.cpp
diff --git a/common/tier4_calibration_msgs/CMakeLists.txt b/common/tier4_calibration_msgs/CMakeLists.txt
@@ -17,6 +17,7 @@ ament_auto_find_build_dependencies()
 rosidl_generate_interfaces(${PROJECT_NAME}
   "msg/BoolStamped.msg"
   "msg/CalibrationPoints.msg"
+  "msg/CalibrationResult.msg"
   "msg/Files.msg"
   "msg/Float32Stamped.msg"
   "msg/EstimationResult.msg"
@@ -25,10 +26,9 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   "srv/FilesSrv.srv"
   "srv/FilesListSrv.srv"
   "srv/CalibrationDatabase.srv"
-  "srv/ExtrinsicCalibrationManager.srv"
-  "srv/ExtrinsicCalibrator.srv"
   "srv/Frame.srv"
   "srv/IntrinsicsOptimizer.srv"
+  "srv/ExtrinsicCalibrator.srv"
   DEPENDENCIES
     std_msgs
     sensor_msgs

diff --git a/common/tier4_calibration_msgs/msg/CalibrationResult.msg b/common/tier4_calibration_msgs/msg/CalibrationResult.msg
@@ -0,0 +1,4 @@
+geometry_msgs/TransformStamped transform_stamped
+bool success
+float32 score
+std_msgs/String message
diff --git a/common/tier4_calibration_msgs/srv/ExtrinsicCalibrationManager.srv b/common/tier4_calibration_msgs/srv/ExtrinsicCalibrationManager.srv
diff --git a/common/tier4_calibration_msgs/srv/ExtrinsicCalibrator.srv b/common/tier4_calibration_msgs/srv/ExtrinsicCalibrator.srv
@@ -1,6 +1,2 @@
-geometry_msgs/Pose initial_pose
 ---
-geometry_msgs/Pose result_pose
-bool success
-float32 score
-sensor_msgs/PointCloud2 debug_pointcloud
+tier4_calibration_msgs/CalibrationResult[] results
diff --git a/...alibration_pcl_extensions/include/tier4_calibration_pcl_extensions/joint_icp_extended.hpp b/...alibration_pcl_extensions/include/tier4_calibration_pcl_extensions/joint_icp_extended.hpp
@@ -1,4 +1,4 @@
-// Copyright 2023 Tier IV, Inc.
+// Copyright 2024 Tier IV, Inc.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.

diff --git a/...ation_pcl_extensions/include/tier4_calibration_pcl_extensions/joint_icp_extended_impl.hpp b/...ation_pcl_extensions/include/tier4_calibration_pcl_extensions/joint_icp_extended_impl.hpp
@@ -1,4 +1,4 @@
-// Copyright 2023 Tier IV, Inc.
+// Copyright 2024 Tier IV, Inc.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -354,7 +354,7 @@ void pcl::JointIterativeClosestPointExtended<PointSource, PointTarget, Scalar>::
 
     ++nr_iterations_;
 
-    // Update the vizualization of icp convergence
+    // Update the visualization of icp convergence
     // if (update_visualizer_ != 0)
     //  update_visualizer_(output, source_indices_good, *target_, target_indices_good );
 

diff --git a/...libration_pcl_extensions/include/tier4_calibration_pcl_extensions/voxel_grid_triplets.hpp b/...libration_pcl_extensions/include/tier4_calibration_pcl_extensions/voxel_grid_triplets.hpp
@@ -1,4 +1,4 @@
-// Copyright 2023 Tier IV, Inc.
+// Copyright 2024 Tier IV, Inc.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -82,7 +82,7 @@ struct cloud_point_index_idx_triplets
   {
     return (idx0 < p.idx0) || (idx0 == p.idx0 && idx1 < p.idx1) ||
            (idx0 == p.idx0 && idx1 == p.idx1 && idx2 < p.idx2);
-  }  // test brancheless agains branched version with a dataset at some point \ along with some sort
+  }  // test branchless against branched version with a dataset at some point \ along with some sort
      // implementations
 };
 
@@ -102,7 +102,7 @@ class VoxelGridTriplets : public VoxelGrid<PointT>
   using VoxelGrid<PointT>::min_b_;
   using VoxelGrid<PointT>::max_b_;
   using VoxelGrid<PointT>::div_b_;
-  using VoxelGrid<PointT>::divb_mul_;
+  using VoxelGrid<PointT>::divb_mul_;  // cSpell:ignore divb
   using VoxelGrid<PointT>::min_points_per_voxel_;
   using VoxelGrid<PointT>::save_leaf_layout_;
   using VoxelGrid<PointT>::leaf_layout_;

diff --git a/...tion_pcl_extensions/include/tier4_calibration_pcl_extensions/voxel_grid_triplets_impl.hpp b/...tion_pcl_extensions/include/tier4_calibration_pcl_extensions/voxel_grid_triplets_impl.hpp
@@ -1,4 +1,4 @@
-// Copyright 2023 Tier IV, Inc.
+// Copyright 2024 Tier IV, Inc.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -123,6 +123,7 @@ void pcl::VoxelGridTriplets<PointT>::applyFilter(PointCloud & output)
   div_b_ = max_b_ - min_b_ + Eigen::Vector4i::Ones();
   div_b_[3] = 0;
 
+  // cSpell:ignore divb
   // Set up the division multiplier
   divb_mul_ = Eigen::Vector4i(1, div_b_[0], div_b_[0] * div_b_[1], 0);
 
@@ -199,6 +200,8 @@ void pcl::VoxelGridTriplets<PointT>::applyFilter(PointCloud & output)
     }
   }
 
+  // cSpell:ignore spreadsort
+  // cSpell:ignore rightshift
   // Second pass: sort the index_vector vector using value representing target cell as index
   // in effect all points belonging to the same output cell will be next to each other
   // auto rightshift_func = [](const cloud_point_index_idx_triplets &x, const unsigned offset) {

diff --git a/common/tier4_calibration_pcl_extensions/src/joint_icp_extended.cpp b/common/tier4_calibration_pcl_extensions/src/joint_icp_extended.cpp
@@ -1,4 +1,4 @@
-// Copyright 2023 Tier IV, Inc.
+// Copyright 2024 Tier IV, Inc.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.

diff --git a/common/tier4_calibration_pcl_extensions/src/voxel_grid_triplets.cpp b/common/tier4_calibration_pcl_extensions/src/voxel_grid_triplets.cpp
@@ -1,4 +1,4 @@
-// Copyright 2023 Tier IV, Inc.
+// Copyright 2024 Tier IV, Inc.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.

diff --git a/common/tier4_calibration_views/CMakeLists.txt b/common/tier4_calibration_views/CMakeLists.txt
@@ -0,0 +1,19 @@
+cmake_minimum_required(VERSION 3.5)
+project(tier4_calibration_views)
+
+find_package(ament_cmake REQUIRED)
+find_package(ament_cmake_python REQUIRED)
+find_package(rclpy REQUIRED)
+find_package(autoware_cmake REQUIRED)
+
+autoware_package()
+ament_python_install_package(${PROJECT_NAME})
+
+install(PROGRAMS
+  scripts/image_view_node.py
+  DESTINATION lib/${PROJECT_NAME}
+)
+
+ament_export_dependencies(ament_cmake)
+ament_export_dependencies(ament_cmake_python)
+ament_package()
diff --git a/common/tier4_calibration_views/package.xml b/common/tier4_calibration_views/package.xml
@@ -0,0 +1,29 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>tier4_calibration_views</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="[email protected]">Kenzo Lobos Tsunekawa</maintainer>
+  <license>TODO: License declaration</license>
+
+  <buildtool_depend>ament_cmake_auto</buildtool_depend>
+  <buildtool_depend>ament_cmake_python</buildtool_depend>
+
+  <build_depend>autoware_cmake</build_depend>
+
+  <exec_depend>python3-matplotlib</exec_depend>
+  <exec_depend>python3-pyside2.qtquick</exec_depend>
+  <exec_depend>python3-transforms3d</exec_depend>
+  <exec_depend>rclpy</exec_depend>
+  <exec_depend>ros2_numpy</exec_depend>
+  <exec_depend>ros2launch</exec_depend>
+  <exec_depend>tier4_calibration_msgs</exec_depend>
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
diff --git a/...resource/extrinsic_interactive_calibrator → ...on_views/resource/tier4_calibration_views b/...resource/extrinsic_interactive_calibrator → ...on_views/resource/tier4_calibration_views
diff --git a/common/tier4_calibration_views/scripts/image_view_node.py b/common/tier4_calibration_views/scripts/image_view_node.py
@@ -0,0 +1,53 @@
+#!/usr/bin/env python3
+
+# Copyright 2024 Tier IV, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import logging
+import os
+import signal
+import sys
+
+from PySide2.QtWidgets import QApplication
+import rclpy
+from tier4_calibration_views.image_view_ros_interface import ImageViewRosInterface
+from tier4_calibration_views.image_view_ui import ImageViewUI
+
+
+def main(args=None):
+    os.environ["QT_QPA_PLATFORM_PLUGIN_PATH"] = ""
+    app = QApplication(sys.argv)
+
+    rclpy.init(args=args)
+
+    try:
+        signal.signal(signal.SIGINT, sigint_handler)
+
+        ros_interface = ImageViewRosInterface()
+        ex = ImageViewUI(ros_interface)  # noqa: F841
+
+        ros_interface.spin()
+
+        sys.exit(app.exec_())
+    except (KeyboardInterrupt, SystemExit):
+        logging.info("Received sigint. Quitting...")
+        rclpy.shutdown()
+
+
+def sigint_handler(*args):
+    QApplication.quit()
+
+
+if __name__ == "__main__":
+    main()
diff --git a/...nteractive_calibrator/test/test_pep257.py → ...er4_calibration_views/test/test_pep257.py b/...nteractive_calibrator/test/test_pep257.py → ...er4_calibration_views/test/test_pep257.py
diff --git a/common/tier4_calibration_views/tier4_calibration_views/__init__.py b/common/tier4_calibration_views/tier4_calibration_views/__init__.py