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

[vividf]

Description

Our previous tools assumed that radar has no elevation and we provided two algorithms:

1. Yaw-only calibration
2. 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

1. Yaw-only calibration (yaw_only_rotation_2d)
2. x,y, yaw calibration (svd_2d)
3. 3d calibration (svd_3d)
4. 3d transformation with roll is restricted to zero (roll_zero_3d)

and two different input msg-type for radar

1. radar_tracks
2. radar_scan

Additionally, this PR also includes the xx1 gen2 project in the sensor_calibration_manager.

Related links

Tests performed

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[vividf]

@knzo25 I need to double-check and test the functionality for different projects so I set this to draft first.

[vividf]

@knzo25 This PR is ready for review :)

[knzo25]

I got this message

[metrics_plotter_node.py-4] /home/kenzolobos/workspace/calibration_ws/install/marker_radar_lidar_calibrator/lib/marker_radar_lidar_calibrator/metrics_plotter_node.py:33: MatplotlibDeprecationWarning: 
[metrics_plotter_node.py-4] The set_window_title function was deprecated in Matplotlib 3.4 and will be removed two minor releases later. Use manager.set_window_title or GUI-specific methods instead.
[metrics_plotter_node.py-4]   plt.gcf().canvas.set_window_title("Metrics plotter")

[vividf]

@knzo25 Thanks, fixed the warning in https://github.com/tier4/CalibrationTools/pull/161/commits/63d9577352c0ece0d245c6eda1e0ec0c56b42f57

[codecov-commenter]

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Codecov Report

Attention: Patch coverage is 0% with 295 lines in your changes missing coverage. Please review.

Project coverage is 4.89%. Comparing base (bab5400) to head (d7670f0). Report is 12 commits behind head on tier4/universe.

Files	Patch %	Lines
...r_calibrator/src/marker_radar_lidar_calibrator.cpp	0.00%	206 Missing :warning:
..._lidar_calibrator/src/transformation_estimator.cpp	0.00%	65 Missing :warning:
.../marker_radar_lidar_calibrator/sensor_residual.hpp	0.00%	14 Missing :warning:
..._based_calibrator/src/mapping_based_calibrator.cpp	0.00%	6 Missing :warning:
...d_plane_calibrator/src/ground_plane_calibrator.cpp	0.00%	2 Missing :warning:
...2d_calibrator/src/lidar_to_lidar_2d_calibrator.cpp	0.00%	2 Missing :warning:

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Additional details and impacted files

@@                Coverage Diff                @@
##           tier4/universe    #161      +/-   ##
=================================================
+ Coverage            0.93%   4.89%   +3.95%     
=================================================
  Files                 270     156     -114     
  Lines               21339   12281    -9058     
  Branches              383    1301     +918     
=================================================
+ Hits                  200     601     +401     
+ Misses              20982   11679    -9303     
+ Partials              157       1     -156     

Flag	Coverage Δ
differential	4.89% <0.00%> (?)
total	?

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[knzo25]

@vividf Could confirm that the tool works as expected (functional aspect) with the data from the radar. I will start providing comments in the code and quasi in parallel reading the evaluation and probably asking for more numbers

EDIT: To review this I need you to rebase it to either the default branch or the documentation one. I recommend the documentation one, as that will probably be merged before and the merge/rebase needed then will be easier if done this way. Internally I mentioned that rebase was not needed, but I meant the test branch, not the one we want to merge

[knzo25]

The objective of the rebase is to make this more reasonable:

[vividf]

I rebased this branch on the documentation branch and created a new PR https://github.com/tier4/CalibrationTools/pull/180 otherwise, there are too many conflicts (have diverged, and have 399 and 19 different commits each) need to be solved.