ROS2 Port

[knzo25]

Dear authors,
As part of our sensor calibration toolkit, we in Tier IV are using lidartags for camera-lidar calibration.

Having finished the main part of our development we are wondering if you would be interested in accepting a PR centering in a ROS2 port. However, in addition to the ROS2 migration, we ended up making additional changes to suit our use cases.

The main changes are:

• ROS2 migration
• Strong refactoring
• Focus on detection accuracy rather than speed
• Improved initial tag detection through modified filters and custom RANSACs.

Thanks or the great project !

[brucejk]

Hi,

Thanks for using the repository and reaching out!

I do appreciate that you guys further developed the package for ROS2!

And definitely YES, I'd be happy to accept a PR as another branch for ROS2.

[knzo25]

Thanks for the disposition !

Before making the PR we would like to know which parts would you like to accept.

We first just ported the repository to ROS2 to evaluate the work that @sgk-000 was doing as part of his internship (https://github.com/tier4/LiDARTag/commits/galactic)

Afterwards to adapted the system and added some functionalities to make is suitable for our sensors, conditions, and so on, for the task of camera-lidar calibration (https://github.com/tier4/LiDARTag/tree/feature/xx1_vls128).
For this last branch, a brief summary would be:

• Replaced the 4x line RANSAC for a rectangle estimation and a custom RANSAC.
• Tweaked filters for improve detection rated in our data (not parameters)
• Tweaked the system to detect tags when using lidars without intensities.
• Fixed the case where when the SVD fails to obtain a valid rotation matrix

CC: @aohsato

[knzo25]

Hi, I would like to ask again if you are interested in accepting the changes we implemented.
I understand that you may have probably moved to other projects but it is our policy to, as much as possible, send our or developments upstream :)

[brucejk]

Hi,

It has been long. Thanks for the reminder, your patience, and your persistent policy!

Since your PR would be supporting ROS 2, I would prefer you directly pushing to another branch (ROS2), which I have created, if possible.

Please let me know there are other things I could do on my end.

Thanks you all again for using this package and your hard work to push your developments upstream!

[knzo25]

Hi, thank you for your support !
I would like to make the PR later this week since we are in the middle of testing support for a new lidar that may prove to be tricky
🙇

[knzo25]

@brucejk
Sorry for the delay 🙏

I just created the related PR in #19

[brucejk]

Hi,

Thanks for your PR! I just merged.

Could you also provide a simple bagfile and update the readme so users could know how to use it?

[knzo25]

Hi,
Sorry it took a while, we needed to check some privacy concerns and check which bags we are allowed to share.
We uploaded the bags themselves https://drive.google.com/drive/folders/1-9OvHH1tp0VKZ_rXEwz3OrVCgstuj8Ta
and it should be a permalink for the foreseable future.

However, while writing the documentation, I realized that some changes are needed in the msgs package too (https://github.com/UMich-BipedLab/LiDARTag_msgs). Could you create a ros2 branch also ? 🙇

[CLboyrobot]

Dear authors, As part of our sensor calibration toolkit, we in Tier IV are using lidartags for camera-lidar calibration.

Having finished the main part of our development we are wondering if you would be interested in accepting a PR centering in a ROS2 port. However, in addition to the ROS2 migration, we ended up making additional changes to suit our use cases.

The main changes are:

* ROS2 migration

* Strong refactoring

* Focus on detection accuracy rather than speed

* Improved initial tag detection through modified filters and custom RANSACs.

Thanks or the great project !

hello，could you tell me some details about the code here,(https://github.com/UMich-BipedLab/LiDARTag/blob/release/src/lidartag_decode.cc#L1778) i am very confused the value 12,could you tell me somethingabout the value 12 ,thank you very much