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refactor: remove default values from IMU to front LiDAR transform parameters #274

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refactor: remove default values from IMU to front LiDAR transform parameters #274

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4d4a4be
refactor: remove default values from IMU to front LiDAR transform par…
otenim Dec 25, 2025
2ea1087
feat: add drs_seyond module import to calibrators __init__
otenim Dec 25, 2025
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12 changes: 6 additions & 6 deletions sensor_calibration_manager/launch/drs/mapping_based_lidar_lidar_calibrator.launch.xml
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Expand Up @@ -12,12 +12,12 @@
<arg name="dense_pointcloud_num_keyframes" default="30" description="Used to compensate the different field of views"/>
<arg name="lidar_calibration_max_frames" default="3" description="Number of pointclouds used for calibration"/>

<arg name="imu_to_front_x" default="0.3334" description="x translation value from IMU origin to front LiDAR origin"/>
<arg name="imu_to_front_y" default="0.0" description="y translation value from IMU origin to front LiDAR origin"/>
<arg name="imu_to_front_z" default="0.0702" description="z translation value from IMU origin to front LiDAR origin"/>
<arg name="imu_to_front_roll" default="0.000" description="roll rotation value from IMU origin to front LiDAR origin"/>
<arg name="imu_to_front_pitch" default="0.000" description="pitch rotation value from IMU origin to front LiDAR origin"/>
<arg name="imu_to_front_yaw" default="0.000" description="yaw rotation value from IMU origin to front LiDAR origin"/>
<arg name="imu_to_front_x" description="x translation value from IMU origin to front LiDAR origin"/>
<arg name="imu_to_front_y" description="y translation value from IMU origin to front LiDAR origin"/>
<arg name="imu_to_front_z" description="z translation value from IMU origin to front LiDAR origin"/>
<arg name="imu_to_front_roll" description="roll rotation value from IMU origin to front LiDAR origin"/>
<arg name="imu_to_front_pitch" description="pitch rotation value from IMU origin to front LiDAR origin"/>
<arg name="imu_to_front_yaw" description="yaw rotation value from IMU origin to front LiDAR origin"/>

<let name="calibration_camera_optical_link_frames" value="['']"/>

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12 changes: 6 additions & 6 deletions sensor_calibration_manager/launch/drs_seyond/mapping_based_lidar_lidar_calibrator.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -12,12 +12,12 @@
<arg name="dense_pointcloud_num_keyframes" default="30" description="Used to compensate the different field of views"/>
<arg name="lidar_calibration_max_frames" default="3" description="Number of pointclouds used for calibration"/>

<arg name="imu_to_front_x" default="0.3334" description="x translation value from IMU origin to front LiDAR origin"/>
<arg name="imu_to_front_y" default="0.0" description="y translation value from IMU origin to front LiDAR origin"/>
<arg name="imu_to_front_z" default="0.0702" description="z translation value from IMU origin to front LiDAR origin"/>
<arg name="imu_to_front_roll" default="0.000" description="roll rotation value from IMU origin to front LiDAR origin"/>
<arg name="imu_to_front_pitch" default="0.000" description="pitch rotation value from IMU origin to front LiDAR origin"/>
<arg name="imu_to_front_yaw" default="0.000" description="yaw rotation value from IMU origin to front LiDAR origin"/>
<arg name="imu_to_front_x" description="x translation value from IMU origin to front LiDAR origin"/>
<arg name="imu_to_front_y" description="y translation value from IMU origin to front LiDAR origin"/>
<arg name="imu_to_front_z" description="z translation value from IMU origin to front LiDAR origin"/>
<arg name="imu_to_front_roll" description="roll rotation value from IMU origin to front LiDAR origin"/>
<arg name="imu_to_front_pitch" description="pitch rotation value from IMU origin to front LiDAR origin"/>
<arg name="imu_to_front_yaw" description="yaw rotation value from IMU origin to front LiDAR origin"/>

<let name="calibration_camera_optical_link_frames" value="['']"/>

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1 change: 1 addition & 0 deletions sensor_calibration_manager/sensor_calibration_manager/calibrators/__init__.py
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@@ -1,5 +1,6 @@
from .default_project import * # noqa: F401, F403
from .drs import * # noqa: F401, F403
from .drs_seyond import * # noqa: F401, F403
from .rdv import * # noqa: F401, F403
from .x1 import * # noqa: F401, F403
from .x2 import * # noqa: F401, F403
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