Vehicle-cpp/Nav/autoware_src/autoware/utilities/calibration_publisher

Calibration Publisher

This nodes publishes the camera intrinsics, extrinsics and registers the TF between the camera and LiDAR sensors. The data is read from an Autoware compatible calibration file.

Publications

• sensor_msgs/CameraInfo, default topic name /NAMESPACE/camera_info.

• autoware_msgs/projection_matrix, default topic name /NAMESPACE/camera_info

NAMESPACE if any.

Subscriptions

• sensor_msgs/Image, default topic name /image_raw

Parameters

Parameter	Type	Description	Default Value
calibration_file	String	Path to the Autoware calibration file
register_lidar2camera_tf	Bool	Whether or not to register TF between camera and lidar	True
publish_extrinsic_mat	Bool	Whether or not to publish extrinsic_matrix topic	True
publish_camera_info	Bool	Whether or not to publish camera_info topic	True
camera_frame	String	Camera frame to be included in the header	camera
target_frame	String	Target LiDAR frame to register in the TF	velodyne
image_topic_src	String	Image source topic to synchronize CameraInfo	/image_raw
camera_info_topic	String	Camera info topic name to publish intrinsics	/camera_info
projection_matrix_topic	String	Topic name on which to publish Extrinsics	/projection_matrix