feat(marker_radar_lidar_calibrator): 4d radar lidar calibration

[vividf]

Description

Part of the code is the same as #180 after rebasing on the documentation branch.

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

• Yaw-only calibration
• 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

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

and three different input msg-type for radar

• radar_tracks
• radar_scan
• radar_cloud

This PR also did some refactoring and added some features like:

• Metric plotter now provides two algorithms for comparison and also distribution of the detections
• Allow the user to save the calibration pairs and loaded afterward for offline calibration.
• Replace the Kalman filter algorithm with a naive tracking algorithm.
• Improve visualization

Related links

Tests performed

Notes for reviewers

Pre-review checklist for the PR author

The PR author must check the checkboxes below when creating the PR.

• I've confirmed the contribution guidelines.
• The PR follows the pull request guidelines.

In-review checklist for the PR reviewers

The PR reviewers must check the checkboxes below before approval.

• The PR follows the pull request guidelines.
• The PR has been properly tested.
• The PR has been reviewed by the code owners.

Post-review checklist for the PR author

The PR author must check the checkboxes below before merging.

• There are no open discussions or they are tracked via tickets.
• The PR is ready for merge.

After all checkboxes are checked, anyone who has write access can merge the PR.

[vividf]

@knzo25
Please use this branch https://github.com/vividf/CalibrationTools/tree/feature/x2_gen2_radar_calibration for the x2_gen2 project