feat(calibration_tools): new api and 2.0 release

[knzo25]

Description

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Tests performed

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[knzo25]

@yabuta
nedbat/coveragepy#1392
pytest-dev/pytest-cov#539

As in the previous links, CI/CD is failing regardless of the code (it looks for non-existing files). What happens in this case? Ignore CI/CD? Disable the offending ones? Will you look for a fix?

[yabuta]

@knzo25
Sorry, I couldn't figure out where in this PR CI/CD the above error is occurring. Is it happening in build-and-test-differential / build-and-test-differential (humble) (pull_request)?

[knzo25]

@yabuta

The error is as follows:

2024-01-15T01:00:11.4597855Z Starting >>> new_extrinsic_calibration_manager 2024-01-15T01:00:13.0596455Z --- stderr: new_extrinsic_calibration_manager 2024-01-15T01:00:13.0597974Z --- output: new_extrinsic_calibration_manager 2024-01-15T01:00:13.0600676Z Warning: Couldn't parse '/__w/CalibrationTools/CalibrationTools/sensor/new_extrinsic_calibration_manager/signature_bootstrap.py': No source for code: '/__w/CalibrationTools/CalibrationTools/sensor/new_extrinsic_calibration_manager/signature_bootstrap.py'. (couldnt-parse) 2024-01-15T01:00:13.0603030Z --- 2024-01-15T01:00:13.0603624Z Failed <<< new_extrinsic_calibration_manager [1.60s, exited with code 2] 2024-01-15T01:00:13.0606444Z Warning: Couldn't parse '/__w/CalibrationTools/CalibrationTools/sensor/new_extrinsic_calibration_manager/signature_bootstrap.py': No source for code: '/__w/CalibrationTools/CalibrationTools/sensor/new_extrinsic_calibration_manager/signature_bootstrap.py'. (couldnt-parse)

Looking for the file signature_bootstrap.py on google led me to the links I posted before. Note that that does not happen at the build stage but the test one. Just in case, I commented out the test dependencies in the packages.xml to see it we could handle it that way temporarily but no luck

[yabuta]

@knzo25 I'll check, but if I can't resolve the cause, I'll try to disable CICD when you merge the PRs.
Or does this error affect your development?

[knzo25]

@yabuta
It does not affect the development, but I don't really know who is in charge of CI/CD so in the meantime I just reported it here.
When the time for the merge comes, if there has not been a solution, I will drop a mention so we can disable and merge

[knzo25]

@vividf
As a reminder:

• As I mentioned a few weeks ago, the ball in on your court now
• If you start a comment / review, if the answer is satisfactory, you need to click resolve. If it is not, you need to give the appropriate feedback.
• As we saw during the taxi experiments, there are changes you did not comprehend. While there is no need to understand the whole codebase (unless you want to), you need to understand all the changes. If you need to study parts of the code to understand the changes, then that is also part of the code review. How much one needs to study the codebase to make a meaningful review depends on the person

[codecov-commenter]

Codecov Report

Attention: Patch coverage is 0% with 276 lines in your changes missing coverage. Please review.

Project coverage is 5.09%. Comparing base (bab5400) to head (45453cf).
Report is 21 commits behind head on tier4/universe.

Files with missing lines	Patch %	Lines
...ier4_ground_plane_utils/src/ground_plane_utils.cpp	0.00%	122 Missing ⚠️
common/tier4_tag_utils/src/lidartag_hypothesis.cpp	0.00%	101 Missing ⚠️
common/tier4_tag_utils/src/apriltag_hypothesis.cpp	0.00%	32 Missing ⚠️
common/tier4_tag_utils/src/apriltag_filter.cpp	0.00%	10 Missing ⚠️
common/tier4_tag_utils/src/lidartag_filter.cpp	0.00%	10 Missing ⚠️
...de/tier4_ground_plane_utils/ground_plane_utils.hpp	0.00%	1 Missing ⚠️

Additional details and impacted files

@@                Coverage Diff                @@
##           tier4/universe    #148      +/-   ##
=================================================
+ Coverage            0.93%   5.09%   +4.15%     
=================================================
  Files                 270     176      -94     
  Lines               21339   13055    -8284     
  Branches              383    1416    +1033     
=================================================
+ Hits                  200     665     +465     
+ Misses              20982   12364    -8618     
+ Partials              157      26     -131     

Flag	Coverage Δ
differential	5.09% <0.00%> (?)
total	?

Flags with carried forward coverage won't be shown. Click here to find out more.

☔ View full report in Codecov by Sentry.
📢 Have feedback on the report? Share it here.

[vividf]

After the changes are updated I think it looks good for me to merge 2.0

[knzo25]

@vividf
Ok, we only need to fix the internal issues with the SfM calibrator and we are done 💪

[knzo25]

Reminder to everyone seeing this to NOT merge until we finish the internal checks

looking into sfm again

[vividf]

@knzo25
While looking into the code in the manager, found a small naming problem.

[vividf]

LGTM!