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autoware_calibration_status_classifier package from autoware_universe repo

autoware_agnocast_wrapper autoware_auto_common autoware_boundary_departure_checker autoware_component_interface_specs_universe autoware_component_interface_tools autoware_component_interface_utils autoware_cuda_dependency_meta autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_path_distance_calculator autoware_polar_grid autoware_time_utils autoware_traffic_light_recognition_marker_publisher autoware_traffic_light_utils autoware_universe_utils tier4_api_utils autoware_autonomous_emergency_braking autoware_collision_detector autoware_control_command_gate autoware_control_performance_analysis autoware_control_validator autoware_external_cmd_selector autoware_joy_controller autoware_lane_departure_checker autoware_mpc_lateral_controller autoware_obstacle_collision_checker autoware_operation_mode_transition_manager autoware_pid_longitudinal_controller autoware_predicted_path_checker autoware_pure_pursuit autoware_shift_decider autoware_smart_mpc_trajectory_follower autoware_stop_mode_operator autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_control_evaluator autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter autoware_diagnostic_graph_test_examples tier4_autoware_api_launch tier4_control_launch tier4_localization_launch tier4_map_launch tier4_perception_launch tier4_planning_launch tier4_sensing_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch autoware_geo_pose_projector autoware_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_pose2twist autoware_pose_covariance_modifier autoware_pose_estimator_arbiter autoware_pose_instability_detector yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer autoware_map_tf_generator autoware_bevfusion autoware_bytetrack autoware_camera_streampetr autoware_cluster_merger autoware_compare_map_segmentation autoware_crosswalk_traffic_light_estimator autoware_detected_object_feature_remover autoware_detected_object_validation autoware_detection_by_tracker autoware_elevation_map_loader autoware_euclidean_cluster autoware_ground_segmentation autoware_image_projection_based_fusion autoware_lidar_apollo_instance_segmentation autoware_lidar_centerpoint autoware_lidar_frnet autoware_lidar_transfusion autoware_map_based_prediction autoware_multi_object_tracker autoware_object_merger autoware_object_range_splitter autoware_object_sorter autoware_object_velocity_splitter autoware_occupancy_grid_map_outlier_filter autoware_probabilistic_occupancy_grid_map autoware_ptv3 autoware_radar_fusion_to_detected_object autoware_radar_object_tracker autoware_radar_tracks_msgs_converter autoware_raindrop_cluster_filter autoware_shape_estimation 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autoware_surround_obstacle_checker autoware_trajectory_adapter autoware_trajectory_concatenator autoware_trajectory_modifier autoware_trajectory_optimizer autoware_trajectory_ranker autoware_trajectory_safety_filter autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_module autoware_behavior_path_dynamic_obstacle_avoidance_module autoware_behavior_path_external_request_lane_change_module autoware_behavior_path_goal_planner_module autoware_behavior_path_lane_change_module autoware_behavior_path_planner autoware_behavior_path_planner_common autoware_behavior_path_sampling_planner_module autoware_behavior_path_side_shift_module autoware_behavior_path_start_planner_module autoware_behavior_path_static_obstacle_avoidance_module autoware_behavior_velocity_blind_spot_module autoware_behavior_velocity_crosswalk_module autoware_behavior_velocity_detection_area_module autoware_behavior_velocity_intersection_module autoware_behavior_velocity_no_drivable_lane_module autoware_behavior_velocity_no_stopping_area_module autoware_behavior_velocity_occlusion_spot_module autoware_behavior_velocity_roundabout_module autoware_behavior_velocity_rtc_interface autoware_behavior_velocity_speed_bump_module autoware_behavior_velocity_template_module autoware_behavior_velocity_traffic_light_module autoware_behavior_velocity_virtual_traffic_light_module autoware_behavior_velocity_walkway_module autoware_motion_velocity_boundary_departure_prevention_module autoware_motion_velocity_dynamic_obstacle_stop_module autoware_motion_velocity_obstacle_cruise_module autoware_motion_velocity_obstacle_slow_down_module autoware_motion_velocity_obstacle_velocity_limiter_module autoware_motion_velocity_out_of_lane_module autoware_motion_velocity_road_user_stop_module autoware_motion_velocity_run_out_module autoware_planning_validator autoware_planning_validator_intersection_collision_checker autoware_planning_validator_latency_checker autoware_planning_validator_rear_collision_checker autoware_planning_validator_test_utils autoware_planning_validator_trajectory_checker autoware_bezier_sampler autoware_frenet_planner autoware_path_sampler autoware_sampler_common autoware_calibration_status_classifier autoware_cuda_pointcloud_preprocessor autoware_cuda_utils autoware_image_diagnostics autoware_image_transport_decompressor autoware_imu_corrector autoware_pcl_extensions autoware_pointcloud_preprocessor autoware_radar_objects_adapter autoware_radar_scan_to_pointcloud2 autoware_radar_static_pointcloud_filter autoware_radar_threshold_filter autoware_radar_tracks_noise_filter autoware_livox_tag_filter autoware_carla_interface autoware_dummy_perception_publisher autoware_fault_injection autoware_learning_based_vehicle_model autoware_simple_planning_simulator autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_bluetooth_monitor autoware_command_mode_decider autoware_command_mode_decider_plugins autoware_command_mode_switcher autoware_command_mode_switcher_plugins autoware_command_mode_types autoware_component_monitor autoware_component_state_monitor autoware_adapi_visualizers autoware_automatic_pose_initializer autoware_default_adapi_universe autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_utils autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_duplicated_node_checker autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_pipeline_latency_monitor autoware_processing_time_checker autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor reaction_analyzer autoware_accel_brake_map_calibrator autoware_external_cmd_converter autoware_raw_vehicle_cmd_converter autoware_steer_offset_estimator autoware_bag_time_manager_rviz_plugin autoware_traffic_light_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_datetime_rviz_plugin tier4_perception_rviz_plugin tier4_planning_factor_rviz_plugin tier4_state_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

ROS Distro
github

API Docs
Browse Code

Package Summary

Tags	No category tags.
Version	0.0.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/autowarefoundation/autoware_universe.git
VCS Type	git
VCS Version	main
Last Updated	2025-09-30
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

A node for LiDAR camera miscalibration detection

Additional Links

No additional links.

Maintainers

Amadeusz Szymko

Authors

Amadeusz Szymko

sensing/autoware_calibration_status_classifier/README.md

autoware_calibration_status_classifier

Purpose

The autoware_calibration_status_classifier package provides real-time LiDAR-camera calibration validation using deep learning inference. It detects miscalibration between LiDAR and camera sensors by analyzing projected point clouds overlaid on camera images through a neural network-based approach.

Inner-workings / Algorithms

The calibration status detection system operates through the following pipeline:

1. Data Preprocessing (CUDA-accelerated)

Image Undistortion: Corrects camera distortion
Point Cloud Projection: Projects 3D LiDAR points onto undistorted 2D image plane - adds depth and intensity information
Morphological Dilation: Enhances point visibility for neural network input

2. Neural Network Inference (TensorRT)

Input Format: 5-channel normalized data (RGB + depth + intensity)
Architecture: Deep neural network trained on calibrated/miscalibrated data
Output: Binary classification with confidence scores for calibration status

3. Runtime Modes

MANUAL: On-demand validation via service calls
PERIODIC: Regular validation at configurable intervals
ACTIVE: Continuous monitoring with synchronized sensor data

Inputs / Outputs

Input

Name	Type	Description
`~/input/velocity`	`prerequisite.velocity_source` parameter	Vehicle velocity (multiple message types supported)
`input.cloud_topics`	`sensor_msgs::msg::PointCloud2`	LiDAR point cloud data
`input.image_topics`	`sensor_msgs::msg::Image`	Camera image data (BGR8 format)
Camera info topics	`sensor_msgs::msg::CameraInfo`	Camera intrinsic parameters and distortion coefficients

Output

Name	Type	Description
`/diagnostics`	`diagnostic_msgs::msg::DiagnosticArray`	ROS diagnostics with calibration status
`~/validate_calibration_srv`	`std_srvs::srv::Trigger`	Manual validation service (MANUAL mode)
Preview image topics	`sensor_msgs::msg::Image`	Visualization images with projected points

Services

Name	Type	Description
`~/input/validate_calibration_srv`	`std_srvs::srv::Trigger`	Manual calibration validation request

Parameters

Node Parameters

{{ json_to_markdown(“sensing/autoware_calibration_status_classifier/schema/calibration_status_classifier.schema.json”) }}

Network Parameters

{{ json_to_markdown(“sensing/autoware_calibration_status_classifier/schema/ml_package_calibration_status_classifier.schema.json”) }}

Assumptions / Known Limits

Input images must be in BGR8 format (8-bit per channel)
Input point clouds should contain intensity information (XYZIRC format)

Usage Example

ros2 launch autoware_calibration_status_classifier calibration_status_classifier.launch.xml

Future Extensions / Unimplemented Parts

Manual runtime mode with detailed response (custom srv)
Replace filter for objects on the scene counter to objects within the camera FOV counter (raytracing)
Multithreading for multiple camera-LiDAR pairs
More filters (e.g. yaw rate)
cuda_blackboard support
Replace custom kernels with NPP functions where applicable

References

AWML - Calibration Status Classification

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	autoware_image_transport_decompressor
	ament_index_cpp
	ament_lint_auto
	autoware_lint_common
	autoware_point_types
	pcl_ros
	point_cloud_msg_wrapper
	autoware_cuda_utils
	autoware_perception_msgs
	autoware_tensorrt_common
	autoware_utils
	diagnostic_msgs
	geometry_msgs
	message_filters
	nav_msgs
	rclcpp
	rclcpp_components
	sensor_msgs
	std_srvs
	tf2_eigen
	tf2_ros

System Dependencies

Name
libopencv-dev

Dependant Packages

No known dependants.

Launch files

launch/calibration_status_classifier.launch.xml
- - input_velocity [default: /sensing/vehicle_velocity_converter/twist_with_covariance]
  - input_objects [default: /perception/object_recognition/objects]
  - validate_calibration_srv [default: validate_calibration]
  - data_path [default: $(env HOME)/autoware_data]
  - model_name [default: calibration_status_classifier]
  - model_path [default: $(var data_path)/calibration_status_classifier]
  - model_param_path [default: $(find-pkg-share autoware_calibration_status_classifier)/config/$(var model_name).param.yaml]
  - ml_package_param_path [default: $(var model_path)/ml_package_$(var model_name).param.yaml]
  - build_only [default: false]
  - use_sim_time [default: true]
  - decompressor_param_file [default: $(find-pkg-share autoware_image_transport_decompressor)/config/image_transport_decompressor.param.yaml]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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API Docs Browse Code

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