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autoware_calibration_status_classifier package from autoware_universe repo

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autoware_scenario_selector autoware_surround_obstacle_checker autoware_trajectory_adapter autoware_trajectory_concatenator autoware_trajectory_gate autoware_trajectory_modifier autoware_trajectory_ranker autoware_trajectory_selector autoware_trajectory_validator autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_module autoware_behavior_path_direction_change_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_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_carla_interface autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_dummy_traffic_light_publisher autoware_fault_injection autoware_redundancy_command_selector autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_command_mode_decider 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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_active_generator_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_manual_lane_change_rviz_plugin tier4_perception_rviz_plugin tier4_planning_factor_rviz_plugin tier4_state_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

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Package Summary

Version 0.53.0
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 2026-10-23
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

A node for LiDAR camera miscalibration detection

Maintainers

  • Amadeusz Szymko
  • Manato Hirabayashi
  • Patiphon Narksri

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/linear_velocity prerequisite.linear_velocity_check.source parameter Vehicle twist for linear velocity check (multiple message types supported)
~/input/angular_velocity prerequisite.angular_velocity_check.source parameter Vehicle twist for angular velocity check (multiple message types supported)
~/input/objects prerequisite.objects_check.source parameter Detected objects for objects check (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

CHANGELOG

Changelog for package autoware_calibration_status_classifier

0.53.0 (2026-09-29)

  • Merge remote-tracking branch 'origin/main' into prepare-0.53.0-changelog
  • fix(design): align the sensing node designs with the packages they describe (#13337) CalibrationStatusClassifier declares a preview_image publisher on a hardcoded per-camera topic that the node no longer creates, and names it as the outcome of the classify process. The point cloud concatenation component is built as concatenate_pointclouds_node.
  • refactor(sensing): move node design files into each package (#13105)
  • Contributors: Ryohsuke Mitsudome, Taekjin LEE

0.52.0 (2026-06-30)

0.51.0 (2026-05-01)

  • Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base

  • feat: default artifact paths to ~/autoware_data/ml_models (#12523) feat(launches,configs): default artifact paths to ~/autoware_data/ml_models Roll every per-package [data_path]{.title-ref} / [model_path]{.title-ref} launch-arg default from [$(env HOME)/autoware_data[/...]]{.title-ref} to [$(env HOME)/autoware_data/ml_models[/...]]{.title-ref} so standalone universe launches resolve artifacts under the new [~/autoware_data/ml_models/]{.title-ref} layout (autowarefoundation/autoware#7068). When invoked through autoware_launch the parent overrides cascade and already pin the new root (autowarefoundation/autoware_launch#1835); this commit closes the gap for users who launch a perception / localization / sensing / planning component directly with [ros2 launch <pkg>]{.title-ref}. 22 launch files updated (one-line default change each):

    • e2e/autoware_tensorrt_vad/launch/vad_carla_tiny.launch.xml
    • localization/yabloc/yabloc_pose_initializer/launch/yabloc_pose_initializer.launch.xml
    • perception/autoware_bevfusion/launch/bevfusion.launch.xml
    • perception/autoware_camera_streampetr/launch/streampetr.launch.xml
    • perception/autoware_image_projection_based_fusion/launch/pointpainting_fusion.launch.xml
    • perception/autoware_lidar_apollo_instance_segmentation/launch/lidar_apollo_instance_segmentation.launch.xml
    • perception/autoware_lidar_centerpoint/launch/lidar_centerpoint.launch.xml
    • perception/autoware_lidar_frnet/launch/lidar_frnet.launch.xml
    • perception/autoware_lidar_transfusion/launch/lidar_transfusion.launch.xml
    • perception/autoware_ptv3/launch/ptv3.launch.xml
    • perception/autoware_shape_estimation/launch/shape_estimation.launch.xml
    • perception/autoware_simpl_prediction/launch/simpl.launch.xml
    • perception/autoware_tensorrt_bevdet/launch/tensorrt_bevdet.launch.xml
    • perception/autoware_tensorrt_bevformer/launch/bevformer.launch.xml
    • perception/autoware_tensorrt_yolox/launch/{yolox_traffic_light_detector,yolox_tiny,yolox_s_plus_opt}.launch.xml
    • perception/autoware_traffic_light_classifier/launch/{car,pedestrian}_traffic_light_classifier.launch.xml
    • perception/autoware_traffic_light_fine_detector/launch/traffic_light_fine_detector.launch.xml
    • planning/autoware_diffusion_planner/launch/diffusion_planner.launch.xml

    - sensing/autoware_calibration_status_classifier/launch/calibration_status_classifier.launch.xml Drive-by README and test fixes:

    - e2e/autoware_tensorrt_vad/{README.md,docs/design.md}: also migrate the [$HOME/autoware_map/Town01]{.title-ref} examples to [$HOME/autoware_data/maps/Town01]{.title-ref}.

    - localization/yabloc/{README.md,yabloc_pose_initializer/README.md}: also migrate [$HOME/autoware_map/sample-map-rosbag]{.title-ref} to [$HOME/autoware_data/maps/demos/sample-map-rosbag]{.title-ref}.

    - control/autoware_smart_mpc_trajectory_follower/README.md: migrate the [map_path:=$HOME/autoware_map/sample-map-planning]{.title-ref} example to [$HOME/autoware_data/maps/demos/sample-map-planning]{.title-ref}.

    - simulator/autoware_carla_interface/README.md: migrate every [$HOME/autoware_map/Town01/...]{.title-ref} reference to [$HOME/autoware_data/maps/Town01/...]{.title-ref}.

    • perception/{autoware_bevfusion,autoware_image_projection_based_fusion,autoware_lidar_centerpoint,autoware_tensorrt_bevformer}/README.md: copy-paste examples updated to [~/autoware_data/ml_models/<pkg>]{.title-ref}.
    • perception/autoware_camera_streampetr/config/ml_package_camera_streampetr.param.yaml: header comment updated.
    • planning/autoware_diffusion_planner/README.md: prerequisites snippet updated.

    - sensing/autoware_calibration_status_classifier/test/{test_model_inference,test_calibration_status_classifier}.cpp: hardcoded fallback ONNX path updated. Users on the legacy layout can pin the old root with [data_path:=$HOME/autoware_data]{.title-ref} (or the per-package equivalent) on the command line. Refs: https://github.com/autowarefoundation/autoware/issues/7068

  • feat(autoware_calibration_status_classifier): add angular velocity filter and refine filters design

File truncated at 100 lines see the full file

Launch files

  • launch/calibration_status_classifier.launch.xml
      • input_linear_velocity [default: /sensing/vehicle_velocity_converter/twist_with_covariance]
      • input_angular_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/ml_models]
      • 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

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autoware_calibration_status_classifier package from autoware_universe repo

autoware_boundary_departure_checker autoware_component_interface_specs_universe autoware_cuda_dependency_meta autoware_deprecated_boundary_departure_checker autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_obstacle_proximity_checker autoware_path_distance_calculator autoware_time_utils autoware_traffic_light_compliance_checker 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_spheric_collision_detector autoware_stop_mode_operator autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_tensorrt_vad autoware_control_evaluator autoware_evaluation_adapter autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter autoware_diagnostic_graph_test_examples autoware_geo_pose_projector autoware_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_pose_covariance_modifier autoware_pose_estimator_arbiter autoware_pose_initialization_requester 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_ground_segmentation_cuda autoware_image_object_locator 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_sorter autoware_occupancy_grid_map_outlier_filter autoware_predicted_path_postprocessor 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 autoware_simpl_prediction autoware_simple_object_merger autoware_tensorrt_bevdet autoware_tensorrt_bevformer autoware_tensorrt_classifier autoware_tensorrt_common autoware_tensorrt_plugins autoware_tensorrt_yolox autoware_tracking_object_merger autoware_traffic_light_arbiter autoware_traffic_light_category_merger autoware_traffic_light_classifier autoware_traffic_light_fine_detector autoware_traffic_light_map_based_detector autoware_traffic_light_multi_camera_fusion autoware_traffic_light_occlusion_predictor autoware_traffic_light_pipeline autoware_traffic_light_selector autoware_traffic_light_visualization perception_utils autoware_costmap_generator autoware_diffusion_planner autoware_external_velocity_limit_selector autoware_freespace_planner autoware_freespace_planning_algorithms autoware_hazard_lights_selector autoware_in_lane_mrm_planner autoware_manual_lane_change_handler autoware_minimum_rule_based_planner autoware_mission_planner_universe autoware_path_optimizer autoware_path_smoother autoware_remaining_distance_time_calculator autoware_rtc_interface autoware_scenario_selector autoware_surround_obstacle_checker autoware_trajectory_adapter autoware_trajectory_concatenator autoware_trajectory_gate autoware_trajectory_modifier autoware_trajectory_ranker autoware_trajectory_selector autoware_trajectory_validator autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_module autoware_behavior_path_direction_change_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_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_carla_interface autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_dummy_traffic_light_publisher autoware_fault_injection autoware_redundancy_command_selector autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_command_mode_decider autoware_command_mode_decider_plugins autoware_command_mode_switcher autoware_command_mode_switcher_plugins autoware_command_mode_types autoware_component_state_monitor autoware_adapi_visualizers autoware_default_adapi_universe autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_merger autoware_diagnostic_graph_utils autoware_driving_mode_manager autoware_duplicated_node_checker autoware_generic_service_divider autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_mrm_in_lane_stop_operator autoware_mrm_reset_manager autoware_mrm_steering_hold_stop_operator autoware_pipeline_latency_monitor autoware_processing_time_checker autoware_redundancy_adapi_switcher autoware_redundancy_switcher_interface autoware_redundancy_switcher_interface_plugins autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor 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_active_generator_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_manual_lane_change_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

Version 0.53.0
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 2026-10-23
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

A node for LiDAR camera miscalibration detection

Maintainers

  • Amadeusz Szymko
  • Manato Hirabayashi
  • Patiphon Narksri

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/linear_velocity prerequisite.linear_velocity_check.source parameter Vehicle twist for linear velocity check (multiple message types supported)
~/input/angular_velocity prerequisite.angular_velocity_check.source parameter Vehicle twist for angular velocity check (multiple message types supported)
~/input/objects prerequisite.objects_check.source parameter Detected objects for objects check (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

CHANGELOG

Changelog for package autoware_calibration_status_classifier

0.53.0 (2026-09-29)

  • Merge remote-tracking branch 'origin/main' into prepare-0.53.0-changelog
  • fix(design): align the sensing node designs with the packages they describe (#13337) CalibrationStatusClassifier declares a preview_image publisher on a hardcoded per-camera topic that the node no longer creates, and names it as the outcome of the classify process. The point cloud concatenation component is built as concatenate_pointclouds_node.
  • refactor(sensing): move node design files into each package (#13105)
  • Contributors: Ryohsuke Mitsudome, Taekjin LEE

0.52.0 (2026-06-30)

0.51.0 (2026-05-01)

  • Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base

  • feat: default artifact paths to ~/autoware_data/ml_models (#12523) feat(launches,configs): default artifact paths to ~/autoware_data/ml_models Roll every per-package [data_path]{.title-ref} / [model_path]{.title-ref} launch-arg default from [$(env HOME)/autoware_data[/...]]{.title-ref} to [$(env HOME)/autoware_data/ml_models[/...]]{.title-ref} so standalone universe launches resolve artifacts under the new [~/autoware_data/ml_models/]{.title-ref} layout (autowarefoundation/autoware#7068). When invoked through autoware_launch the parent overrides cascade and already pin the new root (autowarefoundation/autoware_launch#1835); this commit closes the gap for users who launch a perception / localization / sensing / planning component directly with [ros2 launch <pkg>]{.title-ref}. 22 launch files updated (one-line default change each):

    • e2e/autoware_tensorrt_vad/launch/vad_carla_tiny.launch.xml
    • localization/yabloc/yabloc_pose_initializer/launch/yabloc_pose_initializer.launch.xml
    • perception/autoware_bevfusion/launch/bevfusion.launch.xml
    • perception/autoware_camera_streampetr/launch/streampetr.launch.xml
    • perception/autoware_image_projection_based_fusion/launch/pointpainting_fusion.launch.xml
    • perception/autoware_lidar_apollo_instance_segmentation/launch/lidar_apollo_instance_segmentation.launch.xml
    • perception/autoware_lidar_centerpoint/launch/lidar_centerpoint.launch.xml
    • perception/autoware_lidar_frnet/launch/lidar_frnet.launch.xml
    • perception/autoware_lidar_transfusion/launch/lidar_transfusion.launch.xml
    • perception/autoware_ptv3/launch/ptv3.launch.xml
    • perception/autoware_shape_estimation/launch/shape_estimation.launch.xml
    • perception/autoware_simpl_prediction/launch/simpl.launch.xml
    • perception/autoware_tensorrt_bevdet/launch/tensorrt_bevdet.launch.xml
    • perception/autoware_tensorrt_bevformer/launch/bevformer.launch.xml
    • perception/autoware_tensorrt_yolox/launch/{yolox_traffic_light_detector,yolox_tiny,yolox_s_plus_opt}.launch.xml
    • perception/autoware_traffic_light_classifier/launch/{car,pedestrian}_traffic_light_classifier.launch.xml
    • perception/autoware_traffic_light_fine_detector/launch/traffic_light_fine_detector.launch.xml
    • planning/autoware_diffusion_planner/launch/diffusion_planner.launch.xml

    - sensing/autoware_calibration_status_classifier/launch/calibration_status_classifier.launch.xml Drive-by README and test fixes:

    - e2e/autoware_tensorrt_vad/{README.md,docs/design.md}: also migrate the [$HOME/autoware_map/Town01]{.title-ref} examples to [$HOME/autoware_data/maps/Town01]{.title-ref}.

    - localization/yabloc/{README.md,yabloc_pose_initializer/README.md}: also migrate [$HOME/autoware_map/sample-map-rosbag]{.title-ref} to [$HOME/autoware_data/maps/demos/sample-map-rosbag]{.title-ref}.

    - control/autoware_smart_mpc_trajectory_follower/README.md: migrate the [map_path:=$HOME/autoware_map/sample-map-planning]{.title-ref} example to [$HOME/autoware_data/maps/demos/sample-map-planning]{.title-ref}.

    - simulator/autoware_carla_interface/README.md: migrate every [$HOME/autoware_map/Town01/...]{.title-ref} reference to [$HOME/autoware_data/maps/Town01/...]{.title-ref}.

    • perception/{autoware_bevfusion,autoware_image_projection_based_fusion,autoware_lidar_centerpoint,autoware_tensorrt_bevformer}/README.md: copy-paste examples updated to [~/autoware_data/ml_models/<pkg>]{.title-ref}.
    • perception/autoware_camera_streampetr/config/ml_package_camera_streampetr.param.yaml: header comment updated.
    • planning/autoware_diffusion_planner/README.md: prerequisites snippet updated.

    - sensing/autoware_calibration_status_classifier/test/{test_model_inference,test_calibration_status_classifier}.cpp: hardcoded fallback ONNX path updated. Users on the legacy layout can pin the old root with [data_path:=$HOME/autoware_data]{.title-ref} (or the per-package equivalent) on the command line. Refs: https://github.com/autowarefoundation/autoware/issues/7068

  • feat(autoware_calibration_status_classifier): add angular velocity filter and refine filters design

File truncated at 100 lines see the full file

Launch files

  • launch/calibration_status_classifier.launch.xml
      • input_linear_velocity [default: /sensing/vehicle_velocity_converter/twist_with_covariance]
      • input_angular_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/ml_models]
      • 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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autoware_calibration_status_classifier package from autoware_universe repo

autoware_boundary_departure_checker autoware_component_interface_specs_universe autoware_cuda_dependency_meta autoware_deprecated_boundary_departure_checker autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_obstacle_proximity_checker autoware_path_distance_calculator autoware_time_utils autoware_traffic_light_compliance_checker 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_spheric_collision_detector autoware_stop_mode_operator autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_tensorrt_vad autoware_control_evaluator autoware_evaluation_adapter autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter autoware_diagnostic_graph_test_examples autoware_geo_pose_projector autoware_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_pose_covariance_modifier autoware_pose_estimator_arbiter autoware_pose_initialization_requester 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_ground_segmentation_cuda autoware_image_object_locator 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_sorter autoware_occupancy_grid_map_outlier_filter autoware_predicted_path_postprocessor 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 autoware_simpl_prediction autoware_simple_object_merger autoware_tensorrt_bevdet autoware_tensorrt_bevformer autoware_tensorrt_classifier autoware_tensorrt_common autoware_tensorrt_plugins autoware_tensorrt_yolox autoware_tracking_object_merger autoware_traffic_light_arbiter autoware_traffic_light_category_merger autoware_traffic_light_classifier autoware_traffic_light_fine_detector autoware_traffic_light_map_based_detector autoware_traffic_light_multi_camera_fusion autoware_traffic_light_occlusion_predictor autoware_traffic_light_pipeline autoware_traffic_light_selector autoware_traffic_light_visualization perception_utils autoware_costmap_generator autoware_diffusion_planner autoware_external_velocity_limit_selector autoware_freespace_planner autoware_freespace_planning_algorithms autoware_hazard_lights_selector autoware_in_lane_mrm_planner autoware_manual_lane_change_handler autoware_minimum_rule_based_planner autoware_mission_planner_universe autoware_path_optimizer autoware_path_smoother autoware_remaining_distance_time_calculator autoware_rtc_interface autoware_scenario_selector autoware_surround_obstacle_checker autoware_trajectory_adapter autoware_trajectory_concatenator autoware_trajectory_gate autoware_trajectory_modifier autoware_trajectory_ranker autoware_trajectory_selector autoware_trajectory_validator autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_module autoware_behavior_path_direction_change_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_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_carla_interface autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_dummy_traffic_light_publisher autoware_fault_injection autoware_redundancy_command_selector autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_command_mode_decider autoware_command_mode_decider_plugins autoware_command_mode_switcher autoware_command_mode_switcher_plugins autoware_command_mode_types autoware_component_state_monitor autoware_adapi_visualizers autoware_default_adapi_universe autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_merger autoware_diagnostic_graph_utils autoware_driving_mode_manager autoware_duplicated_node_checker autoware_generic_service_divider autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_mrm_in_lane_stop_operator autoware_mrm_reset_manager autoware_mrm_steering_hold_stop_operator autoware_pipeline_latency_monitor autoware_processing_time_checker autoware_redundancy_adapi_switcher autoware_redundancy_switcher_interface autoware_redundancy_switcher_interface_plugins autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor 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_active_generator_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_manual_lane_change_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

Version 0.53.0
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 2026-10-23
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

A node for LiDAR camera miscalibration detection

Maintainers

  • Amadeusz Szymko
  • Manato Hirabayashi
  • Patiphon Narksri

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/linear_velocity prerequisite.linear_velocity_check.source parameter Vehicle twist for linear velocity check (multiple message types supported)
~/input/angular_velocity prerequisite.angular_velocity_check.source parameter Vehicle twist for angular velocity check (multiple message types supported)
~/input/objects prerequisite.objects_check.source parameter Detected objects for objects check (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

CHANGELOG

Changelog for package autoware_calibration_status_classifier

0.53.0 (2026-09-29)

  • Merge remote-tracking branch 'origin/main' into prepare-0.53.0-changelog
  • fix(design): align the sensing node designs with the packages they describe (#13337) CalibrationStatusClassifier declares a preview_image publisher on a hardcoded per-camera topic that the node no longer creates, and names it as the outcome of the classify process. The point cloud concatenation component is built as concatenate_pointclouds_node.
  • refactor(sensing): move node design files into each package (#13105)
  • Contributors: Ryohsuke Mitsudome, Taekjin LEE

0.52.0 (2026-06-30)

0.51.0 (2026-05-01)

  • Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base

  • feat: default artifact paths to ~/autoware_data/ml_models (#12523) feat(launches,configs): default artifact paths to ~/autoware_data/ml_models Roll every per-package [data_path]{.title-ref} / [model_path]{.title-ref} launch-arg default from [$(env HOME)/autoware_data[/...]]{.title-ref} to [$(env HOME)/autoware_data/ml_models[/...]]{.title-ref} so standalone universe launches resolve artifacts under the new [~/autoware_data/ml_models/]{.title-ref} layout (autowarefoundation/autoware#7068). When invoked through autoware_launch the parent overrides cascade and already pin the new root (autowarefoundation/autoware_launch#1835); this commit closes the gap for users who launch a perception / localization / sensing / planning component directly with [ros2 launch <pkg>]{.title-ref}. 22 launch files updated (one-line default change each):

    • e2e/autoware_tensorrt_vad/launch/vad_carla_tiny.launch.xml
    • localization/yabloc/yabloc_pose_initializer/launch/yabloc_pose_initializer.launch.xml
    • perception/autoware_bevfusion/launch/bevfusion.launch.xml
    • perception/autoware_camera_streampetr/launch/streampetr.launch.xml
    • perception/autoware_image_projection_based_fusion/launch/pointpainting_fusion.launch.xml
    • perception/autoware_lidar_apollo_instance_segmentation/launch/lidar_apollo_instance_segmentation.launch.xml
    • perception/autoware_lidar_centerpoint/launch/lidar_centerpoint.launch.xml
    • perception/autoware_lidar_frnet/launch/lidar_frnet.launch.xml
    • perception/autoware_lidar_transfusion/launch/lidar_transfusion.launch.xml
    • perception/autoware_ptv3/launch/ptv3.launch.xml
    • perception/autoware_shape_estimation/launch/shape_estimation.launch.xml
    • perception/autoware_simpl_prediction/launch/simpl.launch.xml
    • perception/autoware_tensorrt_bevdet/launch/tensorrt_bevdet.launch.xml
    • perception/autoware_tensorrt_bevformer/launch/bevformer.launch.xml
    • perception/autoware_tensorrt_yolox/launch/{yolox_traffic_light_detector,yolox_tiny,yolox_s_plus_opt}.launch.xml
    • perception/autoware_traffic_light_classifier/launch/{car,pedestrian}_traffic_light_classifier.launch.xml
    • perception/autoware_traffic_light_fine_detector/launch/traffic_light_fine_detector.launch.xml
    • planning/autoware_diffusion_planner/launch/diffusion_planner.launch.xml

    - sensing/autoware_calibration_status_classifier/launch/calibration_status_classifier.launch.xml Drive-by README and test fixes:

    - e2e/autoware_tensorrt_vad/{README.md,docs/design.md}: also migrate the [$HOME/autoware_map/Town01]{.title-ref} examples to [$HOME/autoware_data/maps/Town01]{.title-ref}.

    - localization/yabloc/{README.md,yabloc_pose_initializer/README.md}: also migrate [$HOME/autoware_map/sample-map-rosbag]{.title-ref} to [$HOME/autoware_data/maps/demos/sample-map-rosbag]{.title-ref}.

    - control/autoware_smart_mpc_trajectory_follower/README.md: migrate the [map_path:=$HOME/autoware_map/sample-map-planning]{.title-ref} example to [$HOME/autoware_data/maps/demos/sample-map-planning]{.title-ref}.

    - simulator/autoware_carla_interface/README.md: migrate every [$HOME/autoware_map/Town01/...]{.title-ref} reference to [$HOME/autoware_data/maps/Town01/...]{.title-ref}.

    • perception/{autoware_bevfusion,autoware_image_projection_based_fusion,autoware_lidar_centerpoint,autoware_tensorrt_bevformer}/README.md: copy-paste examples updated to [~/autoware_data/ml_models/<pkg>]{.title-ref}.
    • perception/autoware_camera_streampetr/config/ml_package_camera_streampetr.param.yaml: header comment updated.
    • planning/autoware_diffusion_planner/README.md: prerequisites snippet updated.

    - sensing/autoware_calibration_status_classifier/test/{test_model_inference,test_calibration_status_classifier}.cpp: hardcoded fallback ONNX path updated. Users on the legacy layout can pin the old root with [data_path:=$HOME/autoware_data]{.title-ref} (or the per-package equivalent) on the command line. Refs: https://github.com/autowarefoundation/autoware/issues/7068

  • feat(autoware_calibration_status_classifier): add angular velocity filter and refine filters design

File truncated at 100 lines see the full file

Launch files

  • launch/calibration_status_classifier.launch.xml
      • input_linear_velocity [default: /sensing/vehicle_velocity_converter/twist_with_covariance]
      • input_angular_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/ml_models]
      • 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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autoware_calibration_status_classifier package from autoware_universe repo

autoware_boundary_departure_checker autoware_component_interface_specs_universe autoware_cuda_dependency_meta autoware_deprecated_boundary_departure_checker autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_obstacle_proximity_checker autoware_path_distance_calculator autoware_time_utils autoware_traffic_light_compliance_checker 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_spheric_collision_detector autoware_stop_mode_operator autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_tensorrt_vad autoware_control_evaluator autoware_evaluation_adapter autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter autoware_diagnostic_graph_test_examples autoware_geo_pose_projector autoware_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_pose_covariance_modifier autoware_pose_estimator_arbiter autoware_pose_initialization_requester 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_ground_segmentation_cuda autoware_image_object_locator 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_sorter autoware_occupancy_grid_map_outlier_filter autoware_predicted_path_postprocessor 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 autoware_simpl_prediction autoware_simple_object_merger autoware_tensorrt_bevdet autoware_tensorrt_bevformer autoware_tensorrt_classifier autoware_tensorrt_common autoware_tensorrt_plugins autoware_tensorrt_yolox autoware_tracking_object_merger autoware_traffic_light_arbiter autoware_traffic_light_category_merger autoware_traffic_light_classifier autoware_traffic_light_fine_detector autoware_traffic_light_map_based_detector autoware_traffic_light_multi_camera_fusion autoware_traffic_light_occlusion_predictor autoware_traffic_light_pipeline autoware_traffic_light_selector autoware_traffic_light_visualization perception_utils autoware_costmap_generator autoware_diffusion_planner autoware_external_velocity_limit_selector autoware_freespace_planner autoware_freespace_planning_algorithms autoware_hazard_lights_selector autoware_in_lane_mrm_planner autoware_manual_lane_change_handler autoware_minimum_rule_based_planner autoware_mission_planner_universe autoware_path_optimizer autoware_path_smoother autoware_remaining_distance_time_calculator autoware_rtc_interface autoware_scenario_selector autoware_surround_obstacle_checker autoware_trajectory_adapter autoware_trajectory_concatenator autoware_trajectory_gate autoware_trajectory_modifier autoware_trajectory_ranker autoware_trajectory_selector autoware_trajectory_validator autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_module autoware_behavior_path_direction_change_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_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_carla_interface autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_dummy_traffic_light_publisher autoware_fault_injection autoware_redundancy_command_selector autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_command_mode_decider autoware_command_mode_decider_plugins autoware_command_mode_switcher autoware_command_mode_switcher_plugins autoware_command_mode_types autoware_component_state_monitor autoware_adapi_visualizers autoware_default_adapi_universe autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_merger autoware_diagnostic_graph_utils autoware_driving_mode_manager autoware_duplicated_node_checker autoware_generic_service_divider autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_mrm_in_lane_stop_operator autoware_mrm_reset_manager autoware_mrm_steering_hold_stop_operator autoware_pipeline_latency_monitor autoware_processing_time_checker autoware_redundancy_adapi_switcher autoware_redundancy_switcher_interface autoware_redundancy_switcher_interface_plugins autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor 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_active_generator_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_manual_lane_change_rviz_plugin tier4_perception_rviz_plugin tier4_planning_factor_rviz_plugin tier4_state_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

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Package Summary

Version 0.53.0
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 2026-10-23
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

A node for LiDAR camera miscalibration detection

Maintainers

  • Amadeusz Szymko
  • Manato Hirabayashi
  • Patiphon Narksri

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/linear_velocity prerequisite.linear_velocity_check.source parameter Vehicle twist for linear velocity check (multiple message types supported)
~/input/angular_velocity prerequisite.angular_velocity_check.source parameter Vehicle twist for angular velocity check (multiple message types supported)
~/input/objects prerequisite.objects_check.source parameter Detected objects for objects check (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

CHANGELOG

Changelog for package autoware_calibration_status_classifier

0.53.0 (2026-09-29)

  • Merge remote-tracking branch 'origin/main' into prepare-0.53.0-changelog
  • fix(design): align the sensing node designs with the packages they describe (#13337) CalibrationStatusClassifier declares a preview_image publisher on a hardcoded per-camera topic that the node no longer creates, and names it as the outcome of the classify process. The point cloud concatenation component is built as concatenate_pointclouds_node.
  • refactor(sensing): move node design files into each package (#13105)
  • Contributors: Ryohsuke Mitsudome, Taekjin LEE

0.52.0 (2026-06-30)

0.51.0 (2026-05-01)

  • Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base

  • feat: default artifact paths to ~/autoware_data/ml_models (#12523) feat(launches,configs): default artifact paths to ~/autoware_data/ml_models Roll every per-package [data_path]{.title-ref} / [model_path]{.title-ref} launch-arg default from [$(env HOME)/autoware_data[/...]]{.title-ref} to [$(env HOME)/autoware_data/ml_models[/...]]{.title-ref} so standalone universe launches resolve artifacts under the new [~/autoware_data/ml_models/]{.title-ref} layout (autowarefoundation/autoware#7068). When invoked through autoware_launch the parent overrides cascade and already pin the new root (autowarefoundation/autoware_launch#1835); this commit closes the gap for users who launch a perception / localization / sensing / planning component directly with [ros2 launch <pkg>]{.title-ref}. 22 launch files updated (one-line default change each):

    • e2e/autoware_tensorrt_vad/launch/vad_carla_tiny.launch.xml
    • localization/yabloc/yabloc_pose_initializer/launch/yabloc_pose_initializer.launch.xml
    • perception/autoware_bevfusion/launch/bevfusion.launch.xml
    • perception/autoware_camera_streampetr/launch/streampetr.launch.xml
    • perception/autoware_image_projection_based_fusion/launch/pointpainting_fusion.launch.xml
    • perception/autoware_lidar_apollo_instance_segmentation/launch/lidar_apollo_instance_segmentation.launch.xml
    • perception/autoware_lidar_centerpoint/launch/lidar_centerpoint.launch.xml
    • perception/autoware_lidar_frnet/launch/lidar_frnet.launch.xml
    • perception/autoware_lidar_transfusion/launch/lidar_transfusion.launch.xml
    • perception/autoware_ptv3/launch/ptv3.launch.xml
    • perception/autoware_shape_estimation/launch/shape_estimation.launch.xml
    • perception/autoware_simpl_prediction/launch/simpl.launch.xml
    • perception/autoware_tensorrt_bevdet/launch/tensorrt_bevdet.launch.xml
    • perception/autoware_tensorrt_bevformer/launch/bevformer.launch.xml
    • perception/autoware_tensorrt_yolox/launch/{yolox_traffic_light_detector,yolox_tiny,yolox_s_plus_opt}.launch.xml
    • perception/autoware_traffic_light_classifier/launch/{car,pedestrian}_traffic_light_classifier.launch.xml
    • perception/autoware_traffic_light_fine_detector/launch/traffic_light_fine_detector.launch.xml
    • planning/autoware_diffusion_planner/launch/diffusion_planner.launch.xml

    - sensing/autoware_calibration_status_classifier/launch/calibration_status_classifier.launch.xml Drive-by README and test fixes:

    - e2e/autoware_tensorrt_vad/{README.md,docs/design.md}: also migrate the [$HOME/autoware_map/Town01]{.title-ref} examples to [$HOME/autoware_data/maps/Town01]{.title-ref}.

    - localization/yabloc/{README.md,yabloc_pose_initializer/README.md}: also migrate [$HOME/autoware_map/sample-map-rosbag]{.title-ref} to [$HOME/autoware_data/maps/demos/sample-map-rosbag]{.title-ref}.

    - control/autoware_smart_mpc_trajectory_follower/README.md: migrate the [map_path:=$HOME/autoware_map/sample-map-planning]{.title-ref} example to [$HOME/autoware_data/maps/demos/sample-map-planning]{.title-ref}.

    - simulator/autoware_carla_interface/README.md: migrate every [$HOME/autoware_map/Town01/...]{.title-ref} reference to [$HOME/autoware_data/maps/Town01/...]{.title-ref}.

    • perception/{autoware_bevfusion,autoware_image_projection_based_fusion,autoware_lidar_centerpoint,autoware_tensorrt_bevformer}/README.md: copy-paste examples updated to [~/autoware_data/ml_models/<pkg>]{.title-ref}.
    • perception/autoware_camera_streampetr/config/ml_package_camera_streampetr.param.yaml: header comment updated.
    • planning/autoware_diffusion_planner/README.md: prerequisites snippet updated.

    - sensing/autoware_calibration_status_classifier/test/{test_model_inference,test_calibration_status_classifier}.cpp: hardcoded fallback ONNX path updated. Users on the legacy layout can pin the old root with [data_path:=$HOME/autoware_data]{.title-ref} (or the per-package equivalent) on the command line. Refs: https://github.com/autowarefoundation/autoware/issues/7068

  • feat(autoware_calibration_status_classifier): add angular velocity filter and refine filters design

File truncated at 100 lines see the full file

Launch files

  • launch/calibration_status_classifier.launch.xml
      • input_linear_velocity [default: /sensing/vehicle_velocity_converter/twist_with_covariance]
      • input_angular_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/ml_models]
      • 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.

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autoware_calibration_status_classifier package from autoware_universe repo

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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_ground_segmentation_cuda autoware_image_object_locator 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_sorter autoware_occupancy_grid_map_outlier_filter autoware_predicted_path_postprocessor 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 autoware_simpl_prediction autoware_simple_object_merger autoware_tensorrt_bevdet 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autoware_scenario_selector autoware_surround_obstacle_checker autoware_trajectory_adapter autoware_trajectory_concatenator autoware_trajectory_gate autoware_trajectory_modifier autoware_trajectory_ranker autoware_trajectory_selector autoware_trajectory_validator autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_module autoware_behavior_path_direction_change_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_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_carla_interface autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_dummy_traffic_light_publisher autoware_fault_injection autoware_redundancy_command_selector autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_command_mode_decider 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Package Summary

Version 0.53.0
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 2026-10-23
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

A node for LiDAR camera miscalibration detection

Maintainers

  • Amadeusz Szymko
  • Manato Hirabayashi
  • Patiphon Narksri

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/linear_velocity prerequisite.linear_velocity_check.source parameter Vehicle twist for linear velocity check (multiple message types supported)
~/input/angular_velocity prerequisite.angular_velocity_check.source parameter Vehicle twist for angular velocity check (multiple message types supported)
~/input/objects prerequisite.objects_check.source parameter Detected objects for objects check (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

CHANGELOG

Changelog for package autoware_calibration_status_classifier

0.53.0 (2026-09-29)

  • Merge remote-tracking branch 'origin/main' into prepare-0.53.0-changelog
  • fix(design): align the sensing node designs with the packages they describe (#13337) CalibrationStatusClassifier declares a preview_image publisher on a hardcoded per-camera topic that the node no longer creates, and names it as the outcome of the classify process. The point cloud concatenation component is built as concatenate_pointclouds_node.
  • refactor(sensing): move node design files into each package (#13105)
  • Contributors: Ryohsuke Mitsudome, Taekjin LEE

0.52.0 (2026-06-30)

0.51.0 (2026-05-01)

  • Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base

  • feat: default artifact paths to ~/autoware_data/ml_models (#12523) feat(launches,configs): default artifact paths to ~/autoware_data/ml_models Roll every per-package [data_path]{.title-ref} / [model_path]{.title-ref} launch-arg default from [$(env HOME)/autoware_data[/...]]{.title-ref} to [$(env HOME)/autoware_data/ml_models[/...]]{.title-ref} so standalone universe launches resolve artifacts under the new [~/autoware_data/ml_models/]{.title-ref} layout (autowarefoundation/autoware#7068). When invoked through autoware_launch the parent overrides cascade and already pin the new root (autowarefoundation/autoware_launch#1835); this commit closes the gap for users who launch a perception / localization / sensing / planning component directly with [ros2 launch <pkg>]{.title-ref}. 22 launch files updated (one-line default change each):

    • e2e/autoware_tensorrt_vad/launch/vad_carla_tiny.launch.xml
    • localization/yabloc/yabloc_pose_initializer/launch/yabloc_pose_initializer.launch.xml
    • perception/autoware_bevfusion/launch/bevfusion.launch.xml
    • perception/autoware_camera_streampetr/launch/streampetr.launch.xml
    • perception/autoware_image_projection_based_fusion/launch/pointpainting_fusion.launch.xml
    • perception/autoware_lidar_apollo_instance_segmentation/launch/lidar_apollo_instance_segmentation.launch.xml
    • perception/autoware_lidar_centerpoint/launch/lidar_centerpoint.launch.xml
    • perception/autoware_lidar_frnet/launch/lidar_frnet.launch.xml
    • perception/autoware_lidar_transfusion/launch/lidar_transfusion.launch.xml
    • perception/autoware_ptv3/launch/ptv3.launch.xml
    • perception/autoware_shape_estimation/launch/shape_estimation.launch.xml
    • perception/autoware_simpl_prediction/launch/simpl.launch.xml
    • perception/autoware_tensorrt_bevdet/launch/tensorrt_bevdet.launch.xml
    • perception/autoware_tensorrt_bevformer/launch/bevformer.launch.xml
    • perception/autoware_tensorrt_yolox/launch/{yolox_traffic_light_detector,yolox_tiny,yolox_s_plus_opt}.launch.xml
    • perception/autoware_traffic_light_classifier/launch/{car,pedestrian}_traffic_light_classifier.launch.xml
    • perception/autoware_traffic_light_fine_detector/launch/traffic_light_fine_detector.launch.xml
    • planning/autoware_diffusion_planner/launch/diffusion_planner.launch.xml

    - sensing/autoware_calibration_status_classifier/launch/calibration_status_classifier.launch.xml Drive-by README and test fixes:

    - e2e/autoware_tensorrt_vad/{README.md,docs/design.md}: also migrate the [$HOME/autoware_map/Town01]{.title-ref} examples to [$HOME/autoware_data/maps/Town01]{.title-ref}.

    - localization/yabloc/{README.md,yabloc_pose_initializer/README.md}: also migrate [$HOME/autoware_map/sample-map-rosbag]{.title-ref} to [$HOME/autoware_data/maps/demos/sample-map-rosbag]{.title-ref}.

    - control/autoware_smart_mpc_trajectory_follower/README.md: migrate the [map_path:=$HOME/autoware_map/sample-map-planning]{.title-ref} example to [$HOME/autoware_data/maps/demos/sample-map-planning]{.title-ref}.

    - simulator/autoware_carla_interface/README.md: migrate every [$HOME/autoware_map/Town01/...]{.title-ref} reference to [$HOME/autoware_data/maps/Town01/...]{.title-ref}.

    • perception/{autoware_bevfusion,autoware_image_projection_based_fusion,autoware_lidar_centerpoint,autoware_tensorrt_bevformer}/README.md: copy-paste examples updated to [~/autoware_data/ml_models/<pkg>]{.title-ref}.
    • perception/autoware_camera_streampetr/config/ml_package_camera_streampetr.param.yaml: header comment updated.
    • planning/autoware_diffusion_planner/README.md: prerequisites snippet updated.

    - sensing/autoware_calibration_status_classifier/test/{test_model_inference,test_calibration_status_classifier}.cpp: hardcoded fallback ONNX path updated. Users on the legacy layout can pin the old root with [data_path:=$HOME/autoware_data]{.title-ref} (or the per-package equivalent) on the command line. Refs: https://github.com/autowarefoundation/autoware/issues/7068

  • feat(autoware_calibration_status_classifier): add angular velocity filter and refine filters design

File truncated at 100 lines see the full file

Launch files

  • launch/calibration_status_classifier.launch.xml
      • input_linear_velocity [default: /sensing/vehicle_velocity_converter/twist_with_covariance]
      • input_angular_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/ml_models]
      • 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]

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autoware_calibration_status_classifier package from autoware_universe repo

autoware_boundary_departure_checker autoware_component_interface_specs_universe autoware_cuda_dependency_meta autoware_deprecated_boundary_departure_checker autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_obstacle_proximity_checker autoware_path_distance_calculator autoware_time_utils autoware_traffic_light_compliance_checker 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_spheric_collision_detector autoware_stop_mode_operator autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_tensorrt_vad autoware_control_evaluator autoware_evaluation_adapter autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter autoware_diagnostic_graph_test_examples autoware_geo_pose_projector autoware_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_pose_covariance_modifier autoware_pose_estimator_arbiter autoware_pose_initialization_requester 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_ground_segmentation_cuda autoware_image_object_locator 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_sorter autoware_occupancy_grid_map_outlier_filter autoware_predicted_path_postprocessor 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 autoware_simpl_prediction autoware_simple_object_merger autoware_tensorrt_bevdet autoware_tensorrt_bevformer autoware_tensorrt_classifier autoware_tensorrt_common autoware_tensorrt_plugins autoware_tensorrt_yolox autoware_tracking_object_merger autoware_traffic_light_arbiter autoware_traffic_light_category_merger autoware_traffic_light_classifier autoware_traffic_light_fine_detector autoware_traffic_light_map_based_detector autoware_traffic_light_multi_camera_fusion autoware_traffic_light_occlusion_predictor autoware_traffic_light_pipeline autoware_traffic_light_selector autoware_traffic_light_visualization perception_utils autoware_costmap_generator autoware_diffusion_planner autoware_external_velocity_limit_selector autoware_freespace_planner autoware_freespace_planning_algorithms autoware_hazard_lights_selector autoware_in_lane_mrm_planner autoware_manual_lane_change_handler autoware_minimum_rule_based_planner autoware_mission_planner_universe autoware_path_optimizer autoware_path_smoother autoware_remaining_distance_time_calculator autoware_rtc_interface autoware_scenario_selector autoware_surround_obstacle_checker autoware_trajectory_adapter autoware_trajectory_concatenator autoware_trajectory_gate autoware_trajectory_modifier autoware_trajectory_ranker autoware_trajectory_selector autoware_trajectory_validator autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_module autoware_behavior_path_direction_change_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_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_carla_interface autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_dummy_traffic_light_publisher autoware_fault_injection autoware_redundancy_command_selector autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_command_mode_decider autoware_command_mode_decider_plugins autoware_command_mode_switcher autoware_command_mode_switcher_plugins autoware_command_mode_types autoware_component_state_monitor autoware_adapi_visualizers autoware_default_adapi_universe autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_merger autoware_diagnostic_graph_utils autoware_driving_mode_manager autoware_duplicated_node_checker autoware_generic_service_divider autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_mrm_in_lane_stop_operator autoware_mrm_reset_manager autoware_mrm_steering_hold_stop_operator autoware_pipeline_latency_monitor autoware_processing_time_checker autoware_redundancy_adapi_switcher autoware_redundancy_switcher_interface autoware_redundancy_switcher_interface_plugins autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor 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_active_generator_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_manual_lane_change_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

Version 0.53.0
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 2026-10-23
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

A node for LiDAR camera miscalibration detection

Maintainers

  • Amadeusz Szymko
  • Manato Hirabayashi
  • Patiphon Narksri

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/linear_velocity prerequisite.linear_velocity_check.source parameter Vehicle twist for linear velocity check (multiple message types supported)
~/input/angular_velocity prerequisite.angular_velocity_check.source parameter Vehicle twist for angular velocity check (multiple message types supported)
~/input/objects prerequisite.objects_check.source parameter Detected objects for objects check (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

CHANGELOG

Changelog for package autoware_calibration_status_classifier

0.53.0 (2026-09-29)

  • Merge remote-tracking branch 'origin/main' into prepare-0.53.0-changelog
  • fix(design): align the sensing node designs with the packages they describe (#13337) CalibrationStatusClassifier declares a preview_image publisher on a hardcoded per-camera topic that the node no longer creates, and names it as the outcome of the classify process. The point cloud concatenation component is built as concatenate_pointclouds_node.
  • refactor(sensing): move node design files into each package (#13105)
  • Contributors: Ryohsuke Mitsudome, Taekjin LEE

0.52.0 (2026-06-30)

0.51.0 (2026-05-01)

  • Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base

  • feat: default artifact paths to ~/autoware_data/ml_models (#12523) feat(launches,configs): default artifact paths to ~/autoware_data/ml_models Roll every per-package [data_path]{.title-ref} / [model_path]{.title-ref} launch-arg default from [$(env HOME)/autoware_data[/...]]{.title-ref} to [$(env HOME)/autoware_data/ml_models[/...]]{.title-ref} so standalone universe launches resolve artifacts under the new [~/autoware_data/ml_models/]{.title-ref} layout (autowarefoundation/autoware#7068). When invoked through autoware_launch the parent overrides cascade and already pin the new root (autowarefoundation/autoware_launch#1835); this commit closes the gap for users who launch a perception / localization / sensing / planning component directly with [ros2 launch <pkg>]{.title-ref}. 22 launch files updated (one-line default change each):

    • e2e/autoware_tensorrt_vad/launch/vad_carla_tiny.launch.xml
    • localization/yabloc/yabloc_pose_initializer/launch/yabloc_pose_initializer.launch.xml
    • perception/autoware_bevfusion/launch/bevfusion.launch.xml
    • perception/autoware_camera_streampetr/launch/streampetr.launch.xml
    • perception/autoware_image_projection_based_fusion/launch/pointpainting_fusion.launch.xml
    • perception/autoware_lidar_apollo_instance_segmentation/launch/lidar_apollo_instance_segmentation.launch.xml
    • perception/autoware_lidar_centerpoint/launch/lidar_centerpoint.launch.xml
    • perception/autoware_lidar_frnet/launch/lidar_frnet.launch.xml
    • perception/autoware_lidar_transfusion/launch/lidar_transfusion.launch.xml
    • perception/autoware_ptv3/launch/ptv3.launch.xml
    • perception/autoware_shape_estimation/launch/shape_estimation.launch.xml
    • perception/autoware_simpl_prediction/launch/simpl.launch.xml
    • perception/autoware_tensorrt_bevdet/launch/tensorrt_bevdet.launch.xml
    • perception/autoware_tensorrt_bevformer/launch/bevformer.launch.xml
    • perception/autoware_tensorrt_yolox/launch/{yolox_traffic_light_detector,yolox_tiny,yolox_s_plus_opt}.launch.xml
    • perception/autoware_traffic_light_classifier/launch/{car,pedestrian}_traffic_light_classifier.launch.xml
    • perception/autoware_traffic_light_fine_detector/launch/traffic_light_fine_detector.launch.xml
    • planning/autoware_diffusion_planner/launch/diffusion_planner.launch.xml

    - sensing/autoware_calibration_status_classifier/launch/calibration_status_classifier.launch.xml Drive-by README and test fixes:

    - e2e/autoware_tensorrt_vad/{README.md,docs/design.md}: also migrate the [$HOME/autoware_map/Town01]{.title-ref} examples to [$HOME/autoware_data/maps/Town01]{.title-ref}.

    - localization/yabloc/{README.md,yabloc_pose_initializer/README.md}: also migrate [$HOME/autoware_map/sample-map-rosbag]{.title-ref} to [$HOME/autoware_data/maps/demos/sample-map-rosbag]{.title-ref}.

    - control/autoware_smart_mpc_trajectory_follower/README.md: migrate the [map_path:=$HOME/autoware_map/sample-map-planning]{.title-ref} example to [$HOME/autoware_data/maps/demos/sample-map-planning]{.title-ref}.

    - simulator/autoware_carla_interface/README.md: migrate every [$HOME/autoware_map/Town01/...]{.title-ref} reference to [$HOME/autoware_data/maps/Town01/...]{.title-ref}.

    • perception/{autoware_bevfusion,autoware_image_projection_based_fusion,autoware_lidar_centerpoint,autoware_tensorrt_bevformer}/README.md: copy-paste examples updated to [~/autoware_data/ml_models/<pkg>]{.title-ref}.
    • perception/autoware_camera_streampetr/config/ml_package_camera_streampetr.param.yaml: header comment updated.
    • planning/autoware_diffusion_planner/README.md: prerequisites snippet updated.

    - sensing/autoware_calibration_status_classifier/test/{test_model_inference,test_calibration_status_classifier}.cpp: hardcoded fallback ONNX path updated. Users on the legacy layout can pin the old root with [data_path:=$HOME/autoware_data]{.title-ref} (or the per-package equivalent) on the command line. Refs: https://github.com/autowarefoundation/autoware/issues/7068

  • feat(autoware_calibration_status_classifier): add angular velocity filter and refine filters design

File truncated at 100 lines see the full file

Launch files

  • launch/calibration_status_classifier.launch.xml
      • input_linear_velocity [default: /sensing/vehicle_velocity_converter/twist_with_covariance]
      • input_angular_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/ml_models]
      • 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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autoware_calibration_status_classifier package from autoware_universe repo

autoware_boundary_departure_checker autoware_component_interface_specs_universe autoware_cuda_dependency_meta autoware_deprecated_boundary_departure_checker autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_obstacle_proximity_checker autoware_path_distance_calculator autoware_time_utils autoware_traffic_light_compliance_checker 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_spheric_collision_detector autoware_stop_mode_operator autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_tensorrt_vad autoware_control_evaluator autoware_evaluation_adapter autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter autoware_diagnostic_graph_test_examples autoware_geo_pose_projector autoware_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_pose_covariance_modifier autoware_pose_estimator_arbiter autoware_pose_initialization_requester 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_ground_segmentation_cuda autoware_image_object_locator 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_sorter autoware_occupancy_grid_map_outlier_filter autoware_predicted_path_postprocessor 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 autoware_simpl_prediction autoware_simple_object_merger autoware_tensorrt_bevdet autoware_tensorrt_bevformer autoware_tensorrt_classifier autoware_tensorrt_common autoware_tensorrt_plugins autoware_tensorrt_yolox autoware_tracking_object_merger autoware_traffic_light_arbiter autoware_traffic_light_category_merger autoware_traffic_light_classifier autoware_traffic_light_fine_detector autoware_traffic_light_map_based_detector autoware_traffic_light_multi_camera_fusion autoware_traffic_light_occlusion_predictor autoware_traffic_light_pipeline autoware_traffic_light_selector autoware_traffic_light_visualization perception_utils autoware_costmap_generator autoware_diffusion_planner autoware_external_velocity_limit_selector autoware_freespace_planner autoware_freespace_planning_algorithms autoware_hazard_lights_selector autoware_in_lane_mrm_planner autoware_manual_lane_change_handler autoware_minimum_rule_based_planner autoware_mission_planner_universe autoware_path_optimizer autoware_path_smoother autoware_remaining_distance_time_calculator autoware_rtc_interface autoware_scenario_selector autoware_surround_obstacle_checker autoware_trajectory_adapter autoware_trajectory_concatenator autoware_trajectory_gate autoware_trajectory_modifier autoware_trajectory_ranker autoware_trajectory_selector autoware_trajectory_validator autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_module autoware_behavior_path_direction_change_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_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_carla_interface autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_dummy_traffic_light_publisher autoware_fault_injection autoware_redundancy_command_selector autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_command_mode_decider autoware_command_mode_decider_plugins autoware_command_mode_switcher autoware_command_mode_switcher_plugins autoware_command_mode_types autoware_component_state_monitor autoware_adapi_visualizers autoware_default_adapi_universe autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_merger autoware_diagnostic_graph_utils autoware_driving_mode_manager autoware_duplicated_node_checker autoware_generic_service_divider autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_mrm_in_lane_stop_operator autoware_mrm_reset_manager autoware_mrm_steering_hold_stop_operator autoware_pipeline_latency_monitor autoware_processing_time_checker autoware_redundancy_adapi_switcher autoware_redundancy_switcher_interface autoware_redundancy_switcher_interface_plugins autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor 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_active_generator_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_manual_lane_change_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

Version 0.53.0
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 2026-10-23
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

A node for LiDAR camera miscalibration detection

Maintainers

  • Amadeusz Szymko
  • Manato Hirabayashi
  • Patiphon Narksri

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/linear_velocity prerequisite.linear_velocity_check.source parameter Vehicle twist for linear velocity check (multiple message types supported)
~/input/angular_velocity prerequisite.angular_velocity_check.source parameter Vehicle twist for angular velocity check (multiple message types supported)
~/input/objects prerequisite.objects_check.source parameter Detected objects for objects check (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

CHANGELOG

Changelog for package autoware_calibration_status_classifier

0.53.0 (2026-09-29)

  • Merge remote-tracking branch 'origin/main' into prepare-0.53.0-changelog
  • fix(design): align the sensing node designs with the packages they describe (#13337) CalibrationStatusClassifier declares a preview_image publisher on a hardcoded per-camera topic that the node no longer creates, and names it as the outcome of the classify process. The point cloud concatenation component is built as concatenate_pointclouds_node.
  • refactor(sensing): move node design files into each package (#13105)
  • Contributors: Ryohsuke Mitsudome, Taekjin LEE

0.52.0 (2026-06-30)

0.51.0 (2026-05-01)

  • Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base

  • feat: default artifact paths to ~/autoware_data/ml_models (#12523) feat(launches,configs): default artifact paths to ~/autoware_data/ml_models Roll every per-package [data_path]{.title-ref} / [model_path]{.title-ref} launch-arg default from [$(env HOME)/autoware_data[/...]]{.title-ref} to [$(env HOME)/autoware_data/ml_models[/...]]{.title-ref} so standalone universe launches resolve artifacts under the new [~/autoware_data/ml_models/]{.title-ref} layout (autowarefoundation/autoware#7068). When invoked through autoware_launch the parent overrides cascade and already pin the new root (autowarefoundation/autoware_launch#1835); this commit closes the gap for users who launch a perception / localization / sensing / planning component directly with [ros2 launch <pkg>]{.title-ref}. 22 launch files updated (one-line default change each):

    • e2e/autoware_tensorrt_vad/launch/vad_carla_tiny.launch.xml
    • localization/yabloc/yabloc_pose_initializer/launch/yabloc_pose_initializer.launch.xml
    • perception/autoware_bevfusion/launch/bevfusion.launch.xml
    • perception/autoware_camera_streampetr/launch/streampetr.launch.xml
    • perception/autoware_image_projection_based_fusion/launch/pointpainting_fusion.launch.xml
    • perception/autoware_lidar_apollo_instance_segmentation/launch/lidar_apollo_instance_segmentation.launch.xml
    • perception/autoware_lidar_centerpoint/launch/lidar_centerpoint.launch.xml
    • perception/autoware_lidar_frnet/launch/lidar_frnet.launch.xml
    • perception/autoware_lidar_transfusion/launch/lidar_transfusion.launch.xml
    • perception/autoware_ptv3/launch/ptv3.launch.xml
    • perception/autoware_shape_estimation/launch/shape_estimation.launch.xml
    • perception/autoware_simpl_prediction/launch/simpl.launch.xml
    • perception/autoware_tensorrt_bevdet/launch/tensorrt_bevdet.launch.xml
    • perception/autoware_tensorrt_bevformer/launch/bevformer.launch.xml
    • perception/autoware_tensorrt_yolox/launch/{yolox_traffic_light_detector,yolox_tiny,yolox_s_plus_opt}.launch.xml
    • perception/autoware_traffic_light_classifier/launch/{car,pedestrian}_traffic_light_classifier.launch.xml
    • perception/autoware_traffic_light_fine_detector/launch/traffic_light_fine_detector.launch.xml
    • planning/autoware_diffusion_planner/launch/diffusion_planner.launch.xml

    - sensing/autoware_calibration_status_classifier/launch/calibration_status_classifier.launch.xml Drive-by README and test fixes:

    - e2e/autoware_tensorrt_vad/{README.md,docs/design.md}: also migrate the [$HOME/autoware_map/Town01]{.title-ref} examples to [$HOME/autoware_data/maps/Town01]{.title-ref}.

    - localization/yabloc/{README.md,yabloc_pose_initializer/README.md}: also migrate [$HOME/autoware_map/sample-map-rosbag]{.title-ref} to [$HOME/autoware_data/maps/demos/sample-map-rosbag]{.title-ref}.

    - control/autoware_smart_mpc_trajectory_follower/README.md: migrate the [map_path:=$HOME/autoware_map/sample-map-planning]{.title-ref} example to [$HOME/autoware_data/maps/demos/sample-map-planning]{.title-ref}.

    - simulator/autoware_carla_interface/README.md: migrate every [$HOME/autoware_map/Town01/...]{.title-ref} reference to [$HOME/autoware_data/maps/Town01/...]{.title-ref}.

    • perception/{autoware_bevfusion,autoware_image_projection_based_fusion,autoware_lidar_centerpoint,autoware_tensorrt_bevformer}/README.md: copy-paste examples updated to [~/autoware_data/ml_models/<pkg>]{.title-ref}.
    • perception/autoware_camera_streampetr/config/ml_package_camera_streampetr.param.yaml: header comment updated.
    • planning/autoware_diffusion_planner/README.md: prerequisites snippet updated.

    - sensing/autoware_calibration_status_classifier/test/{test_model_inference,test_calibration_status_classifier}.cpp: hardcoded fallback ONNX path updated. Users on the legacy layout can pin the old root with [data_path:=$HOME/autoware_data]{.title-ref} (or the per-package equivalent) on the command line. Refs: https://github.com/autowarefoundation/autoware/issues/7068

  • feat(autoware_calibration_status_classifier): add angular velocity filter and refine filters design

File truncated at 100 lines see the full file

Launch files

  • launch/calibration_status_classifier.launch.xml
      • input_linear_velocity [default: /sensing/vehicle_velocity_converter/twist_with_covariance]
      • input_angular_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/ml_models]
      • 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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autoware_calibration_status_classifier package from autoware_universe repo

autoware_boundary_departure_checker autoware_component_interface_specs_universe autoware_cuda_dependency_meta autoware_deprecated_boundary_departure_checker autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_obstacle_proximity_checker autoware_path_distance_calculator autoware_time_utils autoware_traffic_light_compliance_checker 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_spheric_collision_detector autoware_stop_mode_operator autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_tensorrt_vad autoware_control_evaluator autoware_evaluation_adapter autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter autoware_diagnostic_graph_test_examples autoware_geo_pose_projector autoware_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_pose_covariance_modifier autoware_pose_estimator_arbiter autoware_pose_initialization_requester 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_ground_segmentation_cuda autoware_image_object_locator 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_sorter autoware_occupancy_grid_map_outlier_filter autoware_predicted_path_postprocessor 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 autoware_simpl_prediction autoware_simple_object_merger autoware_tensorrt_bevdet autoware_tensorrt_bevformer autoware_tensorrt_classifier autoware_tensorrt_common autoware_tensorrt_plugins autoware_tensorrt_yolox autoware_tracking_object_merger autoware_traffic_light_arbiter autoware_traffic_light_category_merger autoware_traffic_light_classifier autoware_traffic_light_fine_detector autoware_traffic_light_map_based_detector autoware_traffic_light_multi_camera_fusion autoware_traffic_light_occlusion_predictor autoware_traffic_light_pipeline autoware_traffic_light_selector autoware_traffic_light_visualization perception_utils autoware_costmap_generator autoware_diffusion_planner autoware_external_velocity_limit_selector autoware_freespace_planner autoware_freespace_planning_algorithms autoware_hazard_lights_selector autoware_in_lane_mrm_planner autoware_manual_lane_change_handler autoware_minimum_rule_based_planner autoware_mission_planner_universe autoware_path_optimizer autoware_path_smoother autoware_remaining_distance_time_calculator autoware_rtc_interface autoware_scenario_selector autoware_surround_obstacle_checker autoware_trajectory_adapter autoware_trajectory_concatenator autoware_trajectory_gate autoware_trajectory_modifier autoware_trajectory_ranker autoware_trajectory_selector autoware_trajectory_validator autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_module autoware_behavior_path_direction_change_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_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_carla_interface autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_dummy_traffic_light_publisher autoware_fault_injection autoware_redundancy_command_selector autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_command_mode_decider autoware_command_mode_decider_plugins autoware_command_mode_switcher autoware_command_mode_switcher_plugins autoware_command_mode_types autoware_component_state_monitor autoware_adapi_visualizers autoware_default_adapi_universe autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_merger autoware_diagnostic_graph_utils autoware_driving_mode_manager autoware_duplicated_node_checker autoware_generic_service_divider autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_mrm_in_lane_stop_operator autoware_mrm_reset_manager autoware_mrm_steering_hold_stop_operator autoware_pipeline_latency_monitor autoware_processing_time_checker autoware_redundancy_adapi_switcher autoware_redundancy_switcher_interface autoware_redundancy_switcher_interface_plugins autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor 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_active_generator_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_manual_lane_change_rviz_plugin tier4_perception_rviz_plugin tier4_planning_factor_rviz_plugin tier4_state_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

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Package Summary

Version 0.53.0
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 2026-10-23
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

A node for LiDAR camera miscalibration detection

Maintainers

  • Amadeusz Szymko
  • Manato Hirabayashi
  • Patiphon Narksri

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/linear_velocity prerequisite.linear_velocity_check.source parameter Vehicle twist for linear velocity check (multiple message types supported)
~/input/angular_velocity prerequisite.angular_velocity_check.source parameter Vehicle twist for angular velocity check (multiple message types supported)
~/input/objects prerequisite.objects_check.source parameter Detected objects for objects check (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

CHANGELOG

Changelog for package autoware_calibration_status_classifier

0.53.0 (2026-09-29)

  • Merge remote-tracking branch 'origin/main' into prepare-0.53.0-changelog
  • fix(design): align the sensing node designs with the packages they describe (#13337) CalibrationStatusClassifier declares a preview_image publisher on a hardcoded per-camera topic that the node no longer creates, and names it as the outcome of the classify process. The point cloud concatenation component is built as concatenate_pointclouds_node.
  • refactor(sensing): move node design files into each package (#13105)
  • Contributors: Ryohsuke Mitsudome, Taekjin LEE

0.52.0 (2026-06-30)

0.51.0 (2026-05-01)

  • Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base

  • feat: default artifact paths to ~/autoware_data/ml_models (#12523) feat(launches,configs): default artifact paths to ~/autoware_data/ml_models Roll every per-package [data_path]{.title-ref} / [model_path]{.title-ref} launch-arg default from [$(env HOME)/autoware_data[/...]]{.title-ref} to [$(env HOME)/autoware_data/ml_models[/...]]{.title-ref} so standalone universe launches resolve artifacts under the new [~/autoware_data/ml_models/]{.title-ref} layout (autowarefoundation/autoware#7068). When invoked through autoware_launch the parent overrides cascade and already pin the new root (autowarefoundation/autoware_launch#1835); this commit closes the gap for users who launch a perception / localization / sensing / planning component directly with [ros2 launch <pkg>]{.title-ref}. 22 launch files updated (one-line default change each):

    • e2e/autoware_tensorrt_vad/launch/vad_carla_tiny.launch.xml
    • localization/yabloc/yabloc_pose_initializer/launch/yabloc_pose_initializer.launch.xml
    • perception/autoware_bevfusion/launch/bevfusion.launch.xml
    • perception/autoware_camera_streampetr/launch/streampetr.launch.xml
    • perception/autoware_image_projection_based_fusion/launch/pointpainting_fusion.launch.xml
    • perception/autoware_lidar_apollo_instance_segmentation/launch/lidar_apollo_instance_segmentation.launch.xml
    • perception/autoware_lidar_centerpoint/launch/lidar_centerpoint.launch.xml
    • perception/autoware_lidar_frnet/launch/lidar_frnet.launch.xml
    • perception/autoware_lidar_transfusion/launch/lidar_transfusion.launch.xml
    • perception/autoware_ptv3/launch/ptv3.launch.xml
    • perception/autoware_shape_estimation/launch/shape_estimation.launch.xml
    • perception/autoware_simpl_prediction/launch/simpl.launch.xml
    • perception/autoware_tensorrt_bevdet/launch/tensorrt_bevdet.launch.xml
    • perception/autoware_tensorrt_bevformer/launch/bevformer.launch.xml
    • perception/autoware_tensorrt_yolox/launch/{yolox_traffic_light_detector,yolox_tiny,yolox_s_plus_opt}.launch.xml
    • perception/autoware_traffic_light_classifier/launch/{car,pedestrian}_traffic_light_classifier.launch.xml
    • perception/autoware_traffic_light_fine_detector/launch/traffic_light_fine_detector.launch.xml
    • planning/autoware_diffusion_planner/launch/diffusion_planner.launch.xml

    - sensing/autoware_calibration_status_classifier/launch/calibration_status_classifier.launch.xml Drive-by README and test fixes:

    - e2e/autoware_tensorrt_vad/{README.md,docs/design.md}: also migrate the [$HOME/autoware_map/Town01]{.title-ref} examples to [$HOME/autoware_data/maps/Town01]{.title-ref}.

    - localization/yabloc/{README.md,yabloc_pose_initializer/README.md}: also migrate [$HOME/autoware_map/sample-map-rosbag]{.title-ref} to [$HOME/autoware_data/maps/demos/sample-map-rosbag]{.title-ref}.

    - control/autoware_smart_mpc_trajectory_follower/README.md: migrate the [map_path:=$HOME/autoware_map/sample-map-planning]{.title-ref} example to [$HOME/autoware_data/maps/demos/sample-map-planning]{.title-ref}.

    - simulator/autoware_carla_interface/README.md: migrate every [$HOME/autoware_map/Town01/...]{.title-ref} reference to [$HOME/autoware_data/maps/Town01/...]{.title-ref}.

    • perception/{autoware_bevfusion,autoware_image_projection_based_fusion,autoware_lidar_centerpoint,autoware_tensorrt_bevformer}/README.md: copy-paste examples updated to [~/autoware_data/ml_models/<pkg>]{.title-ref}.
    • perception/autoware_camera_streampetr/config/ml_package_camera_streampetr.param.yaml: header comment updated.
    • planning/autoware_diffusion_planner/README.md: prerequisites snippet updated.

    - sensing/autoware_calibration_status_classifier/test/{test_model_inference,test_calibration_status_classifier}.cpp: hardcoded fallback ONNX path updated. Users on the legacy layout can pin the old root with [data_path:=$HOME/autoware_data]{.title-ref} (or the per-package equivalent) on the command line. Refs: https://github.com/autowarefoundation/autoware/issues/7068

  • feat(autoware_calibration_status_classifier): add angular velocity filter and refine filters design

File truncated at 100 lines see the full file

Launch files

  • launch/calibration_status_classifier.launch.xml
      • input_linear_velocity [default: /sensing/vehicle_velocity_converter/twist_with_covariance]
      • input_angular_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/ml_models]
      • 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.

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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_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_carla_interface autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_dummy_traffic_light_publisher autoware_fault_injection autoware_redundancy_command_selector autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_command_mode_decider 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Package Summary

Version 0.53.0
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 2026-10-23
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

A node for LiDAR camera miscalibration detection

Maintainers

  • Amadeusz Szymko
  • Manato Hirabayashi
  • Patiphon Narksri

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/linear_velocity prerequisite.linear_velocity_check.source parameter Vehicle twist for linear velocity check (multiple message types supported)
~/input/angular_velocity prerequisite.angular_velocity_check.source parameter Vehicle twist for angular velocity check (multiple message types supported)
~/input/objects prerequisite.objects_check.source parameter Detected objects for objects check (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

CHANGELOG

Changelog for package autoware_calibration_status_classifier

0.53.0 (2026-09-29)

  • Merge remote-tracking branch 'origin/main' into prepare-0.53.0-changelog
  • fix(design): align the sensing node designs with the packages they describe (#13337) CalibrationStatusClassifier declares a preview_image publisher on a hardcoded per-camera topic that the node no longer creates, and names it as the outcome of the classify process. The point cloud concatenation component is built as concatenate_pointclouds_node.
  • refactor(sensing): move node design files into each package (#13105)
  • Contributors: Ryohsuke Mitsudome, Taekjin LEE

0.52.0 (2026-06-30)

0.51.0 (2026-05-01)

  • Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base

  • feat: default artifact paths to ~/autoware_data/ml_models (#12523) feat(launches,configs): default artifact paths to ~/autoware_data/ml_models Roll every per-package [data_path]{.title-ref} / [model_path]{.title-ref} launch-arg default from [$(env HOME)/autoware_data[/...]]{.title-ref} to [$(env HOME)/autoware_data/ml_models[/...]]{.title-ref} so standalone universe launches resolve artifacts under the new [~/autoware_data/ml_models/]{.title-ref} layout (autowarefoundation/autoware#7068). When invoked through autoware_launch the parent overrides cascade and already pin the new root (autowarefoundation/autoware_launch#1835); this commit closes the gap for users who launch a perception / localization / sensing / planning component directly with [ros2 launch <pkg>]{.title-ref}. 22 launch files updated (one-line default change each):

    • e2e/autoware_tensorrt_vad/launch/vad_carla_tiny.launch.xml
    • localization/yabloc/yabloc_pose_initializer/launch/yabloc_pose_initializer.launch.xml
    • perception/autoware_bevfusion/launch/bevfusion.launch.xml
    • perception/autoware_camera_streampetr/launch/streampetr.launch.xml
    • perception/autoware_image_projection_based_fusion/launch/pointpainting_fusion.launch.xml
    • perception/autoware_lidar_apollo_instance_segmentation/launch/lidar_apollo_instance_segmentation.launch.xml
    • perception/autoware_lidar_centerpoint/launch/lidar_centerpoint.launch.xml
    • perception/autoware_lidar_frnet/launch/lidar_frnet.launch.xml
    • perception/autoware_lidar_transfusion/launch/lidar_transfusion.launch.xml
    • perception/autoware_ptv3/launch/ptv3.launch.xml
    • perception/autoware_shape_estimation/launch/shape_estimation.launch.xml
    • perception/autoware_simpl_prediction/launch/simpl.launch.xml
    • perception/autoware_tensorrt_bevdet/launch/tensorrt_bevdet.launch.xml
    • perception/autoware_tensorrt_bevformer/launch/bevformer.launch.xml
    • perception/autoware_tensorrt_yolox/launch/{yolox_traffic_light_detector,yolox_tiny,yolox_s_plus_opt}.launch.xml
    • perception/autoware_traffic_light_classifier/launch/{car,pedestrian}_traffic_light_classifier.launch.xml
    • perception/autoware_traffic_light_fine_detector/launch/traffic_light_fine_detector.launch.xml
    • planning/autoware_diffusion_planner/launch/diffusion_planner.launch.xml

    - sensing/autoware_calibration_status_classifier/launch/calibration_status_classifier.launch.xml Drive-by README and test fixes:

    - e2e/autoware_tensorrt_vad/{README.md,docs/design.md}: also migrate the [$HOME/autoware_map/Town01]{.title-ref} examples to [$HOME/autoware_data/maps/Town01]{.title-ref}.

    - localization/yabloc/{README.md,yabloc_pose_initializer/README.md}: also migrate [$HOME/autoware_map/sample-map-rosbag]{.title-ref} to [$HOME/autoware_data/maps/demos/sample-map-rosbag]{.title-ref}.

    - control/autoware_smart_mpc_trajectory_follower/README.md: migrate the [map_path:=$HOME/autoware_map/sample-map-planning]{.title-ref} example to [$HOME/autoware_data/maps/demos/sample-map-planning]{.title-ref}.

    - simulator/autoware_carla_interface/README.md: migrate every [$HOME/autoware_map/Town01/...]{.title-ref} reference to [$HOME/autoware_data/maps/Town01/...]{.title-ref}.

    • perception/{autoware_bevfusion,autoware_image_projection_based_fusion,autoware_lidar_centerpoint,autoware_tensorrt_bevformer}/README.md: copy-paste examples updated to [~/autoware_data/ml_models/<pkg>]{.title-ref}.
    • perception/autoware_camera_streampetr/config/ml_package_camera_streampetr.param.yaml: header comment updated.
    • planning/autoware_diffusion_planner/README.md: prerequisites snippet updated.

    - sensing/autoware_calibration_status_classifier/test/{test_model_inference,test_calibration_status_classifier}.cpp: hardcoded fallback ONNX path updated. Users on the legacy layout can pin the old root with [data_path:=$HOME/autoware_data]{.title-ref} (or the per-package equivalent) on the command line. Refs: https://github.com/autowarefoundation/autoware/issues/7068

  • feat(autoware_calibration_status_classifier): add angular velocity filter and refine filters design

File truncated at 100 lines see the full file

Launch files

  • launch/calibration_status_classifier.launch.xml
      • input_linear_velocity [default: /sensing/vehicle_velocity_converter/twist_with_covariance]
      • input_angular_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/ml_models]
      • 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]

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autoware_calibration_status_classifier package from autoware_universe repo

autoware_boundary_departure_checker autoware_component_interface_specs_universe autoware_cuda_dependency_meta autoware_deprecated_boundary_departure_checker autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_obstacle_proximity_checker autoware_path_distance_calculator autoware_time_utils autoware_traffic_light_compliance_checker 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_spheric_collision_detector autoware_stop_mode_operator autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_tensorrt_vad autoware_control_evaluator autoware_evaluation_adapter autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter autoware_diagnostic_graph_test_examples autoware_geo_pose_projector autoware_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_pose_covariance_modifier autoware_pose_estimator_arbiter autoware_pose_initialization_requester 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_ground_segmentation_cuda autoware_image_object_locator 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_sorter autoware_occupancy_grid_map_outlier_filter autoware_predicted_path_postprocessor 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 autoware_simpl_prediction autoware_simple_object_merger autoware_tensorrt_bevdet autoware_tensorrt_bevformer autoware_tensorrt_classifier autoware_tensorrt_common autoware_tensorrt_plugins autoware_tensorrt_yolox autoware_tracking_object_merger autoware_traffic_light_arbiter autoware_traffic_light_category_merger autoware_traffic_light_classifier autoware_traffic_light_fine_detector autoware_traffic_light_map_based_detector autoware_traffic_light_multi_camera_fusion autoware_traffic_light_occlusion_predictor autoware_traffic_light_pipeline autoware_traffic_light_selector autoware_traffic_light_visualization perception_utils autoware_costmap_generator autoware_diffusion_planner autoware_external_velocity_limit_selector autoware_freespace_planner autoware_freespace_planning_algorithms autoware_hazard_lights_selector autoware_in_lane_mrm_planner autoware_manual_lane_change_handler autoware_minimum_rule_based_planner autoware_mission_planner_universe autoware_path_optimizer autoware_path_smoother autoware_remaining_distance_time_calculator autoware_rtc_interface autoware_scenario_selector autoware_surround_obstacle_checker autoware_trajectory_adapter autoware_trajectory_concatenator autoware_trajectory_gate autoware_trajectory_modifier autoware_trajectory_ranker autoware_trajectory_selector autoware_trajectory_validator autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_module autoware_behavior_path_direction_change_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_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_carla_interface autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_dummy_traffic_light_publisher autoware_fault_injection autoware_redundancy_command_selector autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_command_mode_decider autoware_command_mode_decider_plugins autoware_command_mode_switcher autoware_command_mode_switcher_plugins autoware_command_mode_types autoware_component_state_monitor autoware_adapi_visualizers autoware_default_adapi_universe autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_merger autoware_diagnostic_graph_utils autoware_driving_mode_manager autoware_duplicated_node_checker autoware_generic_service_divider autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_mrm_in_lane_stop_operator autoware_mrm_reset_manager autoware_mrm_steering_hold_stop_operator autoware_pipeline_latency_monitor autoware_processing_time_checker autoware_redundancy_adapi_switcher autoware_redundancy_switcher_interface autoware_redundancy_switcher_interface_plugins autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor 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_active_generator_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_manual_lane_change_rviz_plugin tier4_perception_rviz_plugin tier4_planning_factor_rviz_plugin tier4_state_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

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Package Summary

Version 0.53.0
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 2026-10-23
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

A node for LiDAR camera miscalibration detection

Maintainers

  • Amadeusz Szymko
  • Manato Hirabayashi
  • Patiphon Narksri

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/linear_velocity prerequisite.linear_velocity_check.source parameter Vehicle twist for linear velocity check (multiple message types supported)
~/input/angular_velocity prerequisite.angular_velocity_check.source parameter Vehicle twist for angular velocity check (multiple message types supported)
~/input/objects prerequisite.objects_check.source parameter Detected objects for objects check (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

CHANGELOG

Changelog for package autoware_calibration_status_classifier

0.53.0 (2026-09-29)

  • Merge remote-tracking branch 'origin/main' into prepare-0.53.0-changelog
  • fix(design): align the sensing node designs with the packages they describe (#13337) CalibrationStatusClassifier declares a preview_image publisher on a hardcoded per-camera topic that the node no longer creates, and names it as the outcome of the classify process. The point cloud concatenation component is built as concatenate_pointclouds_node.
  • refactor(sensing): move node design files into each package (#13105)
  • Contributors: Ryohsuke Mitsudome, Taekjin LEE

0.52.0 (2026-06-30)

0.51.0 (2026-05-01)

  • Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base

  • feat: default artifact paths to ~/autoware_data/ml_models (#12523) feat(launches,configs): default artifact paths to ~/autoware_data/ml_models Roll every per-package [data_path]{.title-ref} / [model_path]{.title-ref} launch-arg default from [$(env HOME)/autoware_data[/...]]{.title-ref} to [$(env HOME)/autoware_data/ml_models[/...]]{.title-ref} so standalone universe launches resolve artifacts under the new [~/autoware_data/ml_models/]{.title-ref} layout (autowarefoundation/autoware#7068). When invoked through autoware_launch the parent overrides cascade and already pin the new root (autowarefoundation/autoware_launch#1835); this commit closes the gap for users who launch a perception / localization / sensing / planning component directly with [ros2 launch <pkg>]{.title-ref}. 22 launch files updated (one-line default change each):

    • e2e/autoware_tensorrt_vad/launch/vad_carla_tiny.launch.xml
    • localization/yabloc/yabloc_pose_initializer/launch/yabloc_pose_initializer.launch.xml
    • perception/autoware_bevfusion/launch/bevfusion.launch.xml
    • perception/autoware_camera_streampetr/launch/streampetr.launch.xml
    • perception/autoware_image_projection_based_fusion/launch/pointpainting_fusion.launch.xml
    • perception/autoware_lidar_apollo_instance_segmentation/launch/lidar_apollo_instance_segmentation.launch.xml
    • perception/autoware_lidar_centerpoint/launch/lidar_centerpoint.launch.xml
    • perception/autoware_lidar_frnet/launch/lidar_frnet.launch.xml
    • perception/autoware_lidar_transfusion/launch/lidar_transfusion.launch.xml
    • perception/autoware_ptv3/launch/ptv3.launch.xml
    • perception/autoware_shape_estimation/launch/shape_estimation.launch.xml
    • perception/autoware_simpl_prediction/launch/simpl.launch.xml
    • perception/autoware_tensorrt_bevdet/launch/tensorrt_bevdet.launch.xml
    • perception/autoware_tensorrt_bevformer/launch/bevformer.launch.xml
    • perception/autoware_tensorrt_yolox/launch/{yolox_traffic_light_detector,yolox_tiny,yolox_s_plus_opt}.launch.xml
    • perception/autoware_traffic_light_classifier/launch/{car,pedestrian}_traffic_light_classifier.launch.xml
    • perception/autoware_traffic_light_fine_detector/launch/traffic_light_fine_detector.launch.xml
    • planning/autoware_diffusion_planner/launch/diffusion_planner.launch.xml

    - sensing/autoware_calibration_status_classifier/launch/calibration_status_classifier.launch.xml Drive-by README and test fixes:

    - e2e/autoware_tensorrt_vad/{README.md,docs/design.md}: also migrate the [$HOME/autoware_map/Town01]{.title-ref} examples to [$HOME/autoware_data/maps/Town01]{.title-ref}.

    - localization/yabloc/{README.md,yabloc_pose_initializer/README.md}: also migrate [$HOME/autoware_map/sample-map-rosbag]{.title-ref} to [$HOME/autoware_data/maps/demos/sample-map-rosbag]{.title-ref}.

    - control/autoware_smart_mpc_trajectory_follower/README.md: migrate the [map_path:=$HOME/autoware_map/sample-map-planning]{.title-ref} example to [$HOME/autoware_data/maps/demos/sample-map-planning]{.title-ref}.

    - simulator/autoware_carla_interface/README.md: migrate every [$HOME/autoware_map/Town01/...]{.title-ref} reference to [$HOME/autoware_data/maps/Town01/...]{.title-ref}.

    • perception/{autoware_bevfusion,autoware_image_projection_based_fusion,autoware_lidar_centerpoint,autoware_tensorrt_bevformer}/README.md: copy-paste examples updated to [~/autoware_data/ml_models/<pkg>]{.title-ref}.
    • perception/autoware_camera_streampetr/config/ml_package_camera_streampetr.param.yaml: header comment updated.
    • planning/autoware_diffusion_planner/README.md: prerequisites snippet updated.

    - sensing/autoware_calibration_status_classifier/test/{test_model_inference,test_calibration_status_classifier}.cpp: hardcoded fallback ONNX path updated. Users on the legacy layout can pin the old root with [data_path:=$HOME/autoware_data]{.title-ref} (or the per-package equivalent) on the command line. Refs: https://github.com/autowarefoundation/autoware/issues/7068

  • feat(autoware_calibration_status_classifier): add angular velocity filter and refine filters design

File truncated at 100 lines see the full file

Launch files

  • launch/calibration_status_classifier.launch.xml
      • input_linear_velocity [default: /sensing/vehicle_velocity_converter/twist_with_covariance]
      • input_angular_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/ml_models]
      • 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

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Services

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Plugins

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