initial code commit for beta version

.gitignore

@@ -0,0 +1,4 @@
+output/**
+**/__pycache__
+
+!output/.gitkeep

.pages

@@ -0,0 +1,2 @@
+nav:
+  - ... |  regex=^(?!.*(README.md|CONTRIBUTING.md|CODE_OF_CONDUCT.md|DISCLAIMER.md)).*$

Dockerfile

@@ -0,0 +1,52 @@
+FROM ros:humble
+
+# Create a non-root user
+ARG USERNAME=local
+ARG USER_UID=1000
+ARG USER_GID=$USER_UID
+RUN groupadd --gid $USER_GID $USERNAME \
+  && useradd -s /bin/bash --uid $USER_UID --gid $USER_GID -m $USERNAME \
+  # [Optional] Add sudo support for the non-root user
+  && apt-get update \
+  && apt-get install -y sudo \
+  && echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME\
+  && chmod 0440 /etc/sudoers.d/$USERNAME \
+  # Cleanup
+  && rm -rf /var/lib/apt/lists/* \
+  && echo "source /usr/share/bash-completion/completions/git" >> /home/$USERNAME/.bashrc
+
+RUN apt-get update && apt-get install -y software-properties-common && add-apt-repository universe
+RUN apt-get update && apt-get install -y -q --no-install-recommends \
+    curl \
+    nano \
+    vim \
+    build-essential \
+    ca-certificates \
+    curl \
+    gnupg2 \
+    locales \
+    lsb-release \
+    python3-pip \
+    git \
+    cmake \
+    make \
+    apt-utils
+
+RUN apt-get remove python3-blinker -y
+
+RUN apt-get install ros-$ROS_DISTRO-rmw-cyclonedds-cpp -y
+ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
+
+WORKDIR /ros_ws
+
+COPY . /ros_ws/src/multi_lidar_calibration
+
+RUN pip install --no-cache-dir --upgrade pip && \
+  pip install --no-cache-dir -r src/multi_lidar_calibration/requirements.txt
+
+RUN /bin/bash -c '. /opt/ros/$ROS_DISTRO/setup.bash && \
+  colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release --packages-up-to multi_lidar_calibrator'
+
+ENV QT_DEBUG_PLUGINS=1
+
+CMD [ "bash" ]

LICENSE.md

@@ -1,13 +1,11 @@
-GNU Lesser General Public License
-=================================
+# GNU Lesser General Public License
 
 _Version 3, 29 June 2007_  
 _Copyright © 2007 Free Software Foundation, Inc. &lt;<http://fsf.org/>&gt;_
 
 Everyone is permitted to copy and distribute verbatim copies
 of this license document, but changing it is not allowed.
 
-
 This version of the GNU Lesser General Public License incorporates
 the terms and conditions of version 3 of the GNU General Public
 License, supplemented by the additional permissions listed below.
@@ -27,7 +25,7 @@ Defining a subclass of a class defined by the Library is deemed a mode
 of using an interface provided by the Library.
 
 A “Combined Work” is a work produced by combining or linking an
-Application with the Library.  The particular version of the Library
+Application with the Library. The particular version of the Library
 with which the Combined Work was made is also called the “Linked
 Version”.
 
@@ -54,28 +52,28 @@ that uses the facility (other than as an argument passed when the
 facility is invoked), then you may convey a copy of the modified
 version:
 
-* **a)** under this License, provided that you make a good faith effort to
-ensure that, in the event an Application does not supply the
-function or data, the facility still operates, and performs
-whatever part of its purpose remains meaningful, or
+- **a)** under this License, provided that you make a good faith effort to
+  ensure that, in the event an Application does not supply the
+  function or data, the facility still operates, and performs
+  whatever part of its purpose remains meaningful, or
 
-* **b)** under the GNU GPL, with none of the additional permissions of
-this License applicable to that copy.
+- **b)** under the GNU GPL, with none of the additional permissions of
+  this License applicable to that copy.
 
 ### 3. Object Code Incorporating Material from Library Header Files
 
 The object code form of an Application may incorporate material from
-a header file that is part of the Library.  You may convey such object
+a header file that is part of the Library. You may convey such object
 code under terms of your choice, provided that, if the incorporated
 material is not limited to numerical parameters, data structure
 layouts and accessors, or small macros, inline functions and templates
 (ten or fewer lines in length), you do both of the following:
 
-* **a)** Give prominent notice with each copy of the object code that the
-Library is used in it and that the Library and its use are
-covered by this License.
-* **b)** Accompany the object code with a copy of the GNU GPL and this license
-document.
+- **a)** Give prominent notice with each copy of the object code that the
+  Library is used in it and that the Library and its use are
+  covered by this License.
+- **b)** Accompany the object code with a copy of the GNU GPL and this license
+  document.
 
 ### 4. Combined Works
 
@@ -85,44 +83,45 @@ portions of the Library contained in the Combined Work and reverse
 engineering for debugging such modifications, if you also do each of
 the following:
 
-* **a)** Give prominent notice with each copy of the Combined Work that
-the Library is used in it and that the Library and its use are
-covered by this License.
-
-* **b)** Accompany the Combined Work with a copy of the GNU GPL and this license
-document.
-
-* **c)** For a Combined Work that displays copyright notices during
-execution, include the copyright notice for the Library among
-these notices, as well as a reference directing the user to the
-copies of the GNU GPL and this license document.
-
-* **d)** Do one of the following:
-    - **0)** Convey the Minimal Corresponding Source under the terms of this
-License, and the Corresponding Application Code in a form
-suitable for, and under terms that permit, the user to
-recombine or relink the Application with a modified version of
-the Linked Version to produce a modified Combined Work, in the
-manner specified by section 6 of the GNU GPL for conveying
-Corresponding Source.
-    - **1)** Use a suitable shared library mechanism for linking with the
-Library.  A suitable mechanism is one that **(a)** uses at run time
-a copy of the Library already present on the user's computer
-system, and **(b)** will operate properly with a modified version
-of the Library that is interface-compatible with the Linked
-Version.
-
-* **e)** Provide Installation Information, but only if you would otherwise
-be required to provide such information under section 6 of the
-GNU GPL, and only to the extent that such information is
-necessary to install and execute a modified version of the
-Combined Work produced by recombining or relinking the
-Application with a modified version of the Linked Version. (If
-you use option **4d0**, the Installation Information must accompany
-the Minimal Corresponding Source and Corresponding Application
-Code. If you use option **4d1**, you must provide the Installation
-Information in the manner specified by section 6 of the GNU GPL
-for conveying Corresponding Source.)
+- **a)** Give prominent notice with each copy of the Combined Work that
+  the Library is used in it and that the Library and its use are
+  covered by this License.
+
+- **b)** Accompany the Combined Work with a copy of the GNU GPL and this license
+  document.
+
+- **c)** For a Combined Work that displays copyright notices during
+  execution, include the copyright notice for the Library among
+  these notices, as well as a reference directing the user to the
+  copies of the GNU GPL and this license document.
+
+- **d)** Do one of the following:
+
+  - **0)** Convey the Minimal Corresponding Source under the terms of this
+    License, and the Corresponding Application Code in a form
+    suitable for, and under terms that permit, the user to
+    recombine or relink the Application with a modified version of
+    the Linked Version to produce a modified Combined Work, in the
+    manner specified by section 6 of the GNU GPL for conveying
+    Corresponding Source.
+  - **1)** Use a suitable shared library mechanism for linking with the
+    Library. A suitable mechanism is one that **(a)** uses at run time
+    a copy of the Library already present on the user's computer
+    system, and **(b)** will operate properly with a modified version
+    of the Library that is interface-compatible with the Linked
+    Version.
+
+- **e)** Provide Installation Information, but only if you would otherwise
+  be required to provide such information under section 6 of the
+  GNU GPL, and only to the extent that such information is
+  necessary to install and execute a modified version of the
+  Combined Work produced by recombining or relinking the
+  Application with a modified version of the Linked Version. (If
+  you use option **4d0**, the Installation Information must accompany
+  the Minimal Corresponding Source and Corresponding Application
+  Code. If you use option **4d1**, you must provide the Installation
+  Information in the manner specified by section 6 of the GNU GPL
+  for conveying Corresponding Source.)
 
 ### 5. Combined Libraries
 
@@ -132,12 +131,12 @@ facilities that are not Applications and are not covered by this
 License, and convey such a combined library under terms of your
 choice, if you do both of the following:
 
-* **a)** Accompany the combined library with a copy of the same work based
-on the Library, uncombined with any other library facilities,
-conveyed under the terms of this License.
-* **b)** Give prominent notice with the combined library that part of it
-is a work based on the Library, and explaining where to find the
-accompanying uncombined form of the same work.
+- **a)** Accompany the combined library with a copy of the same work based
+  on the Library, uncombined with any other library facilities,
+  conveyed under the terms of this License.
+- **b)** Give prominent notice with the combined library that part of it
+  is a work based on the Library, and explaining where to find the
+  accompanying uncombined form of the same work.
 
 ### 6. Revised Versions of the GNU Lesser General Public License