calibrate-suite 0.1.0__py3-none-any.whl → 0.1.1__py3-none-any.whl

{calibrate_suite-0.1.0.dist-info → calibrate_suite-0.1.1.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: calibrate-suite
-Version: 0.1.0
+Version: 0.1.1
 Summary: Comprehensive camera-lidar calibration suite with GUI and fleet management
 Home-page: https://github.com/Opera5/calibrate-suite
 Author: Jamih
@@ -149,46 +149,39 @@ sudo apt update
 
 ### Installation Options
 
-**Option 1: ROS2 + System Packages (Recommended for ROS users)**
+**Option 1: ROS2 + System Packages (Recommended for ROS users in development mode)**
 ```bash
 # Install system dependencies
 sudo apt install python3-opencv python3-open3d python3-pyqt5 python3-yaml
 
+# Install in development mode
+pip install -e .
+
+# Or with GUI dependencies
+pip install -e .[gui]
+
+# Or with all features
+pip install -e .[full]
+
 # Build with ROS2
 cd ~/calib_ws
 colcon build --packages-select calibrate-suite
 source install/setup.bash
-
-# Launch after installation
-calibrate-suite  # GUI
-fleet-server      # REST API
 ```
 
 **Option 2: pip - Core Only (Minimal)**
 ```bash
-pip install calibrate-suite
-```
-
-**Option 3: pip - With Computer Vision**
-```bash
-pip install calibrate-suite[cv]
-```
-
-**Option 4: pip - With 3D Processing**
-```bash
-pip install calibrate-suite[3d]
+pip install calibrate-suite==0.1.0
 ```
-
-**Option 5: pip - With GUI**
+**Option 3: pip - with full features**
 ```bash
-pip install calibrate-suite[gui]
+pip install calibrate-suite==0.1.0 [full]
 ```
-
-**Option 6: pip - Full Installation (Isolated venv recommended)**
+**Option 4: pip - Full Installation (Isolated venv recommended)**
 ```bash
 python3 -m venv calib_env
 source calib_env/bin/activate
-pip install calibrate-suite[full]
+pip install calibrate-suite==0.1.0
 
 # Launch commands after installation
 calibrate-suite  # GUI
@@ -235,6 +228,34 @@ fleet-server --version
 
 ### Known Conflicts & Solutions
 
+**Issue: RViz snap glibc conflicts**
+```
+Problem: RViz snap conflicts with system glibc (__libc_pthread_init error)
+Solution: Use system RViz instead of snap
+  sudo apt install ros-humble-rviz2
+  # OR continue without RViz (extractor still works)
+```
+
+**Issue: NumPy version conflicts**
+```
+Problem: Mixed system (1.21.5) and pip NumPy versions causing sklearn conflicts
+Solution: Use consistent package sources
+  # Remove pip scientific packages
+  pip uninstall numpy scipy scikit-learn open3d opencv-python
+  
+  # Use system packages
+  sudo apt install python3-numpy python3-scipy python3-sklearn python3-opencv python3-open3d
+  
+  # Reinstall calibrate-suite without dependencies
+  pip install -e . --no-deps
+  or 
+  # Remove pip-installed numpy and opencv
+pip uninstall numpy opencv-python
+
+# Use system packages
+sudo apt install python3-numpy python3-opencv
+```
+
 **Issue: OpenCV conflicts with system Qt/RViz**
 ```
 Problem: pip opencv-python can conflict with system OpenCV
@@ -288,10 +309,10 @@ calibrate-suite
 cd /home/jamih/calib_ws/src/calibrate-suite/src
 
 #launching calibrator suite from terminal
-# Method 2: Direct Python execution
+# Method 1: Direct Python execution
 python3 -m gui.main
 
-# Method 3: Direct script execution
+# Method 2: Direct script execution
 python3 gui/main.py
 
 # 2D-3D Calibration (AprilTag-based, recommended)
@@ -313,7 +334,7 @@ python3 2d_3d_data_extractor.py \
 python3 2d_3d_calibrator.py --data_root ../calib_data/multimodal_captures
 
 # 3. Visualize results
-python3 visualize_alignment.py --data_root ../calib_data/multimodal_captures
+python3 2d_3d_overlay.py --data_root ../calib_data/multimodal_captures
 ```
 
 ---
@@ -465,11 +486,11 @@ GUI → 2D-3D Tab → Select data directory → Configure quality filter → Run
 
 ---
 
-## 💻 Command-Line Tools
+## 💻 Command-Line Tools(without GUI)
 
 ### Data Extraction Tools
 ```bash
-# Synchronized extraction from ROS2 bag
+# Synchronized extraction from ROS2 bag for 3d-3d mode
 cd src
 python3 3d_3d_data_extractor.py \ 
   --bag path-to-bag \ 
@@ -477,13 +498,13 @@ python3 3d_3d_data_extractor.py \
   --num-poses 20 \ 
   --sync-tolerance 100
 
-# Extract camera images only(it will be 3d_3d_data extractor for the 3d_3d mode)
+# Extract camera images only for 2D-3D mode
 python3 2d_3d_data_extractor.py \ 
   --bag path-to-bag \ 
   --type camera \ 
   --output ../calib_data/camera_images
 
-# Extract LiDAR point clouds only
+# Extract LiDAR point clouds only for 2D-3D mode
 python3 2d_3d_data_extractor.py \ 
   --bag path-to-bag \ 
   --type lidar \ 
@@ -527,12 +548,23 @@ python3 2d_3d_overlay.py \
   --data_root ../calib_data/multimodal_captures \ 
   --pose 1
 
-# generate/Verify corner detection
+# generate/Verify corner detection in lidar and camera
 python3 camtag_det.py \ 
   --data_root ../calib_data/multimodal_captures
 
 python3 lidtag_det.py \ 
-  --data_root ../calib_data/multimodal_captures
+--data_root ../calib_data/multimodal_captures
+```
+### To use the package camera calibrator(if you're using AprilTag Grid)
+```bash
+# After pip install calibrate-suite
+calibrate-camera --data_root /path/to/data
+
+#For PyPI Users (after adding entry point)
+pip install calibrate-suite[cv]  # Need OpenCV
+calibrate-camera --data_root ./my_data
+
+#if you already have your camera intrinsics, make sure to select them in the GUI before running any tab execution as it has hardcoded intrinsics params(though if you capture with the GUI, the system saves camera_intrinsics.yaml once, but verify path is right in GUI)
 ```
 ---
 
@@ -540,7 +572,7 @@ python3 lidtag_det.py \
 
 ### Directory Structure (Package-Created)
 
-When using calibrate-suite, the following directory structure is created(note, they can be changed as per your wish in the GUI):
+When using calibrate-suite, the following directory structure is created(note: they can be changed as per your wish in the GUI or through terminal by passing --data-root flag with folder path):
 
 ```
 calib_data/
@@ -564,6 +596,33 @@ calib_data/
 
 ```
 
+### Camera Intrinsics Format
+
+All calibrate-suite scripts use a standardized `camera_intrinsics.yaml` format. If you have your own camera intrinsics, use this exact format:
+
+```yaml
+# Standard format supported across all calibrate-suite scripts
+camera_matrix: [[fx, 0.0, cx], [0.0, fy, cy], [0.0, 0.0, 1.0]]  # 3x3 intrinsic matrix
+dist_coeffs: [k1, k2, p1, p2, k3]                                # Distortion coefficients
+image_size: [width, height]                                      # Image dimensions in pixels
+distortion_model: "plumb_bob"                                     # OpenCV distortion model
+camera_name: "camera_frame"                                       # Camera frame ID (optional)
+
+# Example with real values:
+camera_matrix: [[1364.0, 0.0, 944.66], [0.0, 1363.42, 570.16], [0.0, 0.0, 1.0]]
+dist_coeffs: [0.1, -0.2, 0.001, 0.002, 0.05]
+image_size: [1920, 1080]
+distortion_model: "plumb_bob"
+camera_name: "camera_optical_frame"
+```
+
+**Important Notes:**
+- File must be named exactly `camera_intrinsics.yaml`
+- Place in your data root directory (e.g., `calib_data/multimodal_captures/camera_intrinsics.yaml`)
+- `camera_matrix` must be a 3×3 nested list (not a flat array)
+- `dist_coeffs` must be a flat list of 5 coefficients [k1, k2, p1, p2, k3]
+- All extractors, calibrators, and visualization scripts use this format
+
 ### Board Geometry Configuration
 ```yaml
 board_type: "AprilTag"

{calibrate_suite-0.1.0.dist-info → calibrate_suite-0.1.1.dist-info}/RECORD

@@ -1,4 +1,4 @@
-calibrate_suite-0.1.0.dist-info/licenses/LICENSE,sha256=xx0jnfkXJvxRnG63LTGOxlggYnIysveWIZ6H3PNdCrQ,11357
+calibrate_suite-0.1.1.dist-info/licenses/LICENSE,sha256=xx0jnfkXJvxRnG63LTGOxlggYnIysveWIZ6H3PNdCrQ,11357
 fleet_server/__init__.py,sha256=Jf0LmjLdSxA38SIb-lY0nIdeW66QK_FsMxbh-ZqqGx4,870
 fleet_server/app.py,sha256=qzc0ycWyFTjvi_DppD_TqGeO3vxJT6tv2EEUDiSJL7I,13307
 fleet_server/config.py,sha256=aMrHL_z6YuVharn9OLejgKgldxe8wRh8t5NKIrsDMa4,2737
@@ -21,7 +21,7 @@ gui/assets/single_lidar_output.png,sha256=L6nwvXaS2noNq4W13ZG65miI_AG1I8EuY2sDMy
 gui/assets/single_lidar_record_page.png,sha256=OwZAuXOoiE443kZkopZOxhehvDwTjej85xgkJ9xX1tM,60437
 gui/assets/virya.jpg,sha256=F4VdYXoMO8F80jc32n-tgWQwJTCEGjtd7vgya18Diag,23752
 gui/widgets/calibrator_widget.py,sha256=wS5Bo6VIJBOXj-mi1vB8tO9zKocieQd08TdL_Lejn7U,40732
-gui/widgets/extractor_widget.py,sha256=ztlGSIzUsMKlqSXSjdVvDxpsUsrm7Z0FylgVAXjpvWs,22146
+gui/widgets/extractor_widget.py,sha256=Eq4-X-Zdyf9j2xc6H16mAQ6quErpaCUmRhw5WLwHZm8,22731
 gui/widgets/home_widget.py,sha256=XRDCcAZNqFfS41aCkotT-hET9n4IR0TtGV7qhMQkR88,4305
 gui/widgets/recorder_widget.py,sha256=5DBI7rrDTSQrBJ4Bp_iFvdv0rNmKvBPLNW_WeVDapA0,4612
 gui/widgets/single_lidar_widget.py,sha256=AtM5cKzXglNZjFUdksVwQVYpFvlqwFbAe9xZwrvqupI,25731
@@ -32,7 +32,7 @@ gui/widgets/validator_widget.py,sha256=lS4EI-9hWZwOJwX1d0EtgsGioPRvdbmtBSeCLukcd
 gui/windows/main_window.py,sha256=6OstmZfWjQzBgnHyCTJc3LzEymgTQpWrapx2cjORHmY,1982
 gui/windows/main_window_ui.py,sha256=4yVIRJ6KIDwxeP0kvy_IkoI29cIBp2LSUarr7AZuEH4,1627
 rviz_configs/2D-3D.rviz,sha256=QfBz1jXWHeZH93HYoq2Ee_tXFS6QC1DIO2rexUB6Wgk,6143
-rviz_configs/3D-3D.rviz,sha256=p4EA2kVYB-FNCRapjBjkIIn_uv6Ysznfj9aW1SMQ6es,6094
+rviz_configs/3D-3D.rviz,sha256=DUqOlOTq1CFoilkRW1Jov5Wd8fWi9BWPs-9h5_oqI-c,6095
 rviz_configs/default_calib.rviz,sha256=nYIH16YlNcbQhAXPBfQbsQ5AXkNT7BXTWfdxwkvOJgo,5610
 utils/__init__.py,sha256=jGrHBgfZKHPs8RloUjIW-f7LAH_n6uGKfCaDnjcz7Yk,376
 utils/calibration_common.py,sha256=M6IAyi97tPpQk320aoPruGffa7dAO679RWax5tVQoL4,606
@@ -40,8 +40,8 @@ utils/cli_calibrate.py,sha256=F1l-JLTOs39JHm-sTLWcUwcjKerZGpXjEXm8USFt9QY,1267
 utils/cli_fleet_server.py,sha256=OvkCo-ClGlwNKDJTfH5InLm0NWjxWSiSf-yAZnl2QVk,1700
 utils/data_extractor_common.py,sha256=3DsIwFd35dfl8ZoKfsm5VA-gZmveySmBUkiErXbCN18,2611
 utils/gui_helpers.py,sha256=hgj5AG0oH2dZMnclwzazFQlwebpBPW0JjNM_AHb9hko,723
-calibrate_suite-0.1.0.dist-info/METADATA,sha256=Y_mxIIZjcbnkocqexaznleEvkwGNmkWcQK_fQdqkFHk,25332
-calibrate_suite-0.1.0.dist-info/WHEEL,sha256=wUyA8OaulRlbfwMtmQsvNngGrxQHAvkKcvRmdizlJi0,92
-calibrate_suite-0.1.0.dist-info/entry_points.txt,sha256=huEnH7M9a_ycUhzZ3FnXR0rw8iRsr3jj71TTSd4Srl8,104
-calibrate_suite-0.1.0.dist-info/top_level.txt,sha256=SCAdU5VbFfkNGQO4zgAwM2qsZnWr0I_8k3F70Ch0EcQ,36
-calibrate_suite-0.1.0.dist-info/RECORD,,
+calibrate_suite-0.1.1.dist-info/METADATA,sha256=CetRZ9l0DEjpzqV0dn2RwUKuxIWOMCxZ2IphkVrZYzU,28125
+calibrate_suite-0.1.1.dist-info/WHEEL,sha256=wUyA8OaulRlbfwMtmQsvNngGrxQHAvkKcvRmdizlJi0,92
+calibrate_suite-0.1.1.dist-info/entry_points.txt,sha256=4EUgvjrn0X-p0RKCHbgLqGk5PohIk5Qoh94bO5JPhcs,145
+calibrate_suite-0.1.1.dist-info/top_level.txt,sha256=SCAdU5VbFfkNGQO4zgAwM2qsZnWr0I_8k3F70Ch0EcQ,36
+calibrate_suite-0.1.1.dist-info/RECORD,,

{calibrate_suite-0.1.0.dist-info → calibrate_suite-0.1.1.dist-info}/entry_points.txt

@@ -1,3 +1,4 @@
 [console_scripts]
+calibrate-camera = calibrate_camera:main
 calibrate-suite = utils.cli_calibrate:main
 fleet-server = utils.cli_fleet_server:main

gui/widgets/extractor_widget.py

@@ -506,10 +506,21 @@ class ExtractorWidget(QWidget):
 
     def stop_process(self):
         if self.record_process and self.record_process.state() == QProcess.Running:
+            self.rec_log.append("🛑 Stopping process and closing RViz...")
             self.record_process.write(b'q\n')
-            self.record_process.waitForFinished(1000)
+            self.record_process.waitForFinished(3000)  # Wait longer for graceful shutdown
             if self.record_process.state() == QProcess.Running:
+                self.rec_log.append("⚠️ Force killing process...")
                 self.record_process.kill()
+                self.record_process.waitForFinished(1000)
+        
+        # Force kill any remaining RViz processes
+        try:
+            import subprocess
+            subprocess.run(['pkill', '-f', 'rviz2'], capture_output=True)
+            self.rec_log.append("🔧 Cleaned up RViz processes")
+        except Exception as e:
+            self.rec_log.append(f"⚠️ RViz cleanup warning: {e}")
 
     def capture_frame(self):
         if self.record_process: self.record_process.write(b'n\n')

rviz_configs/3D-3D.rviz

@@ -63,7 +63,7 @@ Visualization Manager:
       Enabled: true
       Invert Rainbow: false
       Max Color: 255; 255; 255
-      Max Intensity: 217
+      Max Intensity: 206
       Min Color: 0; 0; 0
       Min Intensity: 0
       Name: PointCloud2
@@ -180,5 +180,5 @@ Window Geometry:
   Views:
     collapsed: false
   Width: 1200
-  X: 720
-  Y: 79
+  X: 555
+  Y: 101