calibrate-suite 0.1.0__py3-none-any.whl → 0.1.2__py3-none-any.whl

{calibrate_suite-0.1.0.dist-info → calibrate_suite-0.1.2.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: calibrate-suite
-Version: 0.1.0
+Version: 0.1.2
 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]
+pip install calibrate-suite==0.1.0
 ```
-
-**Option 4: pip - With 3D Processing**
+**Option 3: pip - with full features**
 ```bash
-pip install calibrate-suite[3d]
+pip install calibrate-suite==0.1.0 [full]
 ```
-
-**Option 5: pip - With GUI**
-```bash
-pip install calibrate-suite[gui]
-```
-
-**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
@@ -279,19 +300,34 @@ calibrate-suite
 
 **GUI Workflow Tabs:**
 
-| Home/Record | Overlay |
+| Home |
+| ![Home Interface](src/gui/assets/GUI_homepage.png)|
+
+| Single-LiDAR Record | Calibrate |
+|---|---|
+| ![Single LiDAR Record](src/gui/assets/single_lidar_record_page.png) | ![Single LiDAR Calibrate](src/gui/assets/single_lidar_calibrate_page.png) |
+
+| 2D-3D Record page | 3D-3D Record page |
+|---|---|
+| ![2D-3D Record](src/gui/assets/2d-record-page.png) | ![3D-3D Record](src/gui/assets/3d-record-page.png) | 
+
+| 2D-3D Calibrate page | 3D-3D Calibrate page |
 |---|---|
-| ![Home Interface](src/gui/assets/GUI_homepage.png) | ![Record Page](src/gui/assets/3d-or-2d-record-page.png) |
+| ![2D-3D Calibrator](src/gui/assets/2d-calibrate-page.png) | ![3D-3D Calibrator](src/gui/assets/3d-calibrate-page.png) | 
+
+| 2D-3D Overlay page | 3D-3D Overlay page |
+|---|---|
+| ![2D-3D Calibrator](src/gui/assets/2d-overlay-page.png) | ![3D-3D Calibrator](src/gui/assets/3d-overlay-page.png) |
 
 ### Command-Line (Quick Calibration)
 ```bash
 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 +349,7 @@ 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
 ```
 
 ---
@@ -358,11 +394,6 @@ python3 visualize_alignment.py --data_root ../calib_data/multimodal_captures
 ```
 GUI → Single LiDAR Tab → Upload PCD files → Select method → Run → View metrics
 ```
-
-| Record | Calibrate |
-|---|---|
-| ![Single LiDAR Record](src/gui/assets/single_lidar_record_page.png) | ![Single LiDAR Calibrate](src/gui/assets/single_lidar_calibrate_page.png) |
-
 ---
 
 ### Framework 2: 3D-3D Camera-LiDAR Calibration
@@ -459,17 +490,13 @@ final_extrinsic.yaml:
 GUI → 2D-3D Tab → Select data directory → Configure quality filter → Run → View metrics
 ```
 
-| GUI Interface | Alignment Visualization |
-|---|---|
-| ![2D-3D Calibration](src/gui/assets/3d_or_2d_calibrate-page.png) | ![Alignment Overlay](src/gui/assets/3d-or-2d-overlay_page.png) |
-
 ---
 
-## 💻 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 +504,13 @@ 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 +554,26 @@ 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 +581,7 @@ 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 +605,33 @@ 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"
@@ -757,5 +825,5 @@ A: Run separate calibrations for each camera+LiDAR pair. Combine results using p
 
 ## 📄 Version
 
-**Package Version:** 0.1.0   
+**Package Version:** 0.1.2   
 **License:** MIT

{calibrate_suite-0.1.0.dist-info → calibrate_suite-0.1.2.dist-info}/RECORD

@@ -1,4 +1,4 @@
-calibrate_suite-0.1.0.dist-info/licenses/LICENSE,sha256=xx0jnfkXJvxRnG63LTGOxlggYnIysveWIZ6H3PNdCrQ,11357
+calibrate_suite-0.1.2.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
@@ -8,12 +8,15 @@ fleet_server/templates/index.html,sha256=YpAqEIQfWN46DP8N5mawyzRiypk56vIpExq9_Xm
 fleet_server/templates/viewer.html,sha256=2veSnySQiw6w8O7j0rIwSe4j2ANDCsctaaUXyMige9g,16620
 gui/__init__.py,sha256=NQP_dgQPkLbTEhfhg02dSnsEhav5nS5_BN6CUeNjG1Y,71
 gui/main.py,sha256=aiVmi8WUiErp75DxEk26lcIsCGETW8bDmDl1bGTaE6Y,492
+gui/assets/2d-calibrate-page.png,sha256=6vnz-0xs56PROdsJvoS3nc87lcXQVgNZH3XKYObY440,97464
 gui/assets/2d-or-3d-fleet-upload.png,sha256=oYGgiSd2sI3yliMyHNYjkkhmpL8K3fTnHPCArszqi-E,41886
+gui/assets/2d-overlay-page.png,sha256=Nh72KtFcBdMRYYGXN4MuVFdD28CFjvLuD7I_jQR-4Zk,56144
+gui/assets/2d-record-page.png,sha256=_-o2GNtuQHxlRW_k6EmQJNEYB73xStvLPhHuiY-PFqo,69184
 gui/assets/2d_3d_overlay_output.jpg,sha256=UX77BHFz76YG32E6Ondgstkv6qyNE9m2Tv6MrhK2oBg,801670
-gui/assets/3d-or-2d-overlay_page.png,sha256=s59mEWhtqlXg04p4vmVQbMR0g20AXAZ2_nXYP_21KrI,62965
-gui/assets/3d-or-2d-record-page.png,sha256=Lsbi0XjJgVDJeKZfSqzWKS90K-xsLzd_DGdaCRNDXVg,71243
+gui/assets/3d-calibrate-page.png,sha256=MmzOANq-ny9WwLH26tXNdqdQw22HyLZmyYw5Wd0SIQE,91215
+gui/assets/3d-overlay-page.png,sha256=s59mEWhtqlXg04p4vmVQbMR0g20AXAZ2_nXYP_21KrI,62965
+gui/assets/3d-record-page.png,sha256=Lsbi0XjJgVDJeKZfSqzWKS90K-xsLzd_DGdaCRNDXVg,71243
 gui/assets/3d_3d_overlay_output.png,sha256=kA20FdLb7H_AZW0iPPQ7KWHIdpYQ9ku8UsaQOau7NBY,143166
-gui/assets/3d_or_2d_calibrate-page.png,sha256=MmzOANq-ny9WwLH26tXNdqdQw22HyLZmyYw5Wd0SIQE,91215
 gui/assets/GUI_homepage.png,sha256=-Ev-hZ7l2zaOslxL-x3lpWLfBOxybJaHtFSt0C4VWQ4,74582
 gui/assets/hardware_setup.jpeg,sha256=IrcbI8ADXQO_yiUtembTqP0uBbkQS89P1JLhxnXQNxY,77890
 gui/assets/single_lidar_calibrate_page.png,sha256=wAJ2_l0Hqf_Tq5wTlk6j1ev6VYDk7VkKFp9Xkfna3PM,45377
@@ -21,7 +24,7 @@ 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 +35,7 @@ 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 +43,8 @@ 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-0.1.2.dist-info/METADATA,sha256=pJh5-_lllhWOO48y_XFxs_JX1U-l8is7PlfZ1qXiC0A,28385
+calibrate_suite-0.1.2.dist-info/WHEEL,sha256=wUyA8OaulRlbfwMtmQsvNngGrxQHAvkKcvRmdizlJi0,92
+calibrate_suite-0.1.2.dist-info/entry_points.txt,sha256=4EUgvjrn0X-p0RKCHbgLqGk5PohIk5Qoh94bO5JPhcs,145
+calibrate_suite-0.1.2.dist-info/top_level.txt,sha256=SCAdU5VbFfkNGQO4zgAwM2qsZnWr0I_8k3F70Ch0EcQ,36
+calibrate_suite-0.1.2.dist-info/RECORD,,

{calibrate_suite-0.1.0.dist-info → calibrate_suite-0.1.2.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