calibrate-suite 0.1.0__py3-none-any.whl

gui/widgets/three_d_calib_widget.py

@@ -0,0 +1,87 @@
+from PyQt5.QtWidgets import (QWidget, QTabWidget, QVBoxLayout, QHBoxLayout, QLabel, 
+                             QPushButton, QGroupBox, QLineEdit, QComboBox, QTextEdit, 
+                             QRadioButton, QCheckBox, QFileDialog, QMessageBox, QSizePolicy, QScrollArea)
+from PyQt5.QtCore import pyqtSignal, Qt, QProcess
+import os
+import glob
+import json
+import subprocess
+import sys
+from pathlib import Path
+
+# Add src/ to path for utils import
+sys.path.insert(0, str(Path(__file__).parent.parent.parent))
+from utils import wrap_with_back
+
+# Import existing widgets for other tabs
+try:
+    from ..widgets.extractor_widget import ExtractorWidget
+    from ..widgets.calibrator_widget import ThreeDCalibratorWidget
+    from ..widgets.validator_widget import ThreeDValidatorWidget
+    from ..widgets.uploader_widget import UploaderWidget
+except ImportError:
+    from gui.widgets.extractor_widget import ExtractorWidget
+    from gui.widgets.calibrator_widget import ThreeDCalibratorWidget
+    from gui.widgets.validator_widget import ThreeDValidatorWidget
+    from gui.widgets.uploader_widget import UploaderWidget
+
+class ThreeDThreeDWidget(QWidget):
+    go_home = pyqtSignal()
+
+    def __init__(self):
+        super().__init__()
+        self.initUI()
+
+    def initUI(self):
+        layout = QVBoxLayout()
+        
+        # Header
+        header = QHBoxLayout()
+        btn_back = QPushButton("← Home")
+        btn_back.clicked.connect(self.go_home.emit)
+        btn_back.setFixedWidth(100)
+        btn_back.setStyleSheet("""
+            QPushButton { background-color: #2E8B57; border-radius: 8px; color: white; }
+            QPushButton:hover { background-color: #689F38; }
+        """)
+        header.addWidget(btn_back)
+        
+        title = QLabel("3D-3D Calibration (LiDAR-Camera)")
+        title.setStyleSheet("font-size: 18px; font-weight: bold; color: #2196F3;")
+        header.addWidget(title)
+        header.addStretch()
+        layout.addLayout(header)
+
+        # Tabs
+        self.tabs = QTabWidget()
+        self.tabs.setStyleSheet("""
+            QTabBar::tab {
+                min-width: 150px;
+                padding: 8px;
+                font-weight: bold;
+            }
+            QTabBar::tab:selected {
+                background-color: #1B5E20;
+                color: white;
+            }
+        """)
+        self.init_tabs()
+        layout.addWidget(self.tabs)
+        
+        self.setLayout(layout)
+
+    def init_tabs(self):
+        # 1. Record (Multimodal) - Uses ExtractorWidget
+        # Note: ExtractorWidget now contains the Multimodal Recording logic
+        rec_widget = ExtractorWidget()
+        rec_widget.back_clicked.connect(self.go_home.emit)
+        self.tabs.addTab(rec_widget, "Record (Multimodal)")
+        
+        # 2. Calibration (3D-3D specific)
+        self.tabs.addTab(wrap_with_back(ThreeDCalibratorWidget(), self.go_home), "Calibrate")
+        
+        # 3. Validation (3D-3D specific - Point cloud overlay visualization)
+        self.tabs.addTab(wrap_with_back(ThreeDValidatorWidget(), self.go_home), "Validate")
+        
+        # 4. Upload (Shared with 2D-3D)
+        self.tabs.addTab(wrap_with_back(UploaderWidget(), self.go_home), "Fleet Upload")

gui/widgets/two_d_calib_widget.py

@@ -0,0 +1,86 @@
+from PyQt5.QtWidgets import (QWidget, QTabWidget, QVBoxLayout, QHBoxLayout, QLabel, 
+                             QPushButton, QGroupBox, QLineEdit, QComboBox, QTextEdit, 
+                             QRadioButton, QCheckBox, QFileDialog, QMessageBox, QSizePolicy, QScrollArea)
+from PyQt5.QtCore import pyqtSignal, Qt, QProcess
+import os
+import glob
+import json
+import subprocess
+import sys
+from pathlib import Path
+
+# Add src/ to path for utils import
+sys.path.insert(0, str(Path(__file__).parent.parent.parent))
+from utils import wrap_with_back
+
+# Import existing widgets for other tabs
+try:
+    from ..widgets.extractor_widget import ExtractorWidget
+    from ..widgets.calibrator_widget import CalibratorWidget
+    from ..widgets.validator_widget import ValidatorWidget
+    from ..widgets.uploader_widget import UploaderWidget
+except ImportError:
+    from gui.widgets.extractor_widget import ExtractorWidget
+    from gui.widgets.calibrator_widget import CalibratorWidget
+    from gui.widgets.validator_widget import ValidatorWidget
+    from gui.widgets.uploader_widget import UploaderWidget
+
+class TwoDThreeDWidget(QWidget):
+    go_home = pyqtSignal()
+
+    def __init__(self):
+        super().__init__()
+        self.initUI()
+
+    def initUI(self):
+        layout = QVBoxLayout()
+        
+        # Header
+        header = QHBoxLayout()
+        btn_back = QPushButton("← Home")
+        btn_back.clicked.connect(self.go_home.emit)
+        btn_back.setFixedWidth(100)
+        btn_back.setStyleSheet("""
+            QPushButton { background-color: #2E8B57; border-radius: 8px; color: white; }
+            QPushButton:hover { background-color: #689F38; }
+        """)
+        header.addWidget(btn_back)
+        
+        title = QLabel("2D-3D Calibration (LiDAR-Camera)")
+        title.setStyleSheet("font-size: 18px; font-weight: bold; color: #FF9800;")
+        header.addWidget(title)
+        header.addStretch()
+        layout.addLayout(header)
+
+        # Tabs
+        self.tabs = QTabWidget()
+        self.tabs.setStyleSheet("""
+            QTabBar::tab {
+                min-width: 150px;
+                padding: 8px;
+                font-weight: bold;
+            }
+            QTabBar::tab:selected {
+                background-color: #E65100;
+                color: white;
+            }
+        """)
+        self.init_tabs()
+        layout.addWidget(self.tabs)
+        
+        self.setLayout(layout)
+
+    def init_tabs(self):
+        # 1. Record (Multimodal) - Uses ExtractorWidget
+        rec_widget = ExtractorWidget(enable_depth=False, script_name="2d_3d_data_extractor.py")
+        rec_widget.back_clicked.connect(self.go_home.emit)
+        self.tabs.addTab(rec_widget, "Record (2D-3D)")
+        
+        # 2. Calibration (moved up after Record)
+        self.tabs.addTab(wrap_with_back(CalibratorWidget(), self.go_home), "Calibrate")
+        
+        # 3. Validation with Visualization
+        self.tabs.addTab(wrap_with_back(ValidatorWidget(), self.go_home), "Validate")
+        
+        # 4. Upload
+        self.tabs.addTab(wrap_with_back(UploaderWidget(), self.go_home), "Fleet Upload")

gui/widgets/uploader_widget.py

@@ -0,0 +1,151 @@
+from PyQt5.QtWidgets import (QWidget, QVBoxLayout, QHBoxLayout, QLabel, 
+                             QLineEdit, QPushButton, QMessageBox, QGroupBox, QFileDialog)
+from PyQt5.QtCore import QThread, pyqtSignal
+import os
+import json
+import requests
+
+class UploadWorker(QThread):
+    finished = pyqtSignal(bool, str)
+    
+    def __init__(self, server_url, file_path, robot_id, score):
+        super().__init__()
+        self.server_url = server_url
+        self.file_path = file_path
+        self.robot_id = robot_id
+        self.score = score
+        
+    def run(self):
+        try:
+            url = f"{self.server_url}/api/upload"
+            
+            metadata = {
+                'robot_id': self.robot_id,
+                'score': self.score
+            }
+            
+            with open(self.file_path, 'rb') as f:
+                files = {'artifacts': f}
+                data = {'metadata': json.dumps(metadata)}
+                
+                response = requests.post(url, files=files, data=data)
+            
+            if response.status_code in [200, 201]:
+                self.finished.emit(True, "Upload Successful")
+            else:
+                self.finished.emit(False, f"Server Error: {response.status_code}")
+                
+        except Exception as e:
+            self.finished.emit(False, str(e))
+
+class UploaderWidget(QWidget):
+    def __init__(self):
+        super().__init__()
+        self.initUI()
+        
+    def initUI(self):
+        layout = QVBoxLayout()
+        
+        group = QGroupBox("Upload to Fleet Server")
+        form = QVBoxLayout()
+        
+        # Server URL
+        url_layout = QHBoxLayout()
+        self.url_input = QLineEdit("http://localhost:5000")
+        url_layout.addWidget(QLabel("Server URL:"))
+        url_layout.addWidget(self.url_input)
+        form.addLayout(url_layout)
+        
+        # Robot ID
+        rid_layout = QHBoxLayout()
+        self.rid_input = QLineEdit("AMR_001")
+        rid_layout.addWidget(QLabel("Robot ID:"))
+        rid_layout.addWidget(self.rid_input)
+        form.addLayout(rid_layout)
+        
+        # File selector with browse button
+        file_layout = QHBoxLayout()
+        self.file_input = QLineEdit("calib_result.yaml")
+        self.btn_browse = QPushButton("Browse...")
+        self.btn_browse.clicked.connect(self.browse_file)
+        self.btn_browse.setFixedWidth(100)
+        file_layout.addWidget(QLabel("Result File:"))
+        file_layout.addWidget(self.file_input)
+        file_layout.addWidget(self.btn_browse)
+        form.addLayout(file_layout)
+        
+        # Upload Button
+        self.btn_upload = QPushButton("☁️ Upload Result")
+        self.btn_upload.clicked.connect(self.start_upload)
+        self.btn_upload.setStyleSheet("""
+            QPushButton { background-color: #9C27B0; color: white; padding: 10px; }
+            QPushButton:hover { background-color: #BA68C8; }
+        """)
+        form.addWidget(self.btn_upload)
+        
+        group.setLayout(form)
+        layout.addWidget(group)
+        self.setLayout(layout)
+        
+    def browse_file(self):
+        """Open file dialog to select calibration result file"""
+        file_path, _ = QFileDialog.getOpenFileName(
+            self,
+            "Select Calibration Result File",
+            ".",  # Start in current directory
+            "YAML files (*.yaml *.yml);;All files (*.*)"
+        )
+        if file_path:
+            self.file_input.setText(file_path)
+        
+    def start_upload(self):
+        path = self.file_input.text()
+        url = self.url_input.text()
+        rid = self.rid_input.text()
+        
+        if not os.path.exists(path):
+            msg_box = QMessageBox(self)
+            msg_box.setIcon(QMessageBox.Warning)
+            msg_box.setWindowTitle("Error")
+            msg_box.setText("Result file not found")
+            msg_box.setStyleSheet("QMessageBox { background-color: #404040; color: white; }")
+            msg_box.exec_()
+            return
+            
+        # Parse score from yaml if possible, else 0
+        score = 0.0
+        try:
+            # simple parse
+            with open(path, 'r') as f:
+                for line in f:
+                    if "avg_point_to_plane_rmse_m" in line:
+                         score = float(line.split(':')[1].strip())
+                         break
+        except:
+            pass
+            
+        self.btn_upload.setEnabled(False)
+        self.btn_upload.setText("Uploading...")
+        
+        self.worker = UploadWorker(url, path, rid, score)
+        self.worker.finished.connect(self.on_finished)
+        self.worker.start()
+        
+    def on_finished(self, success, msg):
+        self.btn_upload.setEnabled(True)
+        self.btn_upload.setText("☁️ Upload Result")
+        
+        if success:
+            msg_box = QMessageBox(self)
+            msg_box.setIcon(QMessageBox.Information)
+            msg_box.setWindowTitle("Success")
+            msg_box.setText(msg)
+            msg_box.setStyleSheet("QMessageBox { background-color: #404040; color: white; }")
+            msg_box.exec_()
+        else:
+            msg_box = QMessageBox(self)
+            msg_box.setIcon(QMessageBox.Critical)
+            msg_box.setWindowTitle("Error")
+            msg_box.setText(msg)
+            msg_box.setStyleSheet("QMessageBox { background-color: #404040; color: white; }")
+            msg_box.exec_()