calibrate-suite 0.1.0__py3-none-any.whl

gui/widgets/validator_widget.py

@@ -0,0 +1,614 @@
+from PyQt5.QtWidgets import (QWidget, QVBoxLayout, QHBoxLayout, QLabel, 
+                             QPushButton, QLineEdit, QFileDialog, QMessageBox, QGroupBox,
+                             QScrollArea, QComboBox, QSpinBox, QTextEdit, QSplitter)
+from PyQt5.QtGui import QPixmap
+from PyQt5.QtCore import QProcess, Qt, QSize
+import os
+import sys
+import glob
+
+class ValidatorWidget(QWidget):
+    def __init__(self):
+        super().__init__()
+        self.process = None
+        self.current_visualization = None
+        self.initUI()
+
+    def initUI(self):
+        main_layout = QVBoxLayout()
+
+        # ========== Configuration Section ==========
+        config_group = QGroupBox("Visualization Configuration")
+        config_layout = QVBoxLayout()
+        
+        # Data Root Directory
+        data_root_layout = QHBoxLayout()
+        self.data_root_input = QLineEdit()
+        cwd = os.getcwd()
+        default_root = os.path.join(cwd, "calib_data/new_captures")
+        self.data_root_input.setText(default_root)
+        self.data_root_input.setPlaceholderText("Path to calibration data (e.g., calib_data/new_captures)")
+        
+        btn_browse = QPushButton("Browse...")
+        btn_browse.setMaximumWidth(100)
+        btn_browse.clicked.connect(self.browse_data_root)
+        
+        data_root_layout.addWidget(QLabel("Data Root:"))
+        data_root_layout.addWidget(self.data_root_input)
+        data_root_layout.addWidget(btn_browse)
+        config_layout.addLayout(data_root_layout)
+        
+        config_group.setLayout(config_layout)
+        main_layout.addWidget(config_group)
+        
+        # ========== Generate Visualization Button ==========
+        gen_layout = QHBoxLayout()
+        self.btn_generate = QPushButton("Generate Alignment Visualization")
+        self.btn_generate.setStyleSheet("""
+            QPushButton { background-color: #FFA726; color: white; padding: 10px; font-weight: bold; border-radius: 4px; }
+            QPushButton:hover { background-color: #FB8C00; }
+            QPushButton:disabled { background-color: #BDBDBD; }
+        """)
+        self.btn_generate.clicked.connect(self.generate_visualization)
+        gen_layout.addWidget(self.btn_generate)
+        gen_layout.addStretch()
+        main_layout.addLayout(gen_layout)
+        
+        # ========== Split Layout (Log on Left, Visualization on Right) ==========
+        splitter = QSplitter(Qt.Horizontal)
+        
+        # LEFT SIDE: Log Output
+        log_group = QGroupBox("Log Output")
+        log_layout = QVBoxLayout()
+        self.log_area = QTextEdit()
+        self.log_area.setReadOnly(True)
+        self.log_area.setStyleSheet("font-family: Monospace; font-size: 9pt;")
+        log_layout.addWidget(self.log_area)
+        log_group.setLayout(log_layout)
+        
+        # RIGHT SIDE: Visualization
+        viz_group = QGroupBox("Visualization")
+        viz_layout = QVBoxLayout()
+        
+        # Pose Selector
+        pose_select_layout = QHBoxLayout()
+        pose_label = QLabel("Select Pose:")
+        pose_label.setStyleSheet("color: #E0E0E0;")
+        pose_select_layout.addWidget(pose_label)
+        self.combo_pose = QComboBox()
+        self.combo_pose.setStyleSheet("""
+            QComboBox { 
+                background-color: #3C3C3C; 
+                color: #E0E0E0; 
+                border: 1px solid #424242;
+                padding: 5px;
+                border-radius: 4px;
+            }
+            QComboBox::drop-down { border: none; }
+            QComboBox::down-arrow { color: #E0E0E0; }
+            QComboBox QAbstractItemView {
+                background-color: #3C3C3C;
+                color: #E0E0E0;
+                selection-background-color: #FFA726;
+            }
+        """)
+        self.combo_pose.currentIndexChanged.connect(self.on_pose_selected)
+        pose_select_layout.addWidget(self.combo_pose)
+        pose_select_layout.addStretch()
+        viz_layout.addLayout(pose_select_layout)
+        
+        # Visualization Display Area
+        self.image_label = QLabel()
+        self.image_label.setAlignment(Qt.AlignCenter)
+        self.image_label.setMinimumHeight(400)
+        self.image_label.setStyleSheet("border: 1px solid #424242; background-color: #2C2C2C;")
+        
+        scroll_area = QScrollArea()
+        scroll_area.setWidget(self.image_label)
+        scroll_area.setWidgetResizable(True)
+        scroll_area.setStyleSheet("background-color: #2C2C2C;")
+        viz_layout.addWidget(scroll_area)
+        
+        # Statistics Display
+        stats_layout = QHBoxLayout()
+        self.stats_label = QLabel("No visualization loaded")
+        self.stats_label.setStyleSheet("font-family: Monospace; font-size: 8pt; background-color: #2C2C2C; color: #E0E0E0; padding: 8px; border-radius: 4px; max-height: 80px;")
+        self.stats_label.setWordWrap(True)
+        stats_layout.addWidget(self.stats_label)
+        viz_layout.addLayout(stats_layout)
+        
+        viz_group.setLayout(viz_layout)
+        viz_group.setStyleSheet("background-color: #2C2C2C; color: #E0E0E0;")
+        
+        # Add both to splitter
+        splitter.addWidget(log_group)
+        splitter.addWidget(viz_group)
+        splitter.setSizes([500, 500])  # Equal split
+        splitter.setCollapsible(0, False)
+        splitter.setCollapsible(1, False)
+        splitter.setStyleSheet("background-color: #2C2C2C;")
+        
+        main_layout.addWidget(splitter, 1)  # Give splitter most of the space
+        
+        # ========== Action Buttons ==========
+        action_layout = QHBoxLayout()
+        
+        btn_open_folder = QPushButton("Open Visualization Folder")
+        btn_open_folder.clicked.connect(self.open_viz_folder)
+        
+        btn_refresh = QPushButton("Refresh Pose List")
+        btn_refresh.clicked.connect(self.refresh_pose_list)
+        
+        btn_clear_log = QPushButton("Clear Log")
+        btn_clear_log.setMaximumWidth(100)
+        btn_clear_log.clicked.connect(self.log_area.clear)
+        
+        action_layout.addWidget(btn_open_folder)
+        action_layout.addWidget(btn_refresh)
+        action_layout.addStretch()
+        action_layout.addWidget(btn_clear_log)
+        main_layout.addLayout(action_layout)
+        
+        self.setLayout(main_layout)
+
+    def browse_data_root(self):
+        """Open file browser to select data root directory"""
+        folder = QFileDialog.getExistingDirectory(self, "Select Data Root Directory")
+        if folder:
+            self.data_root_input.setText(folder)
+            self.refresh_pose_list()
+
+    def refresh_pose_list(self):
+        """Refresh the list of available poses"""
+        data_root = self.data_root_input.text()
+        
+        if not os.path.exists(data_root):
+            self.log_area.append(f"⚠️  Data root not found: {data_root}")
+            return
+        
+        # Find all pose directories
+        pose_dirs = sorted(glob.glob(os.path.join(data_root, "pose_*")))
+        
+        self.combo_pose.blockSignals(True)
+        self.combo_pose.clear()
+        
+        for pose_dir in pose_dirs:
+            pose_name = os.path.basename(pose_dir)
+            self.combo_pose.addItem(pose_name)
+        
+        self.combo_pose.blockSignals(False)
+        
+        if pose_dirs:
+            self.log_area.append(f"✅ Found {len(pose_dirs)} poses")
+            self.combo_pose.setCurrentIndex(0)
+        else:
+            self.log_area.append(f"⚠️  No pose directories found in {data_root}")
+
+    def generate_visualization(self):
+        """Generate alignment visualization using 2d_3d_overlay.py"""
+        data_root = self.data_root_input.text()
+        
+        if not data_root or not os.path.exists(data_root):
+            QMessageBox.warning(self, "Error", f"Invalid data root: {data_root}")
+            return
+        
+        self.btn_generate.setEnabled(False)
+        self.log_area.clear()
+        self.log_area.append(f"🚀 Generating visualization for: {data_root}")
+        self.log_area.append(f"This may take a minute...\n")
+        
+        self.process = QProcess()
+        self.process.readyReadStandardOutput.connect(self.handle_stdout)
+        self.process.readyReadStandardError.connect(self.handle_stderr)
+        self.process.finished.connect(self.on_visualization_finished)
+        
+        # Get 2d_3d_overlay.py path
+        script_path = os.path.abspath(os.path.join(os.path.dirname(__file__), "../../2d_3d_overlay.py"))
+        
+        if not os.path.exists(script_path):
+            self.log_area.append(f"❌ Script not found: {script_path}")
+            self.btn_generate.setEnabled(True)
+            return
+        
+        cmd = sys.executable
+        args = [script_path, "--data_root", data_root]
+        
+        self.process.start(cmd, args)
+
+    def on_pose_selected(self, index):
+        """Load and display the selected pose's visualization"""
+        data_root = self.data_root_input.text()
+        pose_name = self.combo_pose.currentText()
+        
+        if not pose_name:
+            return
+        
+        viz_path = os.path.join(data_root, "alignment_viz", f"{pose_name}_viz.jpg")
+        
+        if os.path.exists(viz_path):
+            self.display_visualization(viz_path, pose_name)
+        else:
+            self.image_label.setText(f"Visualization not found for {pose_name}\nRun 'Generate Alignment Visualization' first")
+            self.stats_label.setText("No visualization loaded")
+
+    def display_visualization(self, image_path, pose_name):
+        """Display an image in the visualization area"""
+        pixmap = QPixmap(image_path)
+        
+        if pixmap.isNull():
+            self.image_label.setText(f"Failed to load image: {image_path}")
+            return
+        
+        # Scale to fit in view while maintaining aspect ratio
+        scaled_pixmap = pixmap.scaledToWidth(1400, Qt.SmoothTransformation)
+        self.image_label.setPixmap(scaled_pixmap)
+        
+        # Update statistics
+        self.stats_label.setText(
+            f"Pose: {pose_name}\n"
+            f"Image: {image_path}\n"
+            f"Size: {pixmap.width()}x{pixmap.height()}px\n"
+            f"\nVisualization shows:\n"
+            f"🟢 Camera corners (green circles)\n"
+            f"🔴 LiDAR corners (red crosses)\n"
+            f"🟡 Error circles (size = error magnitude)\n"
+            f"Red line: Centroid offset between sensors"
+        )
+
+    def handle_stdout(self):
+        """Handle stdout from visualization process"""
+        data = self.process.readAllStandardOutput()
+        text = data.data().decode()
+        self.log_area.append(text)
+
+    def handle_stderr(self):
+        """Handle stderr from visualization process"""
+        data = self.process.readAllStandardError()
+        text = data.data().decode()
+        self.log_area.append(f"<span style='color:red'>{text}</span>")
+
+    def on_visualization_finished(self):
+        """Handle visualization generation completion"""
+        exit_code = self.process.exitCode()
+        
+        if exit_code == 0:
+            self.log_area.append(f"\n✅ Visualization generated successfully!")
+            self.refresh_pose_list()
+        else:
+            self.log_area.append(f"\n❌ Visualization failed with exit code {exit_code}")
+        
+        self.btn_generate.setEnabled(True)
+
+    def open_viz_folder(self):
+        """Open visualization folder in file explorer"""
+        data_root = self.data_root_input.text()
+        viz_folder = os.path.join(data_root, "alignment_viz")
+        
+        if not os.path.exists(viz_folder):
+            QMessageBox.warning(self, "Not Found", f"Visualization folder not found:\n{viz_folder}")
+            return
+        
+        # Open folder based on OS
+        if sys.platform == "win32":
+            os.startfile(viz_folder)
+        elif sys.platform == "darwin":  # macOS
+            os.system(f"open '{viz_folder}'")
+        else:  # Linux
+            os.system(f"xdg-open '{viz_folder}'")
+
+
+class ThreeDValidatorWidget(QWidget):
+    """3D-3D Calibration Validation Widget - Point Cloud Overlay Visualization"""
+    
+    def __init__(self):
+        super().__init__()
+        self.process = None
+        self.current_visualization = None
+        self.initUI()
+
+    def initUI(self):
+        main_layout = QVBoxLayout()
+
+        # ========== Configuration Section ==========
+        config_group = QGroupBox("3D-3D Validation Configuration")
+        config_layout = QVBoxLayout()
+        
+        # Data Root Directory
+        data_root_layout = QHBoxLayout()
+        self.data_root_input = QLineEdit()
+        cwd = os.getcwd()
+        default_root = os.path.join(cwd, "calib_data/cb_data")
+        self.data_root_input.setText(default_root)
+        self.data_root_input.setPlaceholderText("Path to calibration data (e.g., calib_data/cb_data)")
+        
+        btn_browse = QPushButton("Browse...")
+        btn_browse.setMaximumWidth(100)
+        btn_browse.clicked.connect(self.browse_data_root)
+        
+        data_root_layout.addWidget(QLabel("Data Root:"))
+        data_root_layout.addWidget(self.data_root_input)
+        data_root_layout.addWidget(btn_browse)
+        config_layout.addLayout(data_root_layout)
+        
+        # Calibration File
+        calib_layout = QHBoxLayout()
+        self.calib_input = QLineEdit()
+        self.calib_input.setText("final_extrinsic.yaml")
+        self.calib_input.setPlaceholderText("Calibration YAML file")
+        
+        btn_calib_browse = QPushButton("Browse...")
+        btn_calib_browse.setMaximumWidth(100)
+        btn_calib_browse.clicked.connect(self.browse_calib_file)
+        
+        calib_layout.addWidget(QLabel("Calibration File:"))
+        calib_layout.addWidget(self.calib_input)
+        calib_layout.addWidget(btn_calib_browse)
+        config_layout.addLayout(calib_layout)
+        
+        config_group.setLayout(config_layout)
+        main_layout.addWidget(config_group)
+        
+        # ========== Generate Visualization Button ==========
+        gen_layout = QHBoxLayout()
+        self.btn_generate = QPushButton("Generate 3D Overlay Visualization")
+        self.btn_generate.setStyleSheet("""
+            QPushButton { background-color: #2196F3; color: white; padding: 10px; font-weight: bold; border-radius: 4px; }
+            QPushButton:hover { background-color: #1976D2; }
+            QPushButton:disabled { background-color: #BDBDBD; }
+        """)
+        self.btn_generate.clicked.connect(self.generate_visualization)
+        gen_layout.addWidget(self.btn_generate)
+        gen_layout.addStretch()
+        main_layout.addLayout(gen_layout)
+        
+        # ========== Split Layout (Log on Left, Visualization on Right) ==========
+        splitter = QSplitter(Qt.Horizontal)
+        
+        # LEFT SIDE: Log Output
+        log_group = QGroupBox("Log Output")
+        log_layout = QVBoxLayout()
+        self.log_area = QTextEdit()
+        self.log_area.setReadOnly(True)
+        self.log_area.setStyleSheet("font-family: Monospace; font-size: 9pt;")
+        log_layout.addWidget(self.log_area)
+        log_group.setLayout(log_layout)
+        
+        # RIGHT SIDE: Visualization
+        viz_group = QGroupBox("3D Point Cloud Overlay")
+        viz_layout = QVBoxLayout()
+        
+        # Pose Selector
+        pose_select_layout = QHBoxLayout()
+        pose_label = QLabel("Select Pose:")
+        pose_label.setStyleSheet("color: #E0E0E0;")
+        pose_select_layout.addWidget(pose_label)
+        self.combo_pose = QComboBox()
+        self.combo_pose.setStyleSheet("""
+            QComboBox { 
+                background-color: #3C3C3C; 
+                color: #E0E0E0; 
+                border: 1px solid #424242;
+                padding: 5px;
+                border-radius: 4px;
+            }
+            QComboBox::drop-down { border: none; }
+            QComboBox::down-arrow { color: #E0E0E0; }
+            QComboBox QAbstractItemView {
+                background-color: #3C3C3C;
+                color: #E0E0E0;
+                selection-background-color: #2196F3;
+            }
+        """)
+        self.combo_pose.currentIndexChanged.connect(self.on_pose_selected)
+        pose_select_layout.addWidget(self.combo_pose)
+        pose_select_layout.addStretch()
+        viz_layout.addLayout(pose_select_layout)
+        
+        # Visualization Display Area
+        self.image_label = QLabel()
+        self.image_label.setAlignment(Qt.AlignCenter)
+        self.image_label.setMinimumHeight(400)
+        self.image_label.setStyleSheet("border: 1px solid #424242; background-color: #2C2C2C;")
+        
+        scroll_area = QScrollArea()
+        scroll_area.setWidget(self.image_label)
+        scroll_area.setWidgetResizable(True)
+        scroll_area.setStyleSheet("background-color: #2C2C2C;")
+        viz_layout.addWidget(scroll_area)
+        
+        # Statistics Display
+        stats_layout = QHBoxLayout()
+        self.stats_label = QLabel("No visualization loaded")
+        self.stats_label.setStyleSheet("font-family: Monospace; font-size: 8pt; background-color: #2C2C2C; color: #E0E0E0; padding: 8px; border-radius: 4px; max-height: 100px;")
+        self.stats_label.setWordWrap(True)
+        stats_layout.addWidget(self.stats_label)
+        viz_layout.addLayout(stats_layout)
+        
+        viz_group.setLayout(viz_layout)
+        viz_group.setStyleSheet("background-color: #2C2C2C; color: #E0E0E0;")
+        
+        # Add both to splitter
+        splitter.addWidget(log_group)
+        splitter.addWidget(viz_group)
+        splitter.setSizes([500, 500])  # Equal split
+        splitter.setCollapsible(0, False)
+        splitter.setCollapsible(1, False)
+        splitter.setStyleSheet("background-color: #2C2C2C;")
+        
+        main_layout.addWidget(splitter, 1)  # Give splitter most of the space
+        
+        # ========== Action Buttons ==========
+        action_layout = QHBoxLayout()
+        
+        btn_open_folder = QPushButton("Open Visualization Folder")
+        btn_open_folder.clicked.connect(self.open_viz_folder)
+        
+        btn_refresh = QPushButton("Refresh Pose List")
+        btn_refresh.clicked.connect(self.refresh_pose_list)
+        
+        btn_clear_log = QPushButton("Clear Log")
+        btn_clear_log.setMaximumWidth(100)
+        btn_clear_log.clicked.connect(self.log_area.clear)
+        
+        action_layout.addWidget(btn_open_folder)
+        action_layout.addWidget(btn_refresh)
+        action_layout.addStretch()
+        action_layout.addWidget(btn_clear_log)
+        main_layout.addLayout(action_layout)
+        
+        self.setLayout(main_layout)
+
+    def browse_data_root(self):
+        """Open file browser to select data root directory"""
+        folder = QFileDialog.getExistingDirectory(self, "Select Data Root Directory")
+        if folder:
+            self.data_root_input.setText(folder)
+            self.refresh_pose_list()
+
+    def browse_calib_file(self):
+        """Open file browser to select calibration file"""
+        file_path, _ = QFileDialog.getOpenFileName(
+            self, "Select Calibration File", "", "YAML Files (*.yaml *.yml);;All Files (*)"
+        )
+        if file_path:
+            self.calib_input.setText(file_path)
+
+    def refresh_pose_list(self):
+        """Refresh the list of available poses"""
+        data_root = self.data_root_input.text()
+        
+        if not os.path.exists(data_root):
+            self.log_area.append(f"⚠️  Data root not found: {data_root}")
+            return
+        
+        # Find all pose directories
+        pose_dirs = sorted(glob.glob(os.path.join(data_root, "pose_*")))
+        
+        self.combo_pose.blockSignals(True)
+        self.combo_pose.clear()
+        
+        for pose_dir in pose_dirs:
+            pose_name = os.path.basename(pose_dir)
+            self.combo_pose.addItem(pose_name)
+        
+        self.combo_pose.blockSignals(False)
+        
+        if pose_dirs:
+            self.log_area.append(f"✅ Found {len(pose_dirs)} poses")
+            self.combo_pose.setCurrentIndex(0)
+        else:
+            self.log_area.append(f"⚠️  No pose directories found in {data_root}")
+
+    def generate_visualization(self):
+        """Generate 3D overlay visualization using 3d_3d_overlay.py"""
+        data_root = self.data_root_input.text()
+        calib_file = self.calib_input.text()
+        
+        if not data_root or not os.path.exists(data_root):
+            QMessageBox.warning(self, "Error", f"Invalid data root: {data_root}")
+            return
+        
+        self.btn_generate.setEnabled(False)
+        self.log_area.clear()
+        self.log_area.append(f"🚀 Generating 3D overlays for: {data_root}")
+        self.log_area.append(f"Using calibration: {calib_file}")
+        self.log_area.append(f"This may take a few minutes...\n")
+        
+        self.process = QProcess()
+        self.process.readyReadStandardOutput.connect(self.handle_stdout)
+        self.process.readyReadStandardError.connect(self.handle_stderr)
+        self.process.finished.connect(self.on_visualization_finished)
+        
+        # Get 3d_3d_overlay.py path
+        script_path = os.path.abspath(os.path.join(os.path.dirname(__file__), "../../3d_3d_overlay.py"))
+        
+        if not os.path.exists(script_path):
+            self.log_area.append(f"❌ Script not found: {script_path}")
+            self.btn_generate.setEnabled(True)
+            return
+        
+        cmd = sys.executable
+        args = [script_path, "--data_root", data_root, "--calib", calib_file]
+        
+        self.process.start(cmd, args)
+
+    def on_pose_selected(self, index):
+        """Load and display the selected pose's visualization"""
+        data_root = self.data_root_input.text()
+        pose_name = self.combo_pose.currentText()
+        
+        if not pose_name:
+            return
+        
+        viz_path = os.path.join(data_root, pose_name, "3d_overlay_viz.png")
+        
+        if os.path.exists(viz_path):
+            self.display_visualization(viz_path, pose_name)
+        else:
+            self.image_label.setText(f"Visualization not found for {pose_name}\nRun 'Generate 3D Overlay Visualization' first")
+            self.stats_label.setText("No visualization loaded")
+
+    def display_visualization(self, image_path, pose_name):
+        """Display an image in the visualization area"""
+        pixmap = QPixmap(image_path)
+        
+        if pixmap.isNull():
+            self.image_label.setText(f"Failed to load image: {image_path}")
+            return
+        
+        # Scale to fit in view while maintaining aspect ratio
+        scaled_pixmap = pixmap.scaledToWidth(1400, Qt.SmoothTransformation)
+        self.image_label.setPixmap(scaled_pixmap)
+        
+        # Update statistics
+        self.stats_label.setText(
+            f"Pose: {pose_name}\n"
+            f"Image: {image_path}\n"
+            f"Size: {pixmap.width()}x{pixmap.height()}px\n"
+            f"\nVisualization shows:\n"
+            f"🟢 Green Points: LiDAR board points (projected to camera frame)\n"
+            f"🔴 Red Box: Camera/depth board points (ground truth)\n"
+            f"🟡 Green Box: LiDAR board bounding box\n"
+            f"📏 Error: Centroid offset in pixels | IoU: Intersection over Union of bounding boxes"
+        )
+
+    def handle_stdout(self):
+        """Handle stdout from visualization process"""
+        data = self.process.readAllStandardOutput()
+        text = data.data().decode()
+        self.log_area.append(text)
+
+    def handle_stderr(self):
+        """Handle stderr from visualization process"""
+        data = self.process.readAllStandardError()
+        text = data.data().decode()
+        self.log_area.append(f"<span style='color:red'>{text}</span>")
+
+    def on_visualization_finished(self):
+        """Handle visualization generation completion"""
+        exit_code = self.process.exitCode()
+        
+        if exit_code == 0:
+            self.log_area.append(f"\n✅ 3D overlays generated successfully!")
+            self.refresh_pose_list()
+        else:
+            self.log_area.append(f"\n❌ Visualization failed with exit code {exit_code}")
+        
+        self.btn_generate.setEnabled(True)
+
+    def open_viz_folder(self):
+        """Open visualization folder in file explorer"""
+        data_root = self.data_root_input.text()
+        
+        if not os.path.exists(data_root):
+            QMessageBox.warning(self, "Not Found", f"Data root not found:\n{data_root}")
+            return
+        
+        # Open folder based on OS
+        if sys.platform == "win32":
+            os.startfile(data_root)
+        elif sys.platform == "darwin":  # macOS
+            os.system(f"open '{data_root}'")
+        else:  # Linux
+            os.system(f"xdg-open '{data_root}'")
+

gui/windows/main_window.py

@@ -0,0 +1,56 @@
+from PyQt5.QtWidgets import QMainWindow, QStackedWidget, QLabel, QWidget, QVBoxLayout, QPushButton, QHBoxLayout
+from PyQt5.QtCore import Qt
+from .main_window_ui import setup_styles
+
+# Import our new widgets
+try:
+    from ..widgets.home_widget import HomeWidget
+    from ..widgets.single_lidar_widget import SingleLidarWidget
+    from ..widgets.three_d_calib_widget import ThreeDThreeDWidget
+    from ..widgets.two_d_calib_widget import TwoDThreeDWidget
+except ImportError:
+    from gui.widgets.home_widget import HomeWidget
+    from gui.widgets.single_lidar_widget import SingleLidarWidget
+    from gui.widgets.three_d_calib_widget import ThreeDThreeDWidget
+    from gui.widgets.two_d_calib_widget import TwoDThreeDWidget
+
+class MainWindow(QMainWindow):
+    def __init__(self):
+        super().__init__()
+        self.setWindowTitle("VIRYA Calibration Suite")
+        self.resize(1200, 800)
+        
+        setup_styles(self)
+
+        self.stack = QStackedWidget()
+        self.setCentralWidget(self.stack)
+
+        self.init_ui()
+
+    def init_ui(self):
+        # 0: Home
+        self.home_widget = HomeWidget()
+        self.home_widget.navigate.connect(self.handle_navigation)
+        self.stack.addWidget(self.home_widget)
+
+        # 1: Single LiDAR
+        self.single_lidar_widget = SingleLidarWidget()
+        self.single_lidar_widget.go_home.connect(self.go_home)
+        self.stack.addWidget(self.single_lidar_widget)
+
+        # 2: 3D-3D
+        self.three_d_widget = ThreeDThreeDWidget()
+        self.three_d_widget.go_home.connect(self.go_home)
+        self.stack.addWidget(self.three_d_widget)
+
+        # 3: 2D-3D
+        self.two_d_widget = TwoDThreeDWidget()
+        self.two_d_widget.go_home.connect(self.go_home)
+        self.stack.addWidget(self.two_d_widget)
+
+    def handle_navigation(self, index):
+        # index matches the stack index we assume (1, 2, 3)
+        self.stack.setCurrentIndex(index)
+
+    def go_home(self):
+        self.stack.setCurrentIndex(0)