calibrate-suite 0.1.0__py3-none-any.whl

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Files changed (47) hide show
  1. calibrate_suite-0.1.0.dist-info/METADATA +761 -0
  2. calibrate_suite-0.1.0.dist-info/RECORD +47 -0
  3. calibrate_suite-0.1.0.dist-info/WHEEL +5 -0
  4. calibrate_suite-0.1.0.dist-info/entry_points.txt +3 -0
  5. calibrate_suite-0.1.0.dist-info/licenses/LICENSE +201 -0
  6. calibrate_suite-0.1.0.dist-info/top_level.txt +4 -0
  7. fleet_server/__init__.py +32 -0
  8. fleet_server/app.py +377 -0
  9. fleet_server/config.py +91 -0
  10. fleet_server/templates/error.html +57 -0
  11. fleet_server/templates/index.html +137 -0
  12. fleet_server/templates/viewer.html +490 -0
  13. fleet_server/utils.py +178 -0
  14. gui/__init__.py +2 -0
  15. gui/assets/2d-or-3d-fleet-upload.png +0 -0
  16. gui/assets/2d_3d_overlay_output.jpg +0 -0
  17. gui/assets/3d-or-2d-overlay_page.png +0 -0
  18. gui/assets/3d-or-2d-record-page.png +0 -0
  19. gui/assets/3d_3d_overlay_output.png +0 -0
  20. gui/assets/3d_or_2d_calibrate-page.png +0 -0
  21. gui/assets/GUI_homepage.png +0 -0
  22. gui/assets/hardware_setup.jpeg +0 -0
  23. gui/assets/single_lidar_calibrate_page.png +0 -0
  24. gui/assets/single_lidar_output.png +0 -0
  25. gui/assets/single_lidar_record_page.png +0 -0
  26. gui/assets/virya.jpg +0 -0
  27. gui/main.py +23 -0
  28. gui/widgets/calibrator_widget.py +977 -0
  29. gui/widgets/extractor_widget.py +561 -0
  30. gui/widgets/home_widget.py +117 -0
  31. gui/widgets/recorder_widget.py +127 -0
  32. gui/widgets/single_lidar_widget.py +673 -0
  33. gui/widgets/three_d_calib_widget.py +87 -0
  34. gui/widgets/two_d_calib_widget.py +86 -0
  35. gui/widgets/uploader_widget.py +151 -0
  36. gui/widgets/validator_widget.py +614 -0
  37. gui/windows/main_window.py +56 -0
  38. gui/windows/main_window_ui.py +65 -0
  39. rviz_configs/2D-3D.rviz +183 -0
  40. rviz_configs/3D-3D.rviz +184 -0
  41. rviz_configs/default_calib.rviz +167 -0
  42. utils/__init__.py +13 -0
  43. utils/calibration_common.py +23 -0
  44. utils/cli_calibrate.py +53 -0
  45. utils/cli_fleet_server.py +64 -0
  46. utils/data_extractor_common.py +87 -0
  47. utils/gui_helpers.py +25 -0
gui/windows/main_window_ui.py ADDED
@@ -0,0 +1,65 @@
1
+ def setup_styles(app):
2
+ """Apply global stylesheets to the application/window."""
3
+ style = """
4
+ QMainWindow {
5
+ background-color: #2b2b2b;
6
+ }
7
+ QWidget {
8
+ color: #e0e0e0;
9
+ font-family: "Ubuntu", "Liberation Sans", "DejaVu Sans", sans-serif;
10
+ font-size: 14px;
11
+ }
12
+ QTabWidget::pane {
13
+ border: 1px solid #444;
14
+ background: #333;
15
+ }
16
+ QTabBar::tab {
17
+ background: #2b2b2b;
18
+ color: #aaa;
19
+ padding: 10px 20px;
20
+ border: 1px solid #444;
21
+ border-bottom: none;
22
+ border-top-left-radius: 4px;
23
+ border-top-right-radius: 4px;
24
+ }
25
+ QTabBar::tab:selected {
26
+ background: #444;
27
+ color: white;
28
+ font-weight: bold;
29
+ }
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+ QPushButton {
31
+ background-color: #3CB371;
32
+ border: 1px solid #666;
33
+ color: white;
34
+ padding: 8px 16px;
35
+ border-radius: 4px;
36
+ }
37
+ QPushButton:hover {
38
+ background-color: #666;
39
+ }
40
+ QLineEdit {
41
+ background-color: #444;
42
+ border: 1px solid #555;
43
+ color: white;
44
+ padding: 6px;
45
+ border-radius: 3px;
46
+ }
47
+ QGroupBox {
48
+ border: 1px solid #555;
49
+ border-radius: 5px;
50
+ margin-top: 10px;
51
+ font-weight: bold;
52
+ }
53
+ QGroupBox::title {
54
+ subcontrol-origin: margin;
55
+ subcontrol-position: top left;
56
+ padding: 0 5px;
57
+ }
58
+ QTextEdit {
59
+ background-color: #1e1e1e;
60
+ color: #00ff00;
61
+ font-family: "Ubuntu Mono", "Liberation Mono", "DejaVu Sans Mono", monospace;
62
+ border: 1px solid #444;
63
+ }
64
+ """
65
+ app.setStyleSheet(style)
rviz_configs/2D-3D.rviz ADDED
@@ -0,0 +1,183 @@
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+ Panels:
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+ - Class: rviz_common/Displays
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+ Help Height: 228
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+ Name: Displays
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+ Property Tree Widget:
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+ Expanded:
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+ - /Global Options1
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+ - /Status1
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+ Splitter Ratio: 0.5
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+ Tree Height: 205
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+ - Class: rviz_common/Selection
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+ Name: Selection
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+ - Class: rviz_common/Tool Properties
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+ Expanded:
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+ - /2D Goal Pose1
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+ - /Publish Point1
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+ Name: Tool Properties
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+ Splitter Ratio: 0.5886790156364441
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+ - Class: rviz_common/Views
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+ Expanded:
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+ - /Current View1
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+ Name: Views
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+ Splitter Ratio: 0.5
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+ - Class: rviz_common/Time
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+ Experimental: false
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+ Name: Time
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+ SyncMode: 0
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+ SyncSource: PointCloud2
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+ Visualization Manager:
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+ Class: ""
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+ Displays:
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+ - Alpha: 0.5
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+ Cell Size: 1
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+ Class: rviz_default_plugins/Grid
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+ Color: 160; 160; 164
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+ Enabled: true
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+ Line Style:
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+ Line Width: 0.029999999329447746
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+ Value: Lines
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+ Name: Grid
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+ Normal Cell Count: 0
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+ Offset:
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+ X: 0
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+ Y: 0
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+ Z: 0
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+ Plane: XY
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+ Plane Cell Count: 10
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+ Reference Frame: <Fixed Frame>
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+ Value: true
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+ - Alpha: 1
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+ Autocompute Intensity Bounds: true
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+ Autocompute Value Bounds:
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+ Max Value: 10
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+ Min Value: -10
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+ Value: true
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+ Axis: Z
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+ Channel Name: intensity
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+ Class: rviz_default_plugins/PointCloud2
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+ Color: 255; 255; 255
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+ Color Transformer: Intensity
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+ Decay Time: 0
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+ Enabled: true
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+ Invert Rainbow: false
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+ Max Color: 255; 255; 255
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+ Max Intensity: 180
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+ Min Color: 0; 0; 0
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+ Min Intensity: 0
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+ Name: PointCloud2
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+ Position Transformer: XYZ
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+ Selectable: true
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+ Size (Pixels): 3
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+ Size (m): 0.009999999776482582
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+ Style: Flat Squares
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+ Topic:
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+ Depth: 5
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+ Durability Policy: Volatile
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+ Filter size: 10
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+ History Policy: Keep Last
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+ Reliability Policy: Reliable
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+ Value: /velodyne_points
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+ Use Fixed Frame: true
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+ Use rainbow: true
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+ Value: true
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+ - Class: rviz_default_plugins/Image
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+ Enabled: true
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+ Max Value: 1
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+ Median window: 5
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+ Min Value: 0
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+ Name: Image
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+ Normalize Range: true
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+ Topic:
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+ Depth: 5
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+ Durability Policy: Volatile
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+ History Policy: Keep Last
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+ Reliability Policy: Reliable
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+ Value: /camera/camera/color/image_raw
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+ Value: true
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+ Enabled: true
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+ Global Options:
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+ Background Color: 48; 48; 48
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+ Fixed Frame: velodyne
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+ Frame Rate: 30
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+ Name: root
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+ Tools:
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+ - Class: rviz_default_plugins/Interact
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+ Hide Inactive Objects: true
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+ - Class: rviz_default_plugins/MoveCamera
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+ - Class: rviz_default_plugins/Select
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+ - Class: rviz_default_plugins/FocusCamera
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+ - Class: rviz_default_plugins/Measure
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+ Line color: 128; 128; 0
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+ - Class: rviz_default_plugins/SetInitialPose
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+ Covariance x: 0.25
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+ Covariance y: 0.25
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+ Covariance yaw: 0.06853891909122467
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+ Topic:
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+ Depth: 5
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+ Durability Policy: Volatile
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+ History Policy: Keep Last
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+ Reliability Policy: Reliable
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+ Value: /initialpose
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+ - Class: rviz_default_plugins/SetGoal
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+ Topic:
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+ Depth: 5
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+ Durability Policy: Volatile
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+ History Policy: Keep Last
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+ Reliability Policy: Reliable
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+ Value: /goal_pose
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+ - Class: rviz_default_plugins/PublishPoint
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+ Single click: true
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+ Topic:
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+ Depth: 5
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+ Durability Policy: Volatile
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+ History Policy: Keep Last
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+ Reliability Policy: Reliable
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+ Value: /clicked_point
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+ Transformation:
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+ Current:
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+ Class: rviz_default_plugins/TF
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+ Value: true
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+ Views:
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+ Current:
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+ Class: rviz_default_plugins/Orbit
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+ Distance: 10
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+ Enable Stereo Rendering:
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+ Stereo Eye Separation: 0.05999999865889549
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+ Stereo Focal Distance: 1
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+ Swap Stereo Eyes: false
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+ Value: false
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+ Focal Point:
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+ X: 0
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+ Y: 0
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+ Z: 0
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+ Focal Shape Fixed Size: true
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+ Focal Shape Size: 0.05000000074505806
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+ Invert Z Axis: false
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+ Name: Current View
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+ Near Clip Distance: 0.009999999776482582
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+ Pitch: 0.32039836049079895
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+ Target Frame: <Fixed Frame>
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+ Value: Orbit (rviz)
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+ Yaw: 0.665398120880127
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+ Saved: ~
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+ Window Geometry:
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+ Displays:
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+ collapsed: false
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+ Height: 846
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+ Hide Left Dock: false
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+ Hide Right Dock: false
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+ Image:
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+ collapsed: false
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+ QMainWindow State: 000000ff00000000fd000000040000000000000156000002b0fc020000000afb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000001ee000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00430061006d0065007200610000000231000000bc0000000000000000fb0000000a0049006d0061006700650100000231000000bc0000002800ffffff000000010000010f000002b0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000002b0000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b0000002fb00fffffffb0000000800540069006d006501000000000000045000000000000000000000023f000002b000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
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+ Selection:
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+ collapsed: false
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+ Time:
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+ collapsed: false
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+ Tool Properties:
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+ collapsed: false
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+ Views:
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+ collapsed: false
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+ Width: 1200
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+ X: 1047
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+ Y: 111
rviz_configs/3D-3D.rviz ADDED
@@ -0,0 +1,184 @@
1
+ Panels:
2
+ - Class: rviz_common/Displays
3
+ Help Height: 78
4
+ Name: Displays
5
+ Property Tree Widget:
6
+ Expanded:
7
+ - /Global Options1
8
+ - /Status1
9
+ - /Image1
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+ Splitter Ratio: 0.5
11
+ Tree Height: 92
12
+ - Class: rviz_common/Selection
13
+ Name: Selection
14
+ - Class: rviz_common/Tool Properties
15
+ Expanded:
16
+ - /2D Goal Pose1
17
+ - /Publish Point1
18
+ Name: Tool Properties
19
+ Splitter Ratio: 0.5886790156364441
20
+ - Class: rviz_common/Views
21
+ Expanded:
22
+ - /Current View1
23
+ Name: Views
24
+ Splitter Ratio: 0.5
25
+ - Class: rviz_common/Time
26
+ Experimental: false
27
+ Name: Time
28
+ SyncMode: 0
29
+ SyncSource: PointCloud2
30
+ Visualization Manager:
31
+ Class: ""
32
+ Displays:
33
+ - Alpha: 0.5
34
+ Cell Size: 1
35
+ Class: rviz_default_plugins/Grid
36
+ Color: 160; 160; 164
37
+ Enabled: true
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+ Line Style:
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+ Line Width: 0.029999999329447746
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+ Value: Lines
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+ Name: Grid
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+ Normal Cell Count: 0
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+ Offset:
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+ X: 0
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+ Y: 0
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+ Z: 0
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+ Plane: XY
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+ Plane Cell Count: 10
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+ Reference Frame: <Fixed Frame>
50
+ Value: true
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+ - Alpha: 1
52
+ Autocompute Intensity Bounds: true
53
+ Autocompute Value Bounds:
54
+ Max Value: 10
55
+ Min Value: -10
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+ Value: true
57
+ Axis: Z
58
+ Channel Name: intensity
59
+ Class: rviz_default_plugins/PointCloud2
60
+ Color: 255; 255; 255
61
+ Color Transformer: Intensity
62
+ Decay Time: 0
63
+ Enabled: true
64
+ Invert Rainbow: false
65
+ Max Color: 255; 255; 255
66
+ Max Intensity: 217
67
+ Min Color: 0; 0; 0
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+ Min Intensity: 0
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+ Name: PointCloud2
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+ Position Transformer: XYZ
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+ Selectable: true
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+ Size (Pixels): 3
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+ Size (m): 0.009999999776482582
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+ Style: Flat Squares
75
+ Topic:
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+ Depth: 5
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+ Durability Policy: Volatile
78
+ Filter size: 10
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+ History Policy: Keep Last
80
+ Reliability Policy: Reliable
81
+ Value: /velodyne_points
82
+ Use Fixed Frame: true
83
+ Use rainbow: true
84
+ Value: true
85
+ - Class: rviz_default_plugins/Image
86
+ Enabled: true
87
+ Max Value: 1
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+ Median window: 5
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+ Min Value: 0
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+ Name: Image
91
+ Normalize Range: true
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+ Topic:
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+ Depth: 5
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+ Durability Policy: Volatile
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+ History Policy: Keep Last
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+ Reliability Policy: Reliable
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+ Value: /zed/zed_node/left/image_rect_color
98
+ Value: true
99
+ Enabled: true
100
+ Global Options:
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+ Background Color: 48; 48; 48
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+ Fixed Frame: velodyne
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+ Frame Rate: 30
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+ Name: root
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+ Tools:
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+ - Class: rviz_default_plugins/Interact
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+ Hide Inactive Objects: true
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+ - Class: rviz_default_plugins/MoveCamera
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+ - Class: rviz_default_plugins/Select
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+ - Class: rviz_default_plugins/FocusCamera
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+ - Class: rviz_default_plugins/Measure
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+ Line color: 128; 128; 0
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+ - Class: rviz_default_plugins/SetInitialPose
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+ Covariance x: 0.25
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+ Covariance y: 0.25
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+ Covariance yaw: 0.06853891909122467
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+ Topic:
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+ Depth: 5
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+ Durability Policy: Volatile
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+ History Policy: Keep Last
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+ Reliability Policy: Reliable
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+ Value: /initialpose
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+ - Class: rviz_default_plugins/SetGoal
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+ Topic:
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+ Depth: 5
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+ Durability Policy: Volatile
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+ History Policy: Keep Last
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+ Reliability Policy: Reliable
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+ Value: /goal_pose
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+ - Class: rviz_default_plugins/PublishPoint
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+ Single click: true
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+ Topic:
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+ Depth: 5
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+ Durability Policy: Volatile
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+ History Policy: Keep Last
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+ Reliability Policy: Reliable
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+ Value: /clicked_point
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+ Transformation:
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+ Current:
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+ Class: rviz_default_plugins/TF
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+ Value: true
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+ Views:
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+ Current:
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+ Class: rviz_default_plugins/Orbit
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+ Distance: 10
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+ Enable Stereo Rendering:
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+ Stereo Eye Separation: 0.05999999865889549
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+ Stereo Focal Distance: 1
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+ Swap Stereo Eyes: false
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+ Value: false
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+ Focal Point:
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+ X: 0
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+ Y: 0
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+ Z: 0
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+ Focal Shape Fixed Size: true
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+ Focal Shape Size: 0.05000000074505806
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+ Invert Z Axis: false
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+ Name: Current View
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+ Near Clip Distance: 0.009999999776482582
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+ Pitch: 0.32039836049079895
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+ Target Frame: <Fixed Frame>
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+ Value: Orbit (rviz)
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+ Yaw: 0.665398120880127
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+ Saved: ~
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+ Window Geometry:
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+ Displays:
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+ collapsed: false
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+ Height: 846
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+ Hide Left Dock: false
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+ Hide Right Dock: false
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+ Image:
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+ Selection:
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+ Time:
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+ collapsed: false
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+ Views:
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+ collapsed: false
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+ Width: 1200
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+ X: 720
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+ Y: 79
rviz_configs/default_calib.rviz ADDED
@@ -0,0 +1,167 @@
1
+ Panels:
2
+ - Class: rviz_common/Displays
3
+ Help Height: 78
4
+ Name: Displays
5
+ Property Tree Widget:
6
+ Expanded:
7
+ - /Global Options1
8
+ - /Status1
9
+ Splitter Ratio: 0.5
10
+ Tree Height: 549
11
+ - Class: rviz_common/Selection
12
+ Name: Selection
13
+ - Class: rviz_common/Tool Properties
14
+ Expanded:
15
+ - /2D Goal Pose1
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+ - /Publish Point1
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+ Name: Tool Properties
18
+ Splitter Ratio: 0.5886790156364441
19
+ - Class: rviz_common/Views
20
+ Expanded:
21
+ - /Current View1
22
+ Name: Views
23
+ Splitter Ratio: 0.5
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+ - Class: rviz_common/Time
25
+ Experimental: false
26
+ Name: Time
27
+ SyncMode: 0
28
+ SyncSource: PointCloud2
29
+ Visualization Manager:
30
+ Class: ""
31
+ Displays:
32
+ - Alpha: 0.5
33
+ Cell Size: 1
34
+ Class: rviz_default_plugins/Grid
35
+ Color: 160; 160; 164
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+ Enabled: true
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+ Line Style:
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+ Line Width: 0.029999999329447746
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+ Value: Lines
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+ Name: Grid
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+ Normal Cell Count: 0
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+ Offset:
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+ X: 0
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+ Plane: XY
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+ Plane Cell Count: 10
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+ Reference Frame: <Fixed Frame>
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+ Value: true
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+ - Alpha: 1
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+ Autocompute Intensity Bounds: true
52
+ Autocompute Value Bounds:
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+ Max Value: 10
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+ Min Value: -10
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+ Value: true
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+ Axis: Z
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+ Channel Name: intensity
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+ Class: rviz_default_plugins/PointCloud2
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+ Color: 255; 255; 255
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+ Color Transformer: Intensity
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+ Decay Time: 0
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+ Enabled: true
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+ Invert Rainbow: false
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+ Max Color: 255; 255; 255
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+ Max Intensity: 196
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+ Min Color: 0; 0; 0
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+ Min Intensity: 0
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+ Name: PointCloud2
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+ Position Transformer: XYZ
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+ Selectable: true
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+ Size (Pixels): 3
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+ Size (m): 0.009999999776482582
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+ Style: Flat Squares
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+ Topic:
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+ Depth: 5
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+ Durability Policy: Volatile
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+ Filter size: 10
78
+ History Policy: Keep Last
79
+ Reliability Policy: Reliable
80
+ Value: /velodyne_points
81
+ Use Fixed Frame: true
82
+ Use rainbow: true
83
+ Value: true
84
+ Enabled: true
85
+ Global Options:
86
+ Background Color: 48; 48; 48
87
+ Fixed Frame: velodyne
88
+ Frame Rate: 30
89
+ Name: root
90
+ Tools:
91
+ - Class: rviz_default_plugins/Interact
92
+ Hide Inactive Objects: true
93
+ - Class: rviz_default_plugins/MoveCamera
94
+ - Class: rviz_default_plugins/Select
95
+ - Class: rviz_default_plugins/FocusCamera
96
+ - Class: rviz_default_plugins/Measure
97
+ Line color: 128; 128; 0
98
+ - Class: rviz_default_plugins/SetInitialPose
99
+ Covariance x: 0.25
100
+ Covariance y: 0.25
101
+ Covariance yaw: 0.06853891909122467
102
+ Topic:
103
+ Depth: 5
104
+ Durability Policy: Volatile
105
+ History Policy: Keep Last
106
+ Reliability Policy: Reliable
107
+ Value: /initialpose
108
+ - Class: rviz_default_plugins/SetGoal
109
+ Topic:
110
+ Depth: 5
111
+ Durability Policy: Volatile
112
+ History Policy: Keep Last
113
+ Reliability Policy: Reliable
114
+ Value: /goal_pose
115
+ - Class: rviz_default_plugins/PublishPoint
116
+ Single click: true
117
+ Topic:
118
+ Depth: 5
119
+ Durability Policy: Volatile
120
+ History Policy: Keep Last
121
+ Reliability Policy: Reliable
122
+ Value: /clicked_point
123
+ Transformation:
124
+ Current:
125
+ Class: rviz_default_plugins/TF
126
+ Value: true
127
+ Views:
128
+ Current:
129
+ Class: rviz_default_plugins/Orbit
130
+ Distance: 10
131
+ Enable Stereo Rendering:
132
+ Stereo Eye Separation: 0.05999999865889549
133
+ Stereo Focal Distance: 1
134
+ Swap Stereo Eyes: false
135
+ Value: false
136
+ Focal Point:
137
+ X: 0
138
+ Y: 0
139
+ Z: 0
140
+ Focal Shape Fixed Size: true
141
+ Focal Shape Size: 0.05000000074505806
142
+ Invert Z Axis: false
143
+ Name: Current View
144
+ Near Clip Distance: 0.009999999776482582
145
+ Pitch: 0.32039836049079895
146
+ Target Frame: <Fixed Frame>
147
+ Value: Orbit (rviz)
148
+ Yaw: 0.665398120880127
149
+ Saved: ~
150
+ Window Geometry:
151
+ Displays:
152
+ collapsed: false
153
+ Height: 846
154
+ Hide Left Dock: false
155
+ Hide Right Dock: false
156
+ QMainWindow State: 000000ff00000000fd000000040000000000000156000002b0fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002b0000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002b0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000002b0000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b0000002fb00fffffffb0000000800540069006d006501000000000000045000000000000000000000023f000002b000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
157
+ Selection:
158
+ collapsed: false
159
+ Time:
160
+ collapsed: false
161
+ Tool Properties:
162
+ collapsed: false
163
+ Views:
164
+ collapsed: false
165
+ Width: 1200
166
+ X: 720
167
+ Y: 97
utils/__init__.py ADDED
@@ -0,0 +1,13 @@
1
+ """Shared utility modules for calibration pipeline."""
2
+
3
+ from .calibration_common import load_camera_intrinsics
4
+ from .gui_helpers import wrap_with_back
5
+ from .data_extractor_common import flush_print, save_pc2_to_pcd, depth_to_camera_cloud
6
+
7
+ __all__ = [
8
+ 'load_camera_intrinsics',
9
+ 'wrap_with_back',
10
+ 'flush_print',
11
+ 'save_pc2_to_pcd',
12
+ 'depth_to_camera_cloud',
13
+ ]
utils/calibration_common.py ADDED
@@ -0,0 +1,23 @@
1
+ """Shared calibration utilities."""
2
+
3
+ import os
4
+ import yaml
5
+ import numpy as np
6
+
7
+
8
+ def load_camera_intrinsics(data_root, intrinsics_file=None):
9
+ """
10
+ Load camera intrinsics from camera_intrinsics.yaml.
11
+ """
12
+ if intrinsics_file:
13
+ intrinsics_path = intrinsics_file
14
+ else:
15
+ intrinsics_path = os.path.join(data_root, "camera_intrinsics.yaml")
16
+
17
+ with open(intrinsics_path) as f:
18
+ calib_data = yaml.safe_load(f)
19
+
20
+ K = np.array(calib_data['camera_matrix'], dtype=np.float64)
21
+ D = np.array(calib_data['dist_coeffs'], dtype=np.float64).ravel()
22
+
23
+ return K, D
utils/cli_calibrate.py ADDED
@@ -0,0 +1,53 @@
1
+ #!/usr/bin/env python3
2
+ """
3
+ Entry point for calibrate-suite GUI application.
4
+
5
+ Usage: calibrate-suite [options]
6
+ """
7
+
8
+ import sys
9
+ import argparse
10
+
11
+
12
+ def main():
13
+ """Launch the calibrate-suite GUI application."""
14
+ parser = argparse.ArgumentParser(
15
+ prog="calibrate-suite",
16
+ description="Calibrate-Suite: Multi-Modal Sensor Calibration GUI",
17
+ )
18
+ parser.add_argument(
19
+ "--version",
20
+ action="version",
21
+ version="calibrate-suite 0.1.0",
22
+ )
23
+ parser.add_argument(
24
+ "--headless",
25
+ action="store_true",
26
+ help="Run in headless mode (no GUI)",
27
+ )
28
+
29
+ args = parser.parse_args()
30
+
31
+ if args.headless:
32
+ print(
33
+ "Headless mode not yet supported. Please use GUI or REST API (fleet-server)."
34
+ )
35
+ sys.exit(1)
36
+
37
+ # Import here to avoid GUI dependencies when not needed
38
+ try:
39
+ from gui.main import main as gui_main
40
+
41
+ gui_main()
42
+ except ImportError as e:
43
+ print(
44
+ f"Error: GUI dependencies not installed. Please install with:\n"
45
+ f" pip install calibrate-suite[gui]\n"
46
+ f"Or for full features:\n"
47
+ f" pip install calibrate-suite[full]"
48
+ )
49
+ sys.exit(1)
50
+
51
+
52
+ if __name__ == "__main__":
53
+ main()