calibrate-suite 0.1.0__py3-none-any.whl

utils/cli_fleet_server.py

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+#!/usr/bin/env python3
+"""
+Entry point for calibrate-suite fleet server (REST API).
+
+Usage: fleet-server [--host HOST] [--port PORT] [--debug]
+"""
+
+import sys
+import argparse
+
+
+def main():
+    """Launch the fleet server REST API."""
+    parser = argparse.ArgumentParser(
+        prog="fleet-server",
+        description="Calibrate-Suite Fleet Server: REST API for calibration management",
+    )
+    parser.add_argument(
+        "--host",
+        default="127.0.0.1",
+        help="Server host address (default: 127.0.0.1)",
+    )
+    parser.add_argument(
+        "--port",
+        type=int,
+        default=5000,
+        help="Server port (default: 5000)",
+    )
+    parser.add_argument(
+        "--debug",
+        action="store_true",
+        help="Enable debug mode",
+    )
+    parser.add_argument(
+        "--version",
+        action="version",
+        version="fleet-server (calibrate-suite 0.1.0)",
+    )
+
+    args = parser.parse_args()
+
+    # Import here to avoid Flask dependencies when not needed
+    try:
+        from fleet_server.app import app
+
+        print(f"Starting Fleet Server on {args.host}:{args.port}")
+        print(f"Dashboard: http://{args.host}:{args.port}")
+        print(f"API Docs: http://{args.host}:{args.port}/api/docs")
+        print("Press Ctrl+C to stop server\n")
+
+        app.run(host=args.host, port=args.port, debug=args.debug)
+
+    except ImportError as e:
+        print(
+            f"Error: Fleet server dependencies not installed. Please install with:\n"
+            f"  pip install calibrate-suite\n"
+            f"If Flask is missing, try:\n"
+            f"  pip install flask requests"
+        )
+        sys.exit(1)
+
+
+if __name__ == "__main__":
+    main()

utils/data_extractor_common.py

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+"""Shared data extractor utilities"""
+
+import sys
+import struct
+import numpy as np
+import open3d as o3d
+
+def flush_print(msg):
+    """Print with immediate stdout flush."""
+    print(msg)
+    sys.stdout.flush()
+
+
+def save_pc2_to_pcd(msg, filename):
+    """
+    Convert ROS PointCloud2 message to PCD file.
+    """
+    try:
+        field_names = [f.name for f in msg.fields]
+        offsets = {f.name: f.offset for f in msg.fields}
+        
+        if 'x' not in offsets:
+            flush_print("[WARN] PointCloud has no X field.")
+            return
+        
+        n_points = msg.width * msg.height
+        if n_points == 0:
+            flush_print(f"[WARN] Empty point cloud (0 points) in {filename}")
+            pc = o3d.geometry.PointCloud()
+            o3d.io.write_point_cloud(filename, pc)
+            return
+        
+        step = msg.point_step
+        data = msg.data
+        
+        # Extract XYZ points
+        off_x = offsets.get('x', 0)
+        off_y = offsets.get('y', 4)
+        off_z = offsets.get('z', 8)
+        
+        pts = np.zeros((n_points, 3), dtype=np.float32)
+        
+        for i in range(n_points):
+            base = i * step
+            try:
+                pts[i, 0] = struct.unpack_from('f', data, base + off_x)[0]
+                pts[i, 1] = struct.unpack_from('f', data, base + off_y)[0]
+                pts[i, 2] = struct.unpack_from('f', data, base + off_z)[0]
+            except struct.error as e:
+                pts[i] = [0, 0, 0]
+        
+        # Filter out NaN and Inf points
+        valid_mask = np.isfinite(pts).all(axis=1)
+        valid_pts = pts[valid_mask]
+        
+        pc = o3d.geometry.PointCloud()
+        if len(valid_pts) > 0:
+            pc.points = o3d.utility.Vector3dVector(valid_pts.astype(np.float64))
+        
+        o3d.io.write_point_cloud(filename, pc)
+        
+    except Exception as e:
+        flush_print(f"[ERR] Failed to save PCD {filename}: {e}")
+
+
+def depth_to_camera_cloud(depth: np.ndarray, K: np.ndarray):
+    """
+    Convert depth image to camera point cloud using intrinsics.
+    """
+    h, w = depth.shape
+    fx, fy = K[0, 0], K[1, 1]
+    cx, cy = K[0, 2], K[1, 2]
+    
+    u, v = np.meshgrid(np.arange(w), np.arange(h))
+    z = depth.flatten()
+    valid = np.isfinite(z) & (z > 0)
+    
+    if not np.any(valid):
+        return o3d.geometry.PointCloud()
+    
+    x = (u.flatten()[valid] - cx) * z[valid] / fx
+    y = (v.flatten()[valid] - cy) * z[valid] / fy
+    pts = np.vstack((x, y, z[valid])).T
+    
+    pc = o3d.geometry.PointCloud()
+    pc.points = o3d.utility.Vector3dVector(pts.astype(np.float64))
+    return pc

utils/gui_helpers.py

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+"""Shared GUI helper utilities."""
+
+from PyQt5.QtWidgets import QWidget, QVBoxLayout, QPushButton
+
+
+def wrap_with_back(widget, go_home_signal):
+    """
+    Wrap a widget with a Back button at the bottom.
+    """
+    wrapper = QWidget()
+    layout = QVBoxLayout()
+    layout.setContentsMargins(0, 0, 0, 0)
+    layout.addWidget(widget)
+    
+    btn_back = QPushButton("Back")
+    btn_back.clicked.connect(go_home_signal.emit)
+    # Match style
+    btn_back.setStyleSheet("""
+        QPushButton { background-color: #2E8B57; border-radius: 8px; padding: 5px; color: white; }
+        QPushButton:hover { background-color: #689F38; }
+    """)
+    
+    layout.addWidget(btn_back)
+    wrapper.setLayout(layout)
+    return wrapper