calibrate-suite 0.1.0__py3-none-any.whl

gui/widgets/extractor_widget.py

@@ -0,0 +1,561 @@
+from PyQt5.QtWidgets import (QWidget, QVBoxLayout, QHBoxLayout, QLabel, 
+                             QPushButton, QGroupBox, QLineEdit, QComboBox, QTextEdit, 
+                             QRadioButton, QCheckBox, QFileDialog, QMessageBox)
+from PyQt5.QtCore import pyqtSignal, Qt, QProcess
+import os
+import glob
+import json
+import subprocess
+
+class ExtractorWidget(QWidget):
+    """
+    Recorder Widget adapted for 3D-3D (LiDAR-Camera) Calibration.
+    (Formerly MultimodalRecorderWidget)
+    """
+    back_clicked = pyqtSignal()
+
+    def __init__(self, enable_depth=True, script_name="3d_3d_data_extractor.py"):
+        super().__init__()
+        self.enable_depth = enable_depth
+        self.script_name = script_name
+        self.record_process = None
+        self.diag_process = None
+        self.initUI()
+        
+    def initUI(self):
+        # Dark Theme Stylesheet
+        self.setStyleSheet("""
+            QLineEdit, QComboBox, QListWidget {
+                background-color: #404040;
+                color: #ffffff;
+                border: 1px solid #666;
+                padding: 5px;
+            }
+            QLineEdit:disabled, QComboBox:disabled, QListWidget:disabled {
+                background-color: #2a2a2a;
+                color: #888;
+            }
+            QMessageBox {
+                background-color: #2b2b2b;
+                color: #ffffff;
+            }
+            QMessageBox QLabel {
+                color: #ffffff;
+            }
+            QGroupBox { 
+                font-weight: bold; 
+                border: 1px solid #555; 
+                border-radius: 5px;
+                margin-top: 7px; 
+                padding-top: 5px;
+            } 
+            QGroupBox::title { 
+                subcontrol-origin: margin; 
+                left: 10px; 
+                padding: 0 3px 0 3px; 
+            }
+            QComboBox QAbstractItemView {
+                background-color: #404040;
+                color: #ffffff;
+                selection-background-color: #4CAF50;
+                selection-color: white;
+            }
+            /* Removed global QPushButton style */
+        """)
+        
+        layout = QVBoxLayout()
+        layout.setSpacing(6)
+        layout.setContentsMargins(5, 5, 5, 5)
+
+        # 1. Source Type
+        type_group = QGroupBox("Input Type & Sync Mode")
+        type_layout = QHBoxLayout()
+        type_layout.setContentsMargins(5, 5, 5, 5)
+        type_layout.setSpacing(65)
+        
+        self.rb_live = QRadioButton("Live Stream (ROS2)")
+        self.rb_bag = QRadioButton("Rosbag Recording")
+        self.rb_live.setChecked(True)
+        self.rb_live.toggled.connect(self.update_ui_state)
+        
+        # Add checkbox for requiring all topics
+        self.chk_require_all = QCheckBox("Require All Topics")
+        self.chk_require_all.setToolTip("When checked, all 4 topics must be present. When unchecked, only available topics will be recorded.")
+        self.chk_require_all.setChecked(False)  # Default to flexible mode
+        
+        # Sync Mode checkbox
+        self.chk_strict_sync = QCheckBox("Timestamp Sync")
+        self.chk_strict_sync.setToolTip(
+            "✓ CHECKED: ApproximateTimeSynchronizer (real sensors)\n"
+            "✗ UNCHECKED: Latest Messages (bag replay)\n"
+            "Auto-fallback if clock skew detected!"
+        )
+        self.chk_strict_sync.setChecked(True)  # Default: WITH timestamp
+        
+        type_layout.addWidget(self.rb_live)
+        type_layout.addWidget(self.rb_bag)
+        type_layout.addSpacing(65)
+        type_layout.addWidget(self.chk_require_all)
+        type_layout.addSpacing(65)
+        type_layout.addWidget(self.chk_strict_sync)
+        type_layout.addStretch()
+        type_group.setLayout(type_layout)
+        layout.addWidget(type_group)
+
+        # 2. Configuration (Topics & Bag)
+        self.config_group = QGroupBox("Configuration")
+        conf_layout = QVBoxLayout()
+        conf_layout.setContentsMargins(5, 5, 5, 5)
+        
+        # Live Config (Multimodal Topics)
+        self.live_widget = QWidget()
+        live_l = QVBoxLayout()
+        live_l.setContentsMargins(0, 0, 0, 0)
+        
+        # Topic Rows
+        self.combo_lidar = QComboBox()
+        self.combo_cam = QComboBox()
+        self.combo_depth = QComboBox()
+        self.combo_info = QComboBox()
+        
+        btn_refresh = QPushButton("🔄 Scan") 
+        btn_refresh.setFixedWidth(80)
+        btn_refresh.clicked.connect(self.scan_topics)
+        
+        # Layout for topics
+        row_lidar = QHBoxLayout()
+        row_lidar.addWidget(QLabel("LiDAR:"))
+        row_lidar.addWidget(self.combo_lidar, 1)
+        row_lidar.addWidget(btn_refresh)
+        
+        row_cam = QHBoxLayout()
+        row_cam.addWidget(QLabel("Image:"))
+        row_cam.addWidget(self.combo_cam, 1)
+        
+        if self.enable_depth:
+            row_depth = QHBoxLayout()
+            row_depth.addWidget(QLabel("CamDepth:"))
+            row_depth.addWidget(self.combo_depth, 1)
+        
+        row_info = QHBoxLayout()
+        row_info.addWidget(QLabel("CamInfo:"))
+        row_info.addWidget(self.combo_info, 1)
+        
+        live_l.addLayout(row_lidar)
+        live_l.addLayout(row_cam)
+        if self.enable_depth:
+            live_l.addLayout(row_depth)
+        live_l.addLayout(row_info)
+        self.live_widget.setLayout(live_l)
+        conf_layout.addWidget(self.live_widget)
+        
+        # Bag Config
+        self.bag_widget = QWidget()
+        self.bag_widget.setVisible(False)
+        bag_l = QVBoxLayout()
+        bag_l.setContentsMargins(0, 0, 0, 0)
+        
+        # Rosbag file selection
+        bag_file_l = QHBoxLayout()
+        self.bag_path = QLineEdit()
+        self.bag_path.setPlaceholderText("Path to Rosbag Folder")
+        btn_browse_bag = QPushButton("Browse")
+        btn_browse_bag.clicked.connect(self.browse_bag)
+        self.cb_loop = QCheckBox("Loop")
+        self.cb_loop.setChecked(True)
+        bag_file_l.addWidget(QLabel("Folder:"))
+        bag_file_l.addWidget(self.bag_path, 1)
+        bag_file_l.addWidget(btn_browse_bag)
+        bag_file_l.addWidget(self.cb_loop)
+        bag_l.addLayout(bag_file_l)
+        
+        # Topic selection for rosbag
+        self.bag_topics_widget = QWidget()
+        bag_topics_l = QVBoxLayout()
+        bag_topics_l.setContentsMargins(0, 0, 0, 0)
+        
+        # Topic Rows for bag mode
+        self.bag_combo_lidar = QComboBox()
+        self.bag_combo_cam = QComboBox()
+        self.bag_combo_depth = QComboBox()
+        self.bag_combo_info = QComboBox()
+        
+        btn_scan_bag = QPushButton("🔄 Scan")
+        btn_scan_bag.setFixedWidth(80)
+        btn_scan_bag.clicked.connect(self.scan_bag_topics)
+        
+        # Layout for bag topics
+        bag_row_lidar = QHBoxLayout()
+        bag_row_lidar.addWidget(QLabel("LiDAR:"))
+        bag_row_lidar.addWidget(self.bag_combo_lidar, 1)
+        bag_row_lidar.addWidget(btn_scan_bag)
+        
+        bag_row_cam = QHBoxLayout()
+        bag_row_cam.addWidget(QLabel("Image:"))
+        bag_row_cam.addWidget(self.bag_combo_cam, 1)
+        
+        if self.enable_depth:
+            bag_row_depth = QHBoxLayout()
+            bag_row_depth.addWidget(QLabel("CamDepth:"))
+            bag_row_depth.addWidget(self.bag_combo_depth, 1)
+        
+        bag_row_info = QHBoxLayout()
+        bag_row_info.addWidget(QLabel("CamInfo:"))
+        bag_row_info.addWidget(self.bag_combo_info, 1)
+        
+        bag_topics_l.addLayout(bag_row_lidar)
+        bag_topics_l.addLayout(bag_row_cam)
+        if self.enable_depth:
+            bag_topics_l.addLayout(bag_row_depth)
+        bag_topics_l.addLayout(bag_row_info)
+        self.bag_topics_widget.setLayout(bag_topics_l)
+        bag_l.addWidget(self.bag_topics_widget)
+        
+        self.bag_widget.setLayout(bag_l)
+        conf_layout.addWidget(self.bag_widget)
+        
+        self.config_group.setLayout(conf_layout)
+        layout.addWidget(self.config_group)
+
+        # 3. Output Settings
+        out_group = QGroupBox("Output & Visual Settings")
+        out_layout = QHBoxLayout()
+        out_layout.setContentsMargins(6, 6, 6, 6)
+        
+        # Names
+        name_v = QVBoxLayout()
+        self.out_folder = QLineEdit()
+        self.out_folder.setPlaceholderText("Folder Name (e.g 'set1')")
+        self.pose_prefix = QLineEdit()
+        self.pose_prefix.setPlaceholderText("Prefix (e.g 'pose')")
+        
+        r1 = QHBoxLayout()
+        r1.addWidget(QLabel("Folder:"))
+        r1.addWidget(self.out_folder)
+        name_v.addLayout(r1)
+        
+        r2 = QHBoxLayout()
+        r2.addWidget(QLabel("Prefix:"))
+        r2.addWidget(self.pose_prefix)
+        name_v.addLayout(r2)
+        out_layout.addLayout(name_v, 1)
+        
+        # RViz
+        rviz_v = QVBoxLayout()
+        self.rviz_combo = QComboBox()
+        self.scan_rviz_configs()
+        self.rviz_new = QLineEdit()
+        self.rviz_new.setPlaceholderText("New Config Name")
+        
+        rr1 = QHBoxLayout()
+        rr1.addWidget(QLabel("RViz Config:"))
+        rr1.addWidget(self.rviz_combo)
+        rviz_v.addLayout(rr1)
+        
+        rr2 = QHBoxLayout()
+        rr2.addWidget(QLabel("Create New:"))
+        rr2.addWidget(self.rviz_new)
+        rviz_v.addLayout(rr2)
+        out_layout.addLayout(rviz_v, 1)
+        
+        out_group.setLayout(out_layout)
+        layout.addWidget(out_group)
+        
+        # 4. Log
+        self.rec_log = QTextEdit()
+        self.rec_log.setReadOnly(True)
+        self.rec_log.setStyleSheet("background-color: #1e1e1e; color: #00ff00; font-family: Monospace;")
+        layout.addWidget(self.rec_log, 1)
+        
+        # 6. Controls
+        ctrl_layout = QHBoxLayout()
+        self.btn_start = QPushButton("▶ Start")
+        self.btn_start.setStyleSheet("""
+            QPushButton { background-color: #4CAF50; color: white; padding: 10px; font-weight: bold; }
+            QPushButton:hover { background-color: #66BB6A; }
+        """)
+        self.btn_start.clicked.connect(self.start_process)
+        
+        self.btn_pause = QPushButton("⏯ Play/Pause")
+        self.btn_pause.setStyleSheet("""
+            QPushButton { background-color: #2196F3; color: white; padding: 10px; }
+            QPushButton:hover { background-color: #42A5F5; }
+        """)
+        self.btn_pause.clicked.connect(self.toggle_pause)
+        self.btn_pause.setEnabled(False)
+        
+        self.btn_capture = QPushButton("📸 Capture Set")
+        self.btn_capture.setStyleSheet("""
+            QPushButton { background-color: #FF9800; color: white; padding: 10px; font-weight: bold; }
+            QPushButton:hover { background-color: #FFA726; }
+        """)
+        self.btn_capture.clicked.connect(self.capture_frame)
+        self.btn_capture.setEnabled(False)
+        
+        self.btn_stop = QPushButton("⏹ Stop")
+        self.btn_stop.setStyleSheet("""
+            QPushButton { background-color: #d32f2f; color: white; padding: 10px; }
+            QPushButton:hover { background-color: #ef5350; }
+        """)
+        self.btn_stop.clicked.connect(self.stop_process)
+        self.btn_stop.setEnabled(False)
+        
+        ctrl_layout.addWidget(self.btn_start)
+        ctrl_layout.addWidget(self.btn_pause)
+        ctrl_layout.addWidget(self.btn_capture)
+        ctrl_layout.addWidget(self.btn_stop)
+        layout.addLayout(ctrl_layout)
+        
+        # Back Btn (Consistency)
+        btn_back = QPushButton("Back")
+        btn_back.clicked.connect(self.on_back_clicked)
+        # Explicit style to match SingleLiDAR
+        btn_back.setStyleSheet("""
+            QPushButton { background-color: #2E8B57; border-radius: 8px; color: white; padding: 5px; }
+            QPushButton:hover { background-color: #689F38; }
+        """)
+        layout.addWidget(btn_back)
+        
+        self.setLayout(layout)
+
+    def on_back_clicked(self):
+        self.stop_process()
+        self.back_clicked.emit()
+
+    # --- Logic Methods ---
+    def update_ui_state(self):
+        is_live = self.rb_live.isChecked()
+        self.live_widget.setVisible(is_live)
+        self.bag_widget.setVisible(not is_live)
+        self.btn_pause.setEnabled(False)
+
+    def scan_topics(self):
+        self.rec_log.append("Scanning ROS2 topics...")
+        self.combo_lidar.clear()
+        self.combo_cam.clear()
+        self.combo_depth.clear()
+        self.combo_info.clear()
+        
+        script_path = os.path.abspath(os.path.join(os.path.dirname(__file__), f"../../{self.script_name}"))
+        proc = subprocess.run(['python3', script_path, '--mode', 'discover', '--format', 'json'], 
+                              capture_output=True, text=True)
+        try:
+            data = json.loads(proc.stdout)
+            
+            # Populate from backend categorization
+            self.combo_lidar.addItems(sorted(data.get('lidar', [])))
+            self.combo_cam.addItems(sorted(data.get('image', [])))
+            self.combo_depth.addItems(sorted(data.get('depth', [])))
+            self.combo_info.addItems(sorted(data.get('cam_info', [])))
+            
+            # Count real topics (exclude 'None')
+            total = sum(len([x for x in v if x != 'None']) for v in data.values() if isinstance(v, list))
+            self.rec_log.append(f"Topics scanned. Found {total} active topics.")
+            
+        except json.JSONDecodeError:
+            self.rec_log.append("Error scanning topics.")
+    
+    def scan_bag_topics(self):
+        bag_path = self.bag_path.text().strip()
+        if not bag_path or not os.path.exists(bag_path):
+            QMessageBox.warning(self, "Warning", "Please select a valid rosbag folder first.")
+            return
+            
+        self.rec_log.append("Scanning rosbag topics...")
+        self.bag_combo_lidar.clear()
+        self.bag_combo_cam.clear()
+        self.bag_combo_depth.clear()
+        self.bag_combo_info.clear()
+        
+        script_path = os.path.abspath(os.path.join(os.path.dirname(__file__), f"../../{self.script_name}"))
+        proc = subprocess.run(['python3', script_path, '--mode', 'discover_bag', '--bag', bag_path, '--format', 'json'], 
+                              capture_output=True, text=True)
+        
+        self.rec_log.append(f"Script stdout: {proc.stdout}")
+        self.rec_log.append(f"Script stderr: {proc.stderr}")
+        
+        try:
+            data = json.loads(proc.stdout)
+            
+            # Populate from backend categorization
+            self.bag_combo_lidar.addItems(data.get('lidar', ['None']))
+            self.bag_combo_cam.addItems(data.get('image', ['None']))
+            self.bag_combo_depth.addItems(data.get('depth', ['None']))
+            self.bag_combo_info.addItems(data.get('cam_info', ['None']))
+            
+            # Count real topics (exclude 'None')
+            total = sum(len([x for x in v if x != 'None']) for v in data.values() if isinstance(v, list))
+            self.rec_log.append(f"Rosbag topics scanned. Found {total} topics.")
+            
+        except json.JSONDecodeError as e:
+            self.rec_log.append(f"JSON decode error: {e}")
+            self.rec_log.append(f"Raw output: {repr(proc.stdout)}")
+        except Exception as e:
+            self.rec_log.append(f"Unexpected error: {e}")
+
+    def scan_rviz_configs(self):
+        self.rviz_combo.clear()
+        config_dir = os.path.abspath(os.path.join(os.path.dirname(__file__), "../../rviz_configs"))
+        os.makedirs(config_dir, exist_ok=True)
+        files = glob.glob(os.path.join(config_dir, "*.rviz"))
+        names = [os.path.basename(f) for f in files]
+        if not names: self.rviz_combo.addItem("default_calib.rviz")
+        else: self.rviz_combo.addItems(sorted(names))
+
+    def browse_bag(self):
+        path = QFileDialog.getExistingDirectory(self, "Select Rosbag Folder", "")
+        if path: self.bag_path.setText(path)
+        
+    def start_process(self):
+        script_path = os.path.abspath(os.path.join(os.path.dirname(__file__), f"../../{self.script_name}"))
+        is_live = self.rb_live.isChecked()
+        args = ["-u", script_path]
+        
+        # Determine sync mode based on checkbox
+        sync_mode = 'strict' if self.chk_strict_sync.isChecked() else 'relaxed'
+        
+        if is_live:
+            lidar = self.combo_lidar.currentText()
+            cam = self.combo_cam.currentText()
+            
+            if self.enable_depth:
+                depth = self.combo_depth.currentText()
+            else:
+                depth = 'None'
+                
+            info = self.combo_info.currentText()
+            
+            if not lidar or not cam:
+                QMessageBox.warning(self, "Warning", "Select at least LiDAR and Camera topics.")
+                return
+            
+            args.extend(['--mode', 'live', 
+                         '--lidar_topic', lidar,
+                         '--camera_topic', cam, 
+                         '--depth_topic', depth, 
+                         '--caminfo_topic', info,
+                         '--sync-mode', sync_mode])
+            
+            # Add require_all_topics flag if checkbox is checked
+            if self.chk_require_all.isChecked():
+                args.append('--require_all_topics')
+            
+            self.btn_pause.setEnabled(True) # Enabled for Master Pause
+        else:
+            bag = self.bag_path.text().strip()
+            if not os.path.exists(bag):
+                QMessageBox.warning(self, "Warning", "Invalid bag path.")
+                return
+            
+            # Get selected topics for bag mode
+            bag_lidar = self.bag_combo_lidar.currentText()
+            bag_cam = self.bag_combo_cam.currentText()
+            
+            if self.enable_depth:
+                bag_depth = self.bag_combo_depth.currentText()
+            else:
+                bag_depth = 'None'
+                
+            bag_info = self.bag_combo_info.currentText()
+            
+            args.extend(['--mode', 'bag', '--bag', bag,
+                         '--lidar_topic', bag_lidar,
+                         '--camera_topic', bag_cam,
+                         '--depth_topic', bag_depth,
+                         '--caminfo_topic', bag_info,
+                         '--sync-mode', sync_mode])
+            
+            # Add require_all_topics flag if checkbox is checked
+            if self.chk_require_all.isChecked():
+                args.append('--require_all_topics')
+            
+            if not self.cb_loop.isChecked(): args.append('--play_once')
+            self.btn_pause.setEnabled(True)
+        
+        # Naming & RViz
+        if self.out_folder.text(): args.extend(['--output_name', self.out_folder.text()])
+        if self.pose_prefix.text(): args.extend(['--pose_prefix', self.pose_prefix.text()])
+        
+        new_rviz = self.rviz_new.text().strip()
+        sel_rviz = self.rviz_combo.currentText()
+        if new_rviz: 
+            if not new_rviz.endswith('.rviz'): new_rviz += '.rviz'
+            args.extend(['--rviz_config', new_rviz])
+        elif sel_rviz:
+            args.extend(['--rviz_config', sel_rviz])
+
+        self.rec_log.clear()
+        self.rec_log.append(f"🟢 Starting Process: {'Live' if is_live else 'Bag'} Mode (Multimodal)")
+        
+        self.record_process = QProcess()
+        self.record_process.readyReadStandardOutput.connect(self.handle_stdout)
+        self.record_process.readyReadStandardError.connect(self.handle_stderr)
+        self.record_process.finished.connect(self.on_finished)
+        self.record_process.start("python3", args)
+        
+        self.btn_start.setEnabled(False)
+        self.btn_capture.setEnabled(True)
+        self.btn_stop.setEnabled(True)
+        
+        # Disable configs
+        self.live_widget.setEnabled(False)
+        self.bag_widget.setEnabled(False)
+        self.out_folder.setEnabled(False)
+        self.pose_prefix.setEnabled(False)
+        self.rviz_combo.setEnabled(False)
+
+    def stop_process(self):
+        if self.record_process and self.record_process.state() == QProcess.Running:
+            self.record_process.write(b'q\n')
+            self.record_process.waitForFinished(1000)
+            if self.record_process.state() == QProcess.Running:
+                self.record_process.kill()
+
+    def capture_frame(self):
+        if self.record_process: self.record_process.write(b'n\n')
+
+    def toggle_pause(self):
+        if self.record_process: self.record_process.write(b'p\n')
+
+    def handle_stdout(self):
+        data = self.record_process.readAllStandardOutput()
+        self.rec_log.append(data.data().decode().strip())
+        
+    def handle_stderr(self):
+        data = self.record_process.readAllStandardError()
+        text = data.data().decode().strip()
+        self.rec_log.append(text)
+        
+        # Check for topic validation error
+        if "[ERROR] All topics are 'None'" in text:
+            QMessageBox.critical(self, "Topic Error", 
+                "All topics are 'None'.\n\nPlease select valid topics before starting the process.")
+            self.stop_process()
+        elif "[ERROR] Some topics are 'None'" in text:
+            # Determine expected topic count based on script
+            if self.script_name == "2d_3d_data_extractor.py":
+                topic_count = "3"
+                mode_name = "2D-3D"
+            else:
+                topic_count = "4" 
+                mode_name = "3D-3D"
+            
+            QMessageBox.critical(self, "Topic Error", 
+                f"Some topics are 'None'.\n\nWhen 'Require All Topics' is checked, all {topic_count} topics must be selected for {mode_name} calibration mode.")
+            self.stop_process()
+
+    def on_finished(self):
+        self.btn_start.setEnabled(True)
+        self.btn_capture.setEnabled(False)
+        self.btn_stop.setEnabled(False)
+        self.btn_pause.setEnabled(False)
+        
+        self.live_widget.setEnabled(True)
+        self.bag_widget.setEnabled(True)
+        self.out_folder.setEnabled(True)
+        self.pose_prefix.setEnabled(True)
+        self.rviz_combo.setEnabled(True)
+        self.scan_rviz_configs()
+        
+        self.rec_log.append("\n✅ Process Stopped.")
+

gui/widgets/home_widget.py

@@ -0,0 +1,117 @@
+import os
+from PyQt5.QtWidgets import (QWidget, QVBoxLayout, QHBoxLayout, QLabel, 
+                             QPushButton, QSizePolicy, QSpacerItem, QFrame, QGraphicsDropShadowEffect)
+from PyQt5.QtCore import Qt, pyqtSignal, QRect
+from PyQt5.QtGui import QFont, QPixmap, QPainter, QBrush, QPalette, QColor
+
+class HomeWidget(QWidget):
+    # Signals to tell MainWindow to switch keys
+    # 1: Single LiDAR, 2: 3D-3D, 3: 2D-3D
+    navigate = pyqtSignal(int) 
+
+    def __init__(self):
+        super().__init__()
+        self.initUI()
+
+    def rounded_pixmap(self, path, size=200, radius=100):
+        # Build absolute path relative to this script
+        base_dir = os.path.dirname(os.path.abspath(__file__))
+        abs_path = os.path.join(base_dir, "..", "assets", path)
+        abs_path = os.path.abspath(abs_path)
+        pixmap = QPixmap(abs_path)
+        if pixmap.isNull():
+            print(f"Warning: Logo image not found at {abs_path}")
+            return QPixmap(size, size)  # Return empty pixmap
+        pixmap = pixmap.scaled(size, size, Qt.KeepAspectRatioByExpanding, Qt.SmoothTransformation)
+        rounded = QPixmap(size, size)
+        rounded.fill(Qt.transparent)
+
+        painter = QPainter(rounded)
+        painter.setRenderHint(QPainter.Antialiasing)
+        painter.setBrush(QBrush(pixmap))
+        painter.setPen(Qt.NoPen)
+        painter.drawRoundedRect(QRect(0, 0, size, size), radius, radius)
+        painter.end()
+
+        return rounded
+
+    def initUI(self):
+        layout = QVBoxLayout()
+        layout.setAlignment(Qt.AlignCenter)
+        layout.setSpacing(40)
+
+        # 1. Company Logo & Name
+        title_label = QLabel("VIRYA AUTONOMOUS")
+        title_label.setAlignment(Qt.AlignCenter)
+        title_label.setStyleSheet("font-size: 40px; font-weight: bold; color: #4CAF50;")
+        layout.addWidget(title_label)
+
+        # Add shadow effect to title
+        shadow = QGraphicsDropShadowEffect()
+        shadow.setBlurRadius(8)
+        shadow.setColor(QColor(0, 0, 0, 160))
+        shadow.setOffset(2, 2)
+        title_label.setGraphicsEffect(shadow)  
+
+        # Logo with rounded edges
+        logo_label = QLabel()
+        logo_label.setAlignment(Qt.AlignCenter)
+        logo_label.setPixmap(self.rounded_pixmap("virya.jpg", size=200, radius=100))
+        layout.addWidget(logo_label)
+
+        # Spacer
+        layout.addSpacerItem(QSpacerItem(20, 40, QSizePolicy.Minimum, QSizePolicy.Expanding))
+
+        # 2. "Select Calibration Type"
+        subtitle = QLabel("Choose Calibration Mode")
+        subtitle.setAlignment(Qt.AlignCenter)
+        subtitle.setStyleSheet("font-size: 24px; color: #e0e0e0; margin-bottom: 20px;")
+        layout.addWidget(subtitle)
+
+        # 3. Buttons Container
+        btn_layout = QHBoxLayout()
+        btn_layout.setSpacing(30)
+        btn_layout.setAlignment(Qt.AlignCenter)
+
+        # Button Style
+        btn_style = """
+            QPushButton {
+                background-color: #32CD32;
+                color: white;
+                border: 1px solid #228B22;
+                border-radius: 15px;
+                padding: 30px;
+                font-size: 18px;
+                min-width: 180px;
+            }
+            QPushButton:hover {
+                background-color: #3CB371;
+                border-color: #228B22;
+            }
+            QPushButton:pressed {
+                background-color: #228B22;
+            }
+        """
+
+        self.btn_single = QPushButton("Single LiDAR\nCalibration")
+        self.btn_single.setStyleSheet(btn_style)
+        self.btn_single.clicked.connect(lambda: self.navigate.emit(1))
+        
+        self.btn_3d3d = QPushButton("3D-3D\nCalibration")
+        self.btn_3d3d.setStyleSheet(btn_style)
+        self.btn_3d3d.clicked.connect(lambda: self.navigate.emit(2))
+        
+        self.btn_2d3d = QPushButton("2D-3D\nCalibration")
+        self.btn_2d3d.setStyleSheet(btn_style)
+        self.btn_2d3d.clicked.connect(lambda: self.navigate.emit(3))
+
+        btn_layout.addWidget(self.btn_single)
+        btn_layout.addWidget(self.btn_3d3d)
+        btn_layout.addWidget(self.btn_2d3d)
+
+        layout.addLayout(btn_layout)
+        
+        # Bottom spacer
+        layout.addSpacerItem(QSpacerItem(20, 100, QSizePolicy.Minimum, QSizePolicy.Expanding))
+
+        self.setLayout(layout)