deepen-bag-check 1.0.0__tar.gz

deepen_bag_check-1.0.0/.github/workflows/ci.yml

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+name: CI
+
+on:
+  push:
+    branches: [main]
+  pull_request:
+
+jobs:
+  lint-and-test:
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        python-version: ["3.11", "3.12"]
+    steps:
+      - uses: actions/checkout@v4
+
+      - name: Install uv
+        uses: astral-sh/setup-uv@v3
+        with:
+          version: "0.10.9"
+          enable-cache: true
+          python-version: ${{ matrix.python-version }}
+
+      - name: Install dependencies
+        run: uv sync --all-groups
+
+      - name: Lint (ruff)
+        run: uv run ruff check .
+
+      - name: Test (pytest)
+        run: uv run pytest -q

deepen_bag_check-1.0.0/.gitignore

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+__pycache__/
+*.py[cod]
+*.egg-info/
+.venv/
+.uv/
+uv.lock.bak
+.pytest_cache/
+.ruff_cache/
+.coverage
+htmlcov/
+dist/
+build/
+.DS_Store

deepen_bag_check-1.0.0/CONTRIBUTING.md

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+# Contributing
+
+Thanks for considering a contribution to `deepen-bag-check`.
+
+## Development setup
+
+```
+uv sync
+uv run pytest
+uv run ruff check .
+```
+
+Tests build small synthetic bags/mcap files on the fly (see `tests/bagcheck/conftest.py`)
+— there are no committed fixtures and no network access is required to run the suite.
+
+## Before opening a PR
+
+- Add or update tests for any behavioral change. `run_checks()` and the individual
+  check functions in `bagcheck/checks.py` are pure functions over plain data, so most
+  new logic can be unit-tested without building a full bag.
+- Run `uv run pytest` and `uv run ruff check .` locally; CI runs the same two commands
+  on Python 3.11 and 3.12.
+- Keep the human-readable and JSON report outputs in sync — both are rendered from the
+  same `ValidationReport`, so a new check should show up correctly in both.
+
+## Reporting a vendor/format gap
+
+If your rig uses a lidar, camera, or message type this tool doesn't recognize yet,
+please open an issue with:
+
+- The message type string(s) involved (e.g. `sensor_msgs/msg/PointCloud2`).
+- For point clouds, the field names and datatypes (`ros2 bag info` or
+  `ros2 topic echo --field fields <topic>` output is enough).
+- Whether you're able to share a small (few-second) sample bag.
+
+## License
+
+By contributing, you agree that your contributions will be licensed under the
+Apache License, Version 2.0 (see `LICENSE`).

deepen_bag_check-1.0.0/LICENSE

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deepen_bag_check-1.0.0/PKG-INFO

@@ -0,0 +1,268 @@
+Metadata-Version: 2.4
+Name: deepen-bag-check
+Version: 1.0.0
+Summary: Validate a rosbag before submitting it for multi-sensor calibration — no ROS install required.
+Project-URL: Homepage, https://github.com/deepenai/deepen-bag-check
+Project-URL: Repository, https://github.com/deepenai/deepen-bag-check
+Project-URL: Issues, https://github.com/deepenai/deepen-bag-check/issues
+Author-email: Deepen AI <eng@deepen.ai>
+License-Expression: Apache-2.0
+License-File: LICENSE
+Keywords: autonomous-vehicles,calibration,lidar,mcap,robotics,ros,ros2,rosbag
+Classifier: Development Status :: 5 - Production/Stable
+Classifier: Environment :: Console
+Classifier: Intended Audience :: Developers
+Classifier: Intended Audience :: Science/Research
+Classifier: License :: OSI Approved :: Apache Software License
+Classifier: Operating System :: OS Independent
+Classifier: Programming Language :: Python :: 3
+Classifier: Programming Language :: Python :: 3.11
+Classifier: Programming Language :: Python :: 3.12
+Classifier: Topic :: Scientific/Engineering
+Requires-Python: >=3.11
+Requires-Dist: mcap-ros2-support==0.5.7
+Requires-Dist: mcap==1.4.0
+Requires-Dist: pyyaml>=6.0
+Requires-Dist: rosbags==0.9.23
+Description-Content-Type: text/markdown
+
+# deepen-bag-check
+
+A pre-upload validator for rosbags used in sensor calibration. It reads your bag,
+tells you exactly what it found, and flags anything that would block a calibration
+run — in seconds, on your own machine, before you upload anything over any network.
+
+No ROS installation is required. `deepen-bag-check` reads the raw bag/mcap formats
+directly in pure Python.
+
+## Why
+
+Multi-sensor calibration jobs can take a long time to run. Finding out afterward that
+your bag was missing a CameraInfo topic, had an uncalibrated intrinsics matrix, or
+never actually turned the rig enough to excite the extrinsics is an expensive way to
+learn that. `deepen-bag-check` runs the same checks up front, in seconds, so you catch
+that class of problem before you wait on (or pay for) a run that was never going to
+succeed.
+
+## Install
+
+```
+pip install deepen-bag-check
+```
+
+```
+pipx install deepen-bag-check
+```
+
+```
+uv tool install deepen-bag-check
+```
+
+(Or, from a clone of this repo: `uv sync` — the console script `deepen-bag-check` is
+registered as part of the package, or run it directly with `uv run deepen-bag-check`.)
+
+## Usage
+
+```
+deepen-bag-check my_drive.bag
+deepen-bag-check my_drive.mcap --for lidar-camera
+deepen-bag-check /path/to/ros2_bag_dir --json > report.json
+```
+
+```
+$ deepen-bag-check my_drive.mcap --for lidar-camera
+deepen-bag-check 1.0.0 — my_drive.mcap
+container: ros2_mcap
+status: WARNINGS (exit code 1)
+
+Topics:
+  /sensor/camera/front_wide/image/compressed  [camera_compressed]  sensor_msgs/msg/CompressedImage  20.0 Hz  6023 msgs  encoding=jpeg
+  /sensor/lidar/roof/points  [lidar]  sensor_msgs/msg/PointCloud2  10.1 Hz  3012 msgs  vendor=hesai  per_point_time=yes
+  /sensor/imu  [imu]  sensor_msgs/msg/Imu  100.0 Hz  31000 msgs
+
+Checks:
+  [WARN] camera_info_present: /sensor/camera/front_wide/image/compressed has no paired CameraInfo topic — supply an intrinsics.json sidecar or run intrinsic pre-calibration.
+  [PASS] pointcloud_field_schema: /sensor/lidar/roof/points: fields map cleanly to x,y,z,intensity,ring (vendor_signature=hesai).
+  [PASS] motion_excitation: cumulative yaw 94.2° over 31.4s — sufficient rotational excitation.
+  [PASS] requested_calibration_coverage: bag meets minimum sensor coverage for --for lidar_camera.
+
+Eligible calibration types: lidar_camera, multi_lidar
+Ineligible:
+  - lidar_vehicle: no CAN/vehicle-speed topic found
+  - lidar_imu: no IMU topic found (sensor_msgs/Imu)
+```
+
+### Exit codes
+
+| Code | Meaning |
+|---|---|
+| `0` | Passed — no issues found. |
+| `1` | Passed with warnings — usable, but quality may be degraded (see the fix-it list). |
+| `2` | Failed — the bag is not usable for the requested calibration type. |
+
+### Flags
+
+| Flag | Meaning |
+|---|---|
+| `--for {lidar-camera,multi-lidar,lidar-vehicle,lidar-imu}` | Gate the exit code on whether the bag has the minimum sensor set for this calibration type. Omit to only report what the bag is eligible for. |
+| `--json` | Print the machine-readable report (see below) instead of the human-readable one. |
+| `--min-duration-s SECONDS` | Override the minimum bag duration (default: 5s). |
+| `--version` | Print the tool version. |
+
+## What it checks
+
+1. **Container detection** — ROS1 `.bag`, ROS2 `.db3` (bag directory or a standalone
+   file), ROS2 `.mcap` (bag directory or a standalone file). Anything else — including
+   a file with the right extension but a corrupt/truncated body — gets a specific
+   error instead of a confusing crash downstream.
+2. **Schema introspection** — every topic's message type is enumerated and checked
+   against a table of known custom/vendor types. A Livox `CustomMsg` topic, for
+   example, is flagged with the exact conversion command to run first.
+3. **Topic classification by message type, never by name** — a camera is anything
+   publishing `sensor_msgs/Image` or `CompressedImage`, a lidar is anything publishing
+   `sensor_msgs/PointCloud2`, regardless of what the topic happens to be called.
+   H.264/`ffmpeg_image_transport` camera topics are flagged separately, since they
+   need a re-export before anything downstream can read them.
+4. **PointCloud2 field-schema check** — point cloud field names and types vary by
+   lidar vendor. This tool normalizes the common variants (Velodyne, Ouster, Hesai,
+   RoboSense) to canonical roles (`x`, `y`, `z`, `intensity`, `ring`, per-point `time`)
+   and reports exactly which field is missing or unmappable if normalization fails.
+5. **Vendor raw-packet lidar recognition** — Hesai `pandar_msgs/PandarScan`, Velodyne
+   `velodyne_msgs/VelodyneScan`, and Ouster raw-packet topics are classified as
+   `lidar_raw` — recognized, never decoded. Raw Hesai packets count toward lidar
+   coverage since Deepen's calibration engine decodes them natively; other raw-packet
+   vendors are flagged with a warning, since generic `PointCloud2` remains the
+   preferred lane (see "Vendor raw-packet lidar lanes" below).
+6. **Per-calibration-type coverage** — `--for lidar-camera` (etc.) checks whether the
+   bag has the minimum sensor set for that calibration mode.
+7. **Sync and quality checks** — cross-topic time overlap and gaps, per-topic message
+   rates, duration, a motion-excitation estimate from IMU angular velocity, CameraInfo
+   presence and plausibility (a zeroed `K` matrix means "uncalibrated" per ROS
+   convention), and tf-tree completeness for every sensor frame referenced in the bag.
+8. **Two output formats from one report** — the human-readable text above, or
+   `--json` for scripting/CI. Both come from the exact same underlying check results,
+   so nothing is inconsistent between them.
+
+## The JSON report
+
+`--json` prints a versioned report (`schema_version`, currently `"1.1"`):
+
+```json
+{
+  "schema_version": "1.1",
+  "bag_check_version": "1.0.0",
+  "status": "warnings",
+  "container_format": "ros2_mcap",
+  "requested_calibration_type": "lidar_camera",
+  "topics": [
+    {
+      "topic": "/sensor/lidar/roof/points",
+      "type": "sensor_msgs/msg/PointCloud2",
+      "role": "lidar",
+      "message_count": 3012,
+      "hz": 10.1,
+      "vendor_signature": "hesai",
+      "has_per_point_time": true,
+      "encoding": null
+    }
+  ],
+  "checks": [
+    {
+      "id": "camera_info_present",
+      "status": "warn",
+      "message": "...",
+      "topic": "/sensor/camera/front_wide/image/compressed"
+    }
+  ],
+  "eligible_calibration_types": ["lidar_camera", "multi_lidar"],
+  "ineligible_calibration_types": [
+    { "type": "lidar_vehicle", "reason": "no CAN/vehicle-speed topic found" }
+  ]
+}
+```
+
+## Using it as a library
+
+The CLI is a thin wrapper. Everything is available directly for programmatic use:
+
+```python
+from bagcheck import run_checks, CalibrationType
+
+report = run_checks("my_drive.mcap", calibration_type=CalibrationType.LIDAR_CAMERA)
+print(report.status, report.exit_code())
+for check in report.checks:
+    print(check.status, check.message)
+```
+
+## Vendor field reference
+
+Field name and datatype aliases this tool recognizes when normalizing PointCloud2
+schemas (dtype taken from each vendor's own ROS driver source):
+
+| Vendor | x/y/z | intensity | ring | per-point time |
+|---|---|---|---|---|
+| Velodyne | `x,y,z` float32 | `intensity` float32 | `ring` uint16 | `time` float32 |
+| Ouster | `x,y,z` float32 | `intensity` float32 | `ring` uint16 | `t` uint32 |
+| Hesai | `x,y,z` float32 | `intensity` float32 | `ring` uint16 | `timestamp` float64 |
+| RoboSense | `x,y,z` float32 | `intensity` **uint8** | `ring` uint16 | `timestamp` float64 |
+
+`ring` is also recognized under the aliases `channel` and `laser_id`; per-point time
+is also recognized under `time_stamp`.
+
+## Vendor raw-packet lidar lanes
+
+Some lidar drivers publish raw vendor UDP packets instead of `sensor_msgs/PointCloud2`
+— these are classified as `lidar_raw`, recognized only (never decoded here):
+
+| Vendor | Message type | Coverage | Note |
+|---|---|---|---|
+| Hesai | `pandar_msgs/PandarScan` | Counts as lidar coverage | Deepen's calibration engine decodes these packets natively — no conversion needed. |
+| Velodyne | `velodyne_msgs/VelodyneScan` | Does not count | Convert to `PointCloud2` with the vendor driver, or verify engine support first. |
+| Ouster | `ouster_ros/PacketMsg` (also `ouster_sensor_msgs/PacketMsg`) | Does not count | Convert to `PointCloud2` with the vendor driver, or verify engine support first. |
+
+Generic `sensor_msgs/PointCloud2` is still the preferred lane for every vendor,
+including Hesai — raw packets are a recognized fallback, not a replacement.
+
+## Known limitations
+
+- **Non-ROS-native MCAP** (Foxglove/Protobuf/JSON-schema recordings without a ROS
+  layer) and **PX4 `.ulg`** logs are not supported. Convert with `pyulog`/`ulog2rosbag`
+  first for PX4 data.
+- **H.264/`ffmpeg_image_transport` images** are flagged, not decoded. Re-record with
+  the `raw` or `compressed` (JPEG) transport, or convert first with
+  [`ffmpeg_image_transport_tools`](https://github.com/ros-misc-utilities/ffmpeg_image_transport_tools).
+- **Livox `CustomMsg`** is flagged, not converted automatically. Run
+  [`livox_to_pointcloud2`](https://github.com/porizou/livox_to_pointcloud2) first.
+- **`--for lidar-imu`** checks for a lidar and an IMU topic, but does not currently
+  require GNSS. Lidar-IMU calibration may also require a GNSS topic as a fixed
+  reference for a rig with little motion diversity — a bag without one will still be
+  reported as "eligible" here, with a warning, since the minimum topic-level
+  requirement is met even if the calibration itself needs more.
+- **CameraInfo pairing** with its image topic is done by shared topic namespace
+  (stripping the last path segment, and `/compressed` if present). A rig whose
+  CameraInfo topic doesn't share a namespace with its image topic won't be paired
+  automatically.
+- **Non-Hesai raw-packet lidars** (Velodyne, Ouster) are recognized but not decoded,
+  and don't count toward calibration-type coverage — see "Vendor raw-packet lidar
+  lanes" above. Only Hesai `PandarScan` is engine-ingestible as raw packets today.
+
+## Development
+
+```
+uv sync
+uv run pytest
+uv run ruff check .
+```
+
+Tests build small synthetic bags/mcap files on the fly (see `tests/bagcheck/conftest.py`)
+— no committed fixtures, no network access required. See `CONTRIBUTING.md` for more.
+
+## Hosted calibration
+
+`deepen-bag-check` is free and open source, and works standalone — nothing here talks
+to a network. If you'd rather not run the calibration pipeline itself, Deepen AI also
+offers hosted and in-VPC multi-sensor calibration: https://deepen.ai
+
+## License
+
+Apache License, Version 2.0. See `LICENSE`.