hudini 0.1.0__tar.gz

hudini-0.1.0/.github/workflows/release.yml

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+name: release
+
+on:
+  push:
+    tags: ["v*"]
+
+jobs:
+  pypi:
+    runs-on: ubuntu-latest
+    environment: pypi
+    permissions:
+      id-token: write
+      contents: read
+    steps:
+      - uses: actions/checkout@v4
+      - uses: astral-sh/setup-uv@v5
+      - run: uv build
+      - run: uv publish

hudini-0.1.0/.gitignore

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+.export-target
+.venv/
+dist/
+__pycache__/
+.pytest_cache/
+.ruff_cache/
+.hypothesis/

hudini-0.1.0/.python-version

@@ -0,0 +1 @@
+3.12

hudini-0.1.0/LICENSE

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hudini-0.1.0/PKG-INFO

@@ -0,0 +1,293 @@
+Metadata-Version: 2.5
+Name: hudini
+Version: 0.1.0
+Summary: A UI/HUD parser for the da Vinci Xi.
+Project-URL: Repository, https://github.com/claasdeboer/hudini
+Project-URL: Models, https://huggingface.co/nct-tso/hudini
+Project-URL: Annotations, https://huggingface.co/datasets/nct-tso/hudini-annotations
+Author-email: Claas de Boer <claas.deboer@nct-dresden.de>
+License-Expression: Apache-2.0
+License-File: LICENSE
+Requires-Python: >=3.12
+Requires-Dist: av>=12.0.0
+Requires-Dist: huggingface-hub>=1.0
+Requires-Dist: msgspec>=0.19.0
+Requires-Dist: numpy>=1.24.0
+Requires-Dist: opencv-python-headless>=4.13.0.0
+Requires-Dist: paddleocr>=3.7.0
+Requires-Dist: pillow>=12.1.0
+Requires-Dist: rapidfuzz>=3.14.3
+Requires-Dist: timm>=1.0.0
+Requires-Dist: torch>=2.0.0
+Requires-Dist: torchvision>=0.25.0
+Requires-Dist: tqdm>=4.0.0
+Requires-Dist: transformers>=5.12.0
+Provides-Extra: dev
+Requires-Dist: hypothesis>=6.100; extra == 'dev'
+Requires-Dist: opencv-contrib-python; extra == 'dev'
+Requires-Dist: pytest>=9.1.1; extra == 'dev'
+Requires-Dist: ruff>=0.16.0; extra == 'dev'
+Requires-Dist: ty>=0.0.1a21; extra == 'dev'
+Provides-Extra: rfdetr
+Requires-Dist: rfdetr>=1.0; extra == 'rfdetr'
+Requires-Dist: supervision>=0.28; extra == 'rfdetr'
+Description-Content-Type: text/markdown
+
+# hudini
+
+[![PyPI](https://img.shields.io/pypi/v/hudini?color=2a78d6)](https://pypi.org/project/hudini/)
+[![License](https://img.shields.io/badge/license-Apache--2.0-2a78d6)](https://github.com/claasdeboer/hudini/blob/main/LICENSE)
+[![Checkpoints](https://img.shields.io/badge/%F0%9F%A4%97%20checkpoints-nct--tso%2Fhudini-ffd21e)](https://huggingface.co/nct-tso/hudini)
+[![Annotations](https://img.shields.io/badge/%F0%9F%A4%97%20annotations-nct--tso%2Fhudini--annotations-ffd21e)](https://huggingface.co/datasets/nct-tso/hudini-annotations)
+
+A UI/HUD parser for the da Vinci Xi.
+
+The da Vinci Xi draws part of its system state into the surgical
+video through its user interface: the instrument on each arm, the arms under surgeon control, each
+energy pedal press, and the instruments outside the view. hudini reads
+this display and turns the pixels back into a log of events with
+timestamps. You do not need the robot logs.
+
+With this log you can, for example:
+
+- find moments of interest in a video archive, such as stapler firings
+  or energy activations
+- label video for machine learning with instrument presence and arm
+  activity, with no manual annotation
+- describe a case by its events: the instruments used, the time each
+  arm was under surgeon control, the number of pedal presses
+- find the popups that show the surgeon's account name before you
+  share a recording
+
+> [!NOTE]
+> hudini recovers only the state that the heads-up display shows. A
+> recording without the display contains nothing it can read, and it
+> does not infer the robot state from the surgical scene. The display
+> can lag the device by the rendering latency of the interface. The
+> instrument catalogs used for fuzzy matching cover the English and German system locales.
+
+![The instrument timeline of one SurgVU video, recovered by hudini](https://raw.githubusercontent.com/claasdeboer/hudini/main/.github/timeline.png)
+
+*The instrument timeline of one SurgVU video, recovered by hudini. Each
+row is one arm. The color shows the instrument class. Saturated color
+marks the time under surgeon control. Ticks mark pedal presses.*
+
+## Quick start
+
+```bash
+uv tool install "hudini[rfdetr] @ git+https://github.com/claasdeboer/hudini"
+hudini fetch                             # download the model checkpoints once
+hudini parse video.mp4                   # -> ./video.hudini.jsonl.gz
+hudini timeline video.hudini.jsonl.gz    # -> ./video.html
+```
+
+`hudini parse` writes one compressed observation log. `hudini timeline`
+turns this log into a self-contained HTML page. Open the page in a
+browser. If the video is in the same folder, the page plays it at the
+selected time.
+
+A PyPI release will follow. Until then, install from GitHub. See
+[Installation](#installation) for the details.
+
+## Try it without your own data
+
+The `Surgical/utenn` subset of
+[PhysicalAI-Robotics-Open-H-Embodiment](https://huggingface.co/datasets/nvidia/PhysicalAI-Robotics-Open-H-Embodiment)
+(NVIDIA, CC-BY-4.0) contains short da Vinci Xi clips with the display
+in the frame. One of them is enough to see hudini work:
+
+```bash
+curl -LO https://huggingface.co/datasets/nvidia/PhysicalAI-Robotics-Open-H-Embodiment/resolve/main/Surgical/utenn/surgical_video_datasets/videos/chunk-000/observation.images.color/episode_000009.mp4
+hudini parse episode_000009.mp4
+hudini timeline episode_000009.hudini.jsonl.gz
+```
+
+Episode 009 contains two pedal presses. In the timeline, they appear as
+two ticks above the row of arm 3, at about 6 and 9 seconds.
+
+## What hudini extracts
+
+| Signal | Output | Method |
+|---|---|---|
+| `status` | arm status: under surgeon control, inactive, or warning | color rule, CNN for the endoscope pod |
+| `arm` | the arm digit, 1 to 4 | CNN |
+| `instrument` | the mounted instrument, matched to the catalog | OCR, catalog match |
+| `pedals` | yellow and blue pedal presses | color rule |
+| `pedal_label` | the action of a press (CUT, COAG, ...) | catalog, OCR when necessary |
+| `laser` | the Firefly laser readout | color rule |
+| `popups`, `banner` | the message text of each column, the system banner | OCR |
+| `offscreen` | off-screen indicator bars, with state and arm | RF-DETR, CNN |
+| `tool_association` | tool-association badges, with arm | RF-DETR |
+
+Every observation carries a timestamp and a confidence score. The
+layout, the popups, and the detected indicators also carry their
+bounding boxes in the frame.
+
+## Output
+
+A parse writes one file, the observation log `<video>.hudini.jsonl.gz`.
+Everything else is a view of this log, computed when you read it:
+
+- **timeline**: a self-contained HTML page with the video and the
+  intervals of each arm (`hudini timeline`)
+- **frame view**: the state at each sampled frame, for comparison with
+  frame-level labels (`hudini timeline --frames`). The rate of the
+  layout signal decides which frames are sampled.
+- **interval view**: the runs of each lane, for example instrument
+  presence and time under surgeon control (the data that the timeline
+  shows)
+
+The views apply the correction rules of the run as patches on top of
+the log. The log itself never changes. To print the state at one
+moment:
+
+```bash
+hudini query video.hudini.jsonl.gz --at 98:23
+```
+
+### Log format
+
+The log stores observations, not one complete record for each frame.
+Each line records one reading of one signal:
+
+```json
+{
+  "t": 98.4,
+  "f": 2952,
+  "s": "pedals",
+  "k": [2, "blue"],
+  "v": {"type": "press", "pressed": true},
+  "c": 0.99
+}
+```
+
+| Field | Meaning |
+|---|---|
+| `t` | video time in seconds |
+| `f` | frame index |
+| `s` | signal |
+| `k` | key of the reading, here arm 2 and the blue pedal |
+| `v` | value, `null` clears the key |
+| `c` | confidence |
+
+The first line is the header with the run configuration, and the last
+line is the footer. The file is gzip JSONL, one object per line, so any
+JSON lines tool can read it:
+
+```bash
+zcat video.hudini.jsonl.gz | head -1 | jq .signals
+zcat video.hudini.jsonl.gz | grep '"s":"pedals"' | head -3
+```
+
+## Screening recordings for identifying information
+
+When a user applies an energy preset, the Xi shows a popup with that
+user's account name. If this is the real name of the surgeon, the
+recording identifies the surgeon. `hudini screen` finds these popups in
+a video or in a stored log. It reports each episode with the bounding
+box of the popup, so you can redact the popup and keep the rest of the
+frame.
+
+```bash
+hudini screen video.mp4
+hudini screen video.hudini.jsonl.gz --json
+```
+
+## Installation
+
+hudini needs Python 3.12 or newer. A GPU makes parsing faster.
+
+```bash
+uv tool install "hudini[rfdetr] @ git+https://github.com/claasdeboer/hudini"
+```
+
+The `[rfdetr]` extra installs the two indicator detectors. Without it,
+hudini reads every signal except `offscreen` and `tool_association`.
+Skip the extra if you do not need these two signals.
+
+The model weights are not in the package. hudini downloads them from
+[nct-tso/hudini](https://huggingface.co/nct-tso/hudini) at a pinned
+revision on first use. To download them in advance:
+
+```bash
+hudini fetch
+```
+
+<details>
+<summary>OpenCV dependency note</summary>
+
+`paddleocr` pins `opencv-contrib-python==4.10`. This pin installs a
+second `cv2` next to `opencv-python-headless`. This is an upstream
+issue in `paddlex`. The parser runs with both installed.
+
+</details>
+
+## Commands
+
+| Command | Description |
+|---|---|
+| `hudini parse video.mp4` | parse a video into its observation log |
+| `hudini timeline log` | build a self-contained HTML timeline (`--frames` also writes the per-frame export) |
+| `hudini query log --at 98:23` | print the state at one moment, as JSON |
+| `hudini serve folder/` | serve an overview of the logs in a folder |
+| `hudini screen video.mp4` | find the popups that show an account name |
+| `hudini frame image.png` | parse one image, JSON to stdout |
+| `hudini catalog --locale de` | list the known instruments and pedal actions |
+| `hudini fetch` | download the model checkpoints |
+
+Options of `hudini parse`:
+
+```bash
+hudini parse video.mp4 --signals pedals      # one signal, its dependencies enable themselves
+hudini parse video.mp4 --rate pedals=30      # sample one signal at 30 fps
+hudini parse video.mp4 --fast                # lower sampling rates for every signal
+```
+
+## Python API
+
+Parse from Python:
+
+```python
+from hudini.parser import Parser
+
+parser = Parser()                          # loads every model once
+log = parser.parse_video("video.mp4")      # writes the log and returns it
+```
+
+A stored log opens without the models. The views take the log, the
+correction patches of the run, and the catalog:
+
+```python
+from hudini.catalog import Catalog
+from hudini.corrections import correct, rules_from_settings
+from hudini.storage import load
+from hudini.views import frame_view, interval_view
+
+log = load("video.hudini.jsonl.gz")
+catalog = Catalog.load()
+patches = correct(log, rules_from_settings(log.header.corrections), catalog)
+records = frame_view(log, patches, catalog)       # one dict for each sampled frame
+intervals = interval_view(log, patches, catalog)  # the temporal runs of each arm and lane
+```
+
+## Development
+
+```bash
+git clone https://github.com/claasdeboer/hudini && cd hudini
+uv sync --extra dev --extra rfdetr
+uv run pytest
+uv run ruff check src/ tests/
+uv run ty check src/hudini/
+```
+
+## Citation
+
+hudini is accepted at AE-CAI @ MICCAI 2026. The BibTeX entry will
+follow when it is available.
+
+The interface annotations for DSAD, hSDB-instrument, and SurgVU are in
+[nct-tso/hudini-annotations](https://huggingface.co/datasets/nct-tso/hudini-annotations).
+
+## License
+
+Apache-2.0.