mdrive4-json 0.0.4__py3-none-any.whl

mdrive4_json/__init__.py

@@ -0,0 +1,55 @@
+from .core import (
+    CalibrationRecord,
+    MDrive4JsonDataset,
+    MDrive4JsonWorkspaceManager,
+    NumpyCalibrationDataset,
+    NumpyExtrinsic,
+    NumpyIntrinsic,
+    build,
+    build_camera_sensor_payload,
+    create_camera_sensor,
+    create_sensor,
+    delete_sensor,
+    get_sensor,
+    load_dataset,
+    load_numpy_calibration,
+    list_records,
+    list_sensors,
+    parse,
+    read_order_manifest,
+    replace_sensors,
+    rpy_degrees_zyx_to_quaternion,
+    save_dataset,
+    update_sensor,
+    update_record,
+    validate_workspace,
+)
+
+__all__ = [
+    "CalibrationRecord",
+    "MDrive4JsonDataset",
+    "MDrive4JsonWorkspaceManager",
+    "NumpyCalibrationDataset",
+    "NumpyExtrinsic",
+    "NumpyIntrinsic",
+    "build",
+    "build_camera_sensor_payload",
+    "create_camera_sensor",
+    "create_sensor",
+    "delete_sensor",
+    "get_sensor",
+    "load_dataset",
+    "load_numpy_calibration",
+    "list_records",
+    "list_sensors",
+    "parse",
+    "read_order_manifest",
+    "replace_sensors",
+    "rpy_degrees_zyx_to_quaternion",
+    "save_dataset",
+    "update_sensor",
+    "update_record",
+    "validate_workspace",
+]
+
+__version__ = "0.0.4"

mdrive4_json/cli.py

@@ -0,0 +1,134 @@
+from __future__ import annotations
+
+import argparse
+import json
+import sys
+from typing import Any
+
+from .core import (
+    build as api_build,
+    iter_summary_rows,
+    load_dataset,
+    parse as api_parse,
+    update_record,
+    validate_workspace as api_validate_workspace,
+)
+
+
+def main(argv: list[str] | None = None) -> int:
+    parser = _build_parser()
+    args = parser.parse_args(argv)
+    try:
+        args.func(args)
+    except ValueError as exc:
+        parser.exit(2, f"error: {exc}\n")
+    return 0
+
+
+def _build_parser() -> argparse.ArgumentParser:
+    parser = argparse.ArgumentParser(
+        prog="mdrive4-json",
+        description="Read and edit mdrive4 JSON calibration files. Extrinsics are sensor->ego.",
+    )
+    subparsers = parser.add_subparsers(dest="command", required=True)
+
+    summary = subparsers.add_parser("summary", help="List sensors and sensor->ego poses")
+    summary.add_argument("input_dir")
+    summary.set_defaults(func=_cmd_summary)
+
+    show = subparsers.add_parser("show", help="Print one sensor JSON")
+    show.add_argument("input_dir")
+    show.add_argument("--sensor", required=True, help="sensor_id, e.g. camera1 or at128p_front")
+    show.set_defaults(func=_cmd_show)
+
+    edit = subparsers.add_parser("edit", help="Edit one sensor JSON")
+    edit.add_argument("input_dir")
+    edit.add_argument("--sensor", required=True, help="sensor_id, e.g. camera1 or at128p_front")
+    edit.add_argument("--set", dest="sets", action="append", required=True, metavar="KEY=VALUE")
+    edit.add_argument("--output-dir")
+    edit.add_argument("--inplace", action="store_true")
+    edit.add_argument("--allow-unknown", action="store_true")
+    edit.set_defaults(func=_cmd_edit)
+
+    parse = subparsers.add_parser("parse", help="Parse JSON directory into a YAML workspace")
+    parse.add_argument("input_dir")
+    parse.add_argument("-o", "--output", dest="workspace_dir", required=True)
+    parse.set_defaults(func=_cmd_parse)
+
+    build = subparsers.add_parser("build", help="Build JSON directory from a YAML workspace")
+    build.add_argument("-i", "--input", dest="workspace_dir", required=True)
+    build.add_argument("-o", "--output", dest="output_dir", required=True)
+    build.set_defaults(func=_cmd_build)
+
+    validate = subparsers.add_parser("validate", help="Validate a YAML workspace")
+    validate.add_argument("-i", "--input", dest="workspace_dir", required=True)
+    validate.set_defaults(func=_cmd_validate)
+    return parser
+
+
+def _cmd_summary(args: argparse.Namespace) -> None:
+    dataset = load_dataset(args.input_dir)
+    print("sensor_id\tfile\tis_valid\tpos\troll\tpitch\tyaw")
+    for sensor_id, file_name, is_valid, pos, roll, pitch, yaw in iter_summary_rows(dataset.records):
+        pos_text = ",".join(f"{value:g}" for value in pos)
+        print(f"{sensor_id}\t{file_name}\t{is_valid}\t[{pos_text}]\t{roll:g}\t{pitch:g}\t{yaw:g}")
+
+
+def _cmd_show(args: argparse.Namespace) -> None:
+    record = load_dataset(args.input_dir).get(args.sensor)
+    print(json.dumps(record.raw, ensure_ascii=False, indent=4))
+
+
+def _cmd_edit(args: argparse.Namespace) -> None:
+    patch = _parse_sets(args.sets)
+    update_record(
+        args.input_dir,
+        args.sensor,
+        patch,
+        output_dir=args.output_dir,
+        inplace=args.inplace,
+        allow_unknown=args.allow_unknown,
+    )
+
+
+def _cmd_parse(args: argparse.Namespace) -> None:
+    _, report = api_parse(args.input_dir, args.workspace_dir)
+    print(json.dumps(report, ensure_ascii=False, indent=2))
+
+
+def _cmd_build(args: argparse.Namespace) -> None:
+    warnings = api_build(args.workspace_dir, args.output_dir)
+    if warnings:
+        print(json.dumps({"warnings": warnings}, ensure_ascii=False, indent=2))
+
+
+def _cmd_validate(args: argparse.Namespace) -> None:
+    report = api_validate_workspace(args.workspace_dir)
+    print(json.dumps(report, ensure_ascii=False, indent=2))
+    if not report.get("valid", False):
+        raise ValueError(f"workspace is invalid: {report.get('errors')}")
+
+
+def _parse_sets(items: list[str]) -> dict[str, Any]:
+    patch: dict[str, Any] = {}
+    for item in items:
+        if "=" not in item:
+            raise ValueError(f"--set must be KEY=VALUE, got {item!r}")
+        key, raw_value = item.split("=", 1)
+        key = key.strip()
+        if not key:
+            raise ValueError(f"--set key is empty in {item!r}")
+        patch[key] = _parse_value(raw_value)
+    return patch
+
+
+def _parse_value(value: str) -> Any:
+    text = value.strip()
+    try:
+        return json.loads(text)
+    except json.JSONDecodeError:
+        return text
+
+
+if __name__ == "__main__":
+    sys.exit(main())