pymvis 0.1.0__py3-none-any.whl

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Files changed (229) hide show
  1. mvis/__init__.py +20 -0
  2. mvis/analysis/__init__.py +22 -0
  3. mvis/analysis/cam_imu_report.py +1046 -0
  4. mvis/analysis/display_frame.py +58 -0
  5. mvis/analysis/generate_report.py +309 -0
  6. mvis/analysis/html_report.py +898 -0
  7. mvis/analysis/imu_correlation.py +128 -0
  8. mvis/analysis/motion_analysis.py +277 -0
  9. mvis/analysis/plot_3d.py +1136 -0
  10. mvis/analysis/plot_errors.py +1116 -0
  11. mvis/analysis/pose_images.py +245 -0
  12. mvis/analysis/reference.py +100 -0
  13. mvis/analysis/regenerate_html.py +500 -0
  14. mvis/analysis/report.py +97 -0
  15. mvis/analysis/report_shell.py +1067 -0
  16. mvis/analysis/reprojection_error.py +83 -0
  17. mvis/analysis/rerun_viz.py +298 -0
  18. mvis/analysis/verdict.py +251 -0
  19. mvis/analysis/views/__init__.py +26 -0
  20. mvis/analysis/views/assets/views.css +76 -0
  21. mvis/analysis/views/assets/views.js +495 -0
  22. mvis/analysis/views/geometry.py +174 -0
  23. mvis/analysis/views/html.py +60 -0
  24. mvis/analysis/views/legacy.py +152 -0
  25. mvis/analysis/views/spec.py +385 -0
  26. mvis/calibration/__init__.py +21 -0
  27. mvis/calibration/board_shape.py +39 -0
  28. mvis/calibration/cam_imu_init.py +1092 -0
  29. mvis/calibration/cam_run.py +754 -0
  30. mvis/calibration/corner_accounting.py +272 -0
  31. mvis/calibration/factors/__init__.py +20 -0
  32. mvis/calibration/factors/_calib_memo.py +137 -0
  33. mvis/calibration/factors/aci.py +640 -0
  34. mvis/calibration/factors/camera_calib.py +161 -0
  35. mvis/calibration/factors/camera_feature_factor.py +224 -0
  36. mvis/calibration/factors/camera_imu_factor.py +427 -0
  37. mvis/calibration/factors/camera_interp_factor.py +259 -0
  38. mvis/calibration/factors/camera_intrinsics.py +49 -0
  39. mvis/calibration/factors/camera_projection.py +218 -0
  40. mvis/calibration/factors/corner_reproj.py +85 -0
  41. mvis/calibration/factors/custom_projections.py +916 -0
  42. mvis/calibration/factors/imu_calib.py +84 -0
  43. mvis/calibration/factors/imu_factor.py +231 -0
  44. mvis/calibration/factors/imu_factor_gyro.py +179 -0
  45. mvis/calibration/factors/imu_factor_multi.py +213 -0
  46. mvis/calibration/factors/imu_segment.py +261 -0
  47. mvis/calibration/factors/lie_groups.py +301 -0
  48. mvis/calibration/factors/numdiff.py +72 -0
  49. mvis/calibration/factors/pose_interpolation.py +173 -0
  50. mvis/calibration/factors/projection.py +74 -0
  51. mvis/calibration/init_frame_selector.py +184 -0
  52. mvis/calibration/initializer.py +1125 -0
  53. mvis/calibration/lm_params.py +97 -0
  54. mvis/calibration/lm_progress.py +113 -0
  55. mvis/calibration/lm_rescue.py +99 -0
  56. mvis/calibration/mono_sfm.py +507 -0
  57. mvis/calibration/multi_board_init.py +178 -0
  58. mvis/calibration/multi_board_pipeline.py +159 -0
  59. mvis/calibration/omni_schedule.py +120 -0
  60. mvis/calibration/optimizer.py +1056 -0
  61. mvis/calibration/outlier_rejection.py +223 -0
  62. mvis/calibration/pipeline_cam.py +2236 -0
  63. mvis/calibration/pipeline_cam_imu.py +2365 -0
  64. mvis/calibration/pose_alignment.py +955 -0
  65. mvis/calibration/reproj_stats.py +58 -0
  66. mvis/calibration/result_projector.py +179 -0
  67. mvis/calibration/selection_ledger.py +188 -0
  68. mvis/calibration/sensor_clock.py +153 -0
  69. mvis/calibration/state_dump.py +441 -0
  70. mvis/calibration/tga_relin.py +168 -0
  71. mvis/camera/__init__.py +28 -0
  72. mvis/camera/camera_model.py +241 -0
  73. mvis/camera/double_sphere.py +80 -0
  74. mvis/camera/eucm.py +78 -0
  75. mvis/camera/fov_model.py +76 -0
  76. mvis/camera/kb4.py +69 -0
  77. mvis/camera/kb_domain.py +115 -0
  78. mvis/camera/normalized_points.py +64 -0
  79. mvis/camera/omni_radtan.py +75 -0
  80. mvis/camera/pinhole_equidistant.py +115 -0
  81. mvis/camera/pinhole_radtan.py +113 -0
  82. mvis/camera/ucm.py +87 -0
  83. mvis/cli/__init__.py +27 -0
  84. mvis/cli/blas_threads.py +142 -0
  85. mvis/cli/main.py +1101 -0
  86. mvis/core/__init__.py +26 -0
  87. mvis/core/camera_models.py +231 -0
  88. mvis/core/config.py +754 -0
  89. mvis/core/config_parser.py +479 -0
  90. mvis/core/config_validator.py +122 -0
  91. mvis/core/eigen_cache.py +132 -0
  92. mvis/core/paths.py +34 -0
  93. mvis/core/rotation.py +31 -0
  94. mvis/core/shutter.py +69 -0
  95. mvis/core/system_info.py +161 -0
  96. mvis/core/timing.py +173 -0
  97. mvis/core/types.py +171 -0
  98. mvis/datasets/__init__.py +27 -0
  99. mvis/datasets/catalog.py +323 -0
  100. mvis/datasets/cli.py +121 -0
  101. mvis/datasets/conversion.py +150 -0
  102. mvis/datasets/converters/__init__.py +44 -0
  103. mvis/datasets/converters/archive.py +99 -0
  104. mvis/datasets/converters/euroc_folder_to_rosbag.py +183 -0
  105. mvis/datasets/converters/gilabs_mcap.py +195 -0
  106. mvis/datasets/converters/image_folder_to_rosbag.py +78 -0
  107. mvis/datasets/converters/looper_mav0.py +221 -0
  108. mvis/datasets/converters/mcap_to_euroc_folder.py +41 -0
  109. mvis/datasets/converters/penncosyvio_to_rosbag.py +129 -0
  110. mvis/datasets/converters/rosbag_mono16_to_mono8.py +74 -0
  111. mvis/datasets/converters/rosbag_to_mcap.py +39 -0
  112. mvis/datasets/converters/tumvie_to_euroc_folder.py +76 -0
  113. mvis/datasets/dataset_catalog.json +2015 -0
  114. mvis/datasets/download.py +192 -0
  115. mvis/datasets/huggingface.py +214 -0
  116. mvis/datasets/recipe_export.py +217 -0
  117. mvis/detection/__init__.py +36 -0
  118. mvis/detection/apriltag_board.py +644 -0
  119. mvis/detection/apriltag_features.py +159 -0
  120. mvis/detection/aruco_board.py +236 -0
  121. mvis/detection/aruco_features.py +168 -0
  122. mvis/detection/board.py +112 -0
  123. mvis/detection/board_factory.py +86 -0
  124. mvis/detection/boards.py +33 -0
  125. mvis/detection/chessboard.py +130 -0
  126. mvis/detection/corner_subsample.py +236 -0
  127. mvis/detection/detectors.py +92 -0
  128. mvis/detection/frame_quality.py +499 -0
  129. mvis/detection/frontend.py +43 -0
  130. mvis/detection/quality.py +24 -0
  131. mvis/detection/quality_gate.py +346 -0
  132. mvis/detection/sweep.py +60 -0
  133. mvis/doctor/__init__.py +17 -0
  134. mvis/doctor/check_config.py +337 -0
  135. mvis/doctor/findings.py +44 -0
  136. mvis/doctor/inspect.py +292 -0
  137. mvis/imu/__init__.py +31 -0
  138. mvis/imu/allan.py +79 -0
  139. mvis/imu/calyx.py +54 -0
  140. mvis/imu/imu_model.py +517 -0
  141. mvis/imu/kalibr.py +52 -0
  142. mvis/imu/resample.py +61 -0
  143. mvis/imu/rpng.py +52 -0
  144. mvis/io/__init__.py +42 -0
  145. mvis/io/basalt.py +185 -0
  146. mvis/io/cam_imu_loader.py +357 -0
  147. mvis/io/cam_imu_output.py +258 -0
  148. mvis/io/camera_input.py +181 -0
  149. mvis/io/capture_key.py +58 -0
  150. mvis/io/compressed_image.py +85 -0
  151. mvis/io/data_loader.py +97 -0
  152. mvis/io/data_source.py +93 -0
  153. mvis/io/detection_cache.py +208 -0
  154. mvis/io/detection_pipeline.py +867 -0
  155. mvis/io/euroc_image_source.py +100 -0
  156. mvis/io/fileutil.py +44 -0
  157. mvis/io/frame_detector.py +64 -0
  158. mvis/io/frame_selector.py +314 -0
  159. mvis/io/image_decode.py +158 -0
  160. mvis/io/image_source.py +75 -0
  161. mvis/io/imu_reader.py +43 -0
  162. mvis/io/kalibr.py +312 -0
  163. mvis/io/output_writer.py +291 -0
  164. mvis/io/result_schema.py +139 -0
  165. mvis/io/ros1_bag_source.py +70 -0
  166. mvis/io/ros2_bag_source.py +92 -0
  167. mvis/io/ros_stamp.py +40 -0
  168. mvis/io/safe_yaml.py +102 -0
  169. mvis/io/segment_select.py +66 -0
  170. mvis/io/sensor_clock.py +98 -0
  171. mvis/io/stream_store.py +184 -0
  172. mvis/io/timestamped_image_source.py +65 -0
  173. mvis/mvisdb/__init__.py +28 -0
  174. mvis/mvisdb/bridge.py +192 -0
  175. mvis/mvisdb/estimates.py +284 -0
  176. mvis/mvisdb/exports.py +140 -0
  177. mvis/mvisdb/manager.py +719 -0
  178. mvis/mvisdb/migrations/__init__.py +61 -0
  179. mvis/mvisdb/migrations/m0001_initial.py +26 -0
  180. mvis/mvisdb/migrations/m0002_cam_only_base_state.py +45 -0
  181. mvis/mvisdb/migrations/m0003_reproj_stats.py +34 -0
  182. mvis/mvisdb/mvisdatabase.py +775 -0
  183. mvis/mvisdb/schema.sql +303 -0
  184. mvis/mvisdb/shim.py +159 -0
  185. mvis/mvisdb/spec.py +143 -0
  186. mvis/recalib/__init__.py +29 -0
  187. mvis/recalib/apply.py +381 -0
  188. mvis/recalib/bagio.py +84 -0
  189. mvis/recalib/calib_spec.py +174 -0
  190. mvis/recalib/correct_imu.py +35 -0
  191. mvis/recalib/prior.py +90 -0
  192. mvis/recalib/provenance.py +59 -0
  193. mvis/recalib/restamp.py +36 -0
  194. mvis/recalib/restamp_sensor_clock.py +329 -0
  195. mvis/recalib/result_metrics.py +149 -0
  196. mvis/recalib/roundtrip.py +227 -0
  197. mvis/recalib/sensor_map.py +97 -0
  198. mvis/recalib/undistort.py +65 -0
  199. mvis/simulation/__init__.py +68 -0
  200. mvis/simulation/bspline_se3.py +184 -0
  201. mvis/simulation/camera_measurements.py +183 -0
  202. mvis/simulation/config.py +198 -0
  203. mvis/simulation/data/examples/twin_gs/README.md +33 -0
  204. mvis/simulation/data/examples/twin_gs/setup.yaml +78 -0
  205. mvis/simulation/data/examples/twin_gs/trajectory.txt +1522 -0
  206. mvis/simulation/data/gt_3cam.json +1 -0
  207. mvis/simulation/data/trajectories/sine_3d.txt +5983 -0
  208. mvis/simulation/examples.py +183 -0
  209. mvis/simulation/from_result.py +220 -0
  210. mvis/simulation/imu_measurements.py +168 -0
  211. mvis/simulation/multi_board.py +482 -0
  212. mvis/simulation/multicam.py +132 -0
  213. mvis/simulation/noise.py +95 -0
  214. mvis/simulation/report.py +221 -0
  215. mvis/simulation/run.py +169 -0
  216. mvis/simulation/scenario.py +150 -0
  217. mvis/simulation/synth.py +237 -0
  218. mvis/simulation/trajectories.py +65 -0
  219. mvis/simulation/trajectory_io.py +107 -0
  220. mvis/simulation/twin.py +515 -0
  221. mvis/simulation/video.py +735 -0
  222. mvis/simulation/visualization.py +124 -0
  223. pymvis-0.1.0.dist-info/METADATA +625 -0
  224. pymvis-0.1.0.dist-info/RECORD +229 -0
  225. pymvis-0.1.0.dist-info/WHEEL +5 -0
  226. pymvis-0.1.0.dist-info/entry_points.txt +2 -0
  227. pymvis-0.1.0.dist-info/licenses/COMMERCIAL-LICENSE.md +40 -0
  228. pymvis-0.1.0.dist-info/licenses/LICENSE +674 -0
  229. pymvis-0.1.0.dist-info/top_level.txt +1 -0
mvis/__init__.py ADDED
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+ # OpenMVIS: A Multi-Visual-Inertial Sensor Calibration Benchmark
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+ # Copyright (C) 2026 Yulin Yang
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+ #
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+ # This program is free software: you can redistribute it and/or modify
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+ # it under the terms of the GNU General Public License as published by
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+ # the Free Software Foundation, version 3 of the License.
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+ #
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+ # This program is distributed in the hope that it will be useful,
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+ # but WITHOUT ANY WARRANTY; without even the implied warranty of
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+ # MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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+ # GNU General Public License for more details.
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+ #
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+ # You should have received a copy of the GNU General Public License
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+ # along with this program. If not, see <https://www.gnu.org/licenses/>.
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+ #
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+ # SPDX-FileCopyrightText: 2026 Yulin Yang <contact@openmvis.com>
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+ # SPDX-License-Identifier: GPL-3.0-only
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+ """MVIS — Camera Calibration Toolbox."""
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+
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+ __version__ = "0.1.0"
mvis/analysis/__init__.py ADDED
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+ # OpenMVIS: A Multi-Visual-Inertial Sensor Calibration Benchmark
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+ # Copyright (C) 2026 Yulin Yang
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+ #
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+ # This program is free software: you can redistribute it and/or modify
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+ # it under the terms of the GNU General Public License as published by
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+ # the Free Software Foundation, version 3 of the License.
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+ #
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+ # This program is distributed in the hope that it will be useful,
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+ # but WITHOUT ANY WARRANTY; without even the implied warranty of
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+ # MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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+ # GNU General Public License for more details.
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+ #
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+ # You should have received a copy of the GNU General Public License
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+ # along with this program. If not, see <https://www.gnu.org/licenses/>.
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+ #
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+ # SPDX-FileCopyrightText: 2026 Yulin Yang <contact@openmvis.com>
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+ # SPDX-License-Identifier: GPL-3.0-only
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+ """Calibration analysis and reporting."""
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+
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+ from mvis.analysis.reprojection_error import compute_reprojection_errors
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+ from mvis.analysis.report import print_report
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+ from mvis.analysis.generate_report import generate_calibration_report