sensorcal 0.1.1__tar.gz

sensorcal-0.1.1/PKG-INFO

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+Metadata-Version: 2.4
+Name: sensorcal
+Version: 0.1.1
+Summary: SensorCal package
+Author-email: Murdism <murdiszm@gmail.com>
+License: MIT
+Project-URL: Homepage, https://example.com
+Classifier: Programming Language :: Python :: 3
+Classifier: License :: OSI Approved :: MIT License
+Classifier: Operating System :: OS Independent
+Requires-Python: >=3.10
+Description-Content-Type: text/markdown
+Requires-Dist: numpy
+Requires-Dist: pyyaml
+Requires-Dist: opencv-python
+Requires-Dist: open3d
+Requires-Dist: pillow
+
+# interactive_camera_lidar_calibration
+
+Python package scaffold for `sensorcal`.
+
+## Install (editable)
+
+```bash
+python -m pip install -e .
+```
+
+## Install (pip)
+
+```bash
+python -m pip install sensorcal
+```
+
+## Usage
+
+Single image + pcd:
+
+```bash
+sensorcal recalibrate \
+  --config path/to/calibrate.yaml \
+  --image path/to/img_001.png \
+  --pcd path/to/pc_001.pcd
+```
+
+Single image + pcd with parameters (no config):
+
+```bash
+sensorcal recalibrate \
+  --image path/to/img_001.png \
+  --pcd path/to/pc_001.pcd \
+  --intrinsic-k 600 0 640 0 600 360 0 0 1 \
+  --lidar-camera 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1
+```
+
+Folder mode:
+
+```bash
+sensorcal recalibrate \
+  --config path/to/calibrate.yaml \
+  --image-folder path/to/images \
+  --pcd-folder path/to/pcds
+```
+
+Sample data (3 images + 3 PCDs bundled in `samples/`):
+
+```bash
+sensorcal recalibrate --use-sample
+```
+
+If you run `sensorcal recalibrate` with no arguments, it defaults to the sample data.
+
+## Input Structure
+
+You can provide inputs in two ways:
+
+1) Direct CLI arguments
+- Single pair:
+  - `--image path/to/img.png`
+  - `--pcd path/to/cloud.pcd`
+- Folder mode (paired by sorted filename order):
+  - `--image-folder path/to/images`
+  - `--pcd-folder path/to/pcds`
+
+2) YAML config file (`--config path/to/calibrate.yaml`)
+
+### Expected YAML structure
+
+```yaml
+transform:
+  # 3x3 camera intrinsics in row-major order
+  intrinsic_k: [fx, 0, cx, 0, fy, cy, 0, 0, 1]
+
+  # 4x4 LiDAR-to-camera transform in row-major order
+  lidar_camera: [r00, r01, r02, tx,
+                 r10, r11, r12, ty,
+                 r20, r21, r22, tz,
+                 0,   0,   0,   1]
+
+path:
+  # Optional defaults for folder mode
+  img_folder: /abs/or/relative/path/to/images
+  pcd_folder: /abs/or/relative/path/to/pcds
+```
+
+### Notes
+
+- If you pass `--intrinsic-k` or `--lidar-camera` on the CLI, those override the config file.
+- If you pass both `--image/--pcd` and folder paths, the single pair wins.
+- For folder mode, files are paired by **sorted filename order**, so keep names aligned.
+
+## Python (pip installed)
+
+```python
+from sensorcal.app import SensorCalApp
+
+app = SensorCalApp(
+    config_path="path/to/calibrate.yaml",
+    intrinsic_k=None,
+    lidar_camera=None,
+    image_path="path/to/img_001.png",
+    pcd_path="path/to/pc_001.pcd",
+    image_folder=None,
+    pcd_folder=None,
+    save_file="calibration_results.yaml",
+)
+app.process()
+```
+
+## Controls
+
+- Single-window Tkinter app with live sliders, buttons, and dark mode toggle
+- Sliders: tx/ty/tz (meters), roll/pitch/yaw (degrees), alpha, point size
+- Density toggle: overlays a heatmap of point concentration (helps reveal clusters)
+- Keyboard: A/D (X-/X+), W/S (Y-/Y+), Q/E (Z-/Z+)
+- Rotate: J/L (roll-/+), I/K (pitch-/+), U/O (yaw-/+)
+- Buttons: Prev, Next, Original, Save
+- Save writes YAML plus a sibling `.txt` containing K and the transform.
+
+## Python API
+
+```python
+
+app = InteractiveCalibration(
+    config_path="path/to/calibrate.yaml",
+    intrinsic_k=None,
+    lidar_camera=None,
+    image_path="path/to/img_001.png",
+    pcd_path="path/to/pc_001.pcd",
+    image_folder=None,
+    pcd_folder=None,
+    save_file="transformations.yaml",
+)
+app.process()
+```

sensorcal-0.1.1/README.md

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+# interactive_camera_lidar_calibration
+
+Python package scaffold for `sensorcal`.
+
+## Install (editable)
+
+```bash
+python -m pip install -e .
+```
+
+## Install (pip)
+
+```bash
+python -m pip install sensorcal
+```
+
+## Usage
+
+Single image + pcd:
+
+```bash
+sensorcal recalibrate \
+  --config path/to/calibrate.yaml \
+  --image path/to/img_001.png \
+  --pcd path/to/pc_001.pcd
+```
+
+Single image + pcd with parameters (no config):
+
+```bash
+sensorcal recalibrate \
+  --image path/to/img_001.png \
+  --pcd path/to/pc_001.pcd \
+  --intrinsic-k 600 0 640 0 600 360 0 0 1 \
+  --lidar-camera 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1
+```
+
+Folder mode:
+
+```bash
+sensorcal recalibrate \
+  --config path/to/calibrate.yaml \
+  --image-folder path/to/images \
+  --pcd-folder path/to/pcds
+```
+
+Sample data (3 images + 3 PCDs bundled in `samples/`):
+
+```bash
+sensorcal recalibrate --use-sample
+```
+
+If you run `sensorcal recalibrate` with no arguments, it defaults to the sample data.
+
+## Input Structure
+
+You can provide inputs in two ways:
+
+1) Direct CLI arguments
+- Single pair:
+  - `--image path/to/img.png`
+  - `--pcd path/to/cloud.pcd`
+- Folder mode (paired by sorted filename order):
+  - `--image-folder path/to/images`
+  - `--pcd-folder path/to/pcds`
+
+2) YAML config file (`--config path/to/calibrate.yaml`)
+
+### Expected YAML structure
+
+```yaml
+transform:
+  # 3x3 camera intrinsics in row-major order
+  intrinsic_k: [fx, 0, cx, 0, fy, cy, 0, 0, 1]
+
+  # 4x4 LiDAR-to-camera transform in row-major order
+  lidar_camera: [r00, r01, r02, tx,
+                 r10, r11, r12, ty,
+                 r20, r21, r22, tz,
+                 0,   0,   0,   1]
+
+path:
+  # Optional defaults for folder mode
+  img_folder: /abs/or/relative/path/to/images
+  pcd_folder: /abs/or/relative/path/to/pcds
+```
+
+### Notes
+
+- If you pass `--intrinsic-k` or `--lidar-camera` on the CLI, those override the config file.
+- If you pass both `--image/--pcd` and folder paths, the single pair wins.
+- For folder mode, files are paired by **sorted filename order**, so keep names aligned.
+
+## Python (pip installed)
+
+```python
+from sensorcal.app import SensorCalApp
+
+app = SensorCalApp(
+    config_path="path/to/calibrate.yaml",
+    intrinsic_k=None,
+    lidar_camera=None,
+    image_path="path/to/img_001.png",
+    pcd_path="path/to/pc_001.pcd",
+    image_folder=None,
+    pcd_folder=None,
+    save_file="calibration_results.yaml",
+)
+app.process()
+```
+
+## Controls
+
+- Single-window Tkinter app with live sliders, buttons, and dark mode toggle
+- Sliders: tx/ty/tz (meters), roll/pitch/yaw (degrees), alpha, point size
+- Density toggle: overlays a heatmap of point concentration (helps reveal clusters)
+- Keyboard: A/D (X-/X+), W/S (Y-/Y+), Q/E (Z-/Z+)
+- Rotate: J/L (roll-/+), I/K (pitch-/+), U/O (yaw-/+)
+- Buttons: Prev, Next, Original, Save
+- Save writes YAML plus a sibling `.txt` containing K and the transform.
+
+## Python API
+
+```python
+
+app = InteractiveCalibration(
+    config_path="path/to/calibrate.yaml",
+    intrinsic_k=None,
+    lidar_camera=None,
+    image_path="path/to/img_001.png",
+    pcd_path="path/to/pc_001.pcd",
+    image_folder=None,
+    pcd_folder=None,
+    save_file="transformations.yaml",
+)
+app.process()
+```

sensorcal-0.1.1/pyproject.toml

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+[build-system]
+requires = ["setuptools>=69", "wheel"]
+build-backend = "setuptools.build_meta"
+
+[project]
+name = "sensorcal"
+version = "0.1.1"
+description = "SensorCal package"
+readme = "README.md"
+requires-python = ">=3.10"
+license = { text = "MIT" }
+authors = [{ name = "Murdism", email = "murdiszm@gmail.com" }]
+classifiers = [
+  "Programming Language :: Python :: 3",
+  "License :: OSI Approved :: MIT License",
+  "Operating System :: OS Independent",
+]
+dependencies = [
+  "numpy",
+  "pyyaml",
+  "opencv-python",
+  "open3d",
+  "pillow",
+]
+
+[project.urls]
+Homepage = "https://example.com"
+
+[project.scripts]
+sensorcal = "sensorcal.cli:main"
+
+[tool.setuptools]
+package-dir = {"" = "src"}
+
+[tool.setuptools.packages.find]
+where = ["src"]
+
+[tool.pytest.ini_options]
+testpaths = ["tests"]

sensorcal-0.1.1/setup.cfg

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+[egg_info]
+tag_build = 
+tag_date = 0
+

sensorcal-0.1.1/src/sensorcal/__init__.py

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+"""SensorCal package."""
+
+from .app import SensorCalApp
+
+__all__ = ["__version__", "SensorCalApp"]
+
+__version__ = "0.1.0"