stereo-charuco-pipeline 0.1.0__py3-none-any.whl

recorder/viz_3d.py

@@ -0,0 +1,220 @@
+"""
+3D Visualization module for reconstructed point data.
+
+Loads xyz CSV output from caliscope reconstruction, optionally loads
+wireframe skeleton definitions, and renders animated 3D frames using
+matplotlib (embedded in Tkinter via FigureCanvasTkAgg).
+"""
+from __future__ import annotations
+
+import logging
+from dataclasses import dataclass, field
+from pathlib import Path
+from typing import Optional
+
+import numpy as np
+import pandas as pd
+
+logger = logging.getLogger(__name__)
+
+
+# ============================================================================
+# Data classes
+# ============================================================================
+
+@dataclass
+class WireSegment:
+  """A single wireframe connection between two point IDs."""
+  name: str
+  point_a_id: int
+  point_b_id: int
+  color_rgb: tuple[float, float, float] = (1.0, 1.0, 1.0)
+
+
+@dataclass
+class Viz3DData:
+  """Container for all data needed to render 3D playback."""
+
+  # {sync_index: {point_id: (x, y, z)}}
+  frames: dict[int, dict[int, tuple[float, float, float]]]
+  # Sorted list of sync indices for sequential playback
+  frame_indices: list[int]
+  # Wireframe segments (empty list = points only)
+  segments: list[WireSegment] = field(default_factory=list)
+  # Axis limits: (x_min, x_max, y_min, y_max, z_min, z_max)
+  axis_limits: tuple[float, float, float, float, float, float] = (
+    -1.0, 1.0, -1.0, 1.0, -1.0, 1.0,
+  )
+  # Total frame count
+  num_frames: int = 0
+
+
+# ============================================================================
+# Loading functions
+# ============================================================================
+
+def load_xyz_csv(csv_path: Path) -> Viz3DData:
+  """
+  Load a caliscope xyz CSV file and parse into frame-indexed data.
+
+  CSV columns: sync_index, point_id, x_coord, y_coord, z_coord, frame_time
+  """
+  logger.info(f"Loading xyz CSV: {csv_path}")
+  df = pd.read_csv(csv_path)
+
+  required_cols = {"sync_index", "point_id", "x_coord", "y_coord", "z_coord"}
+  missing = required_cols - set(df.columns)
+  if missing:
+    raise ValueError(f"CSV missing columns: {missing}")
+
+  # Drop rows with NaN coordinates
+  df = df.dropna(subset=["x_coord", "y_coord", "z_coord"])
+
+  # Build frame dictionary
+  frames: dict[int, dict[int, tuple[float, float, float]]] = {}
+  for sync_idx, group in df.groupby("sync_index"):
+    points: dict[int, tuple[float, float, float]] = {}
+    for _, row in group.iterrows():
+      pid = int(row["point_id"])
+      points[pid] = (float(row["x_coord"]), float(row["y_coord"]), float(row["z_coord"]))
+    frames[int(sync_idx)] = points
+
+  frame_indices = sorted(frames.keys())
+
+  # Compute axis limits from all points (with 10% padding)
+  all_x = df["x_coord"].values
+  all_y = df["y_coord"].values
+  all_z = df["z_coord"].values
+
+  x_min, x_max = float(np.min(all_x)), float(np.max(all_x))
+  y_min, y_max = float(np.min(all_y)), float(np.max(all_y))
+  z_min, z_max = float(np.min(all_z)), float(np.max(all_z))
+
+  # Add padding
+  pad_x = max((x_max - x_min) * 0.1, 0.01)
+  pad_y = max((y_max - y_min) * 0.1, 0.01)
+  pad_z = max((z_max - z_min) * 0.1, 0.01)
+
+  axis_limits = (
+    x_min - pad_x, x_max + pad_x,
+    y_min - pad_y, y_max + pad_y,
+    z_min - pad_z, z_max + pad_z,
+  )
+
+  logger.info(f"Loaded {len(frame_indices)} frames, "
+              f"{len(df)} total points")
+
+  return Viz3DData(
+    frames=frames,
+    frame_indices=frame_indices,
+    axis_limits=axis_limits,
+    num_frames=len(frame_indices),
+  )
+
+
+def load_wireframe_for_tracker(tracker_name: str) -> list[WireSegment]:
+  """
+  Load wireframe segments for a given tracker type.
+
+  Uses caliscope's wireframe TOML files. Falls back to empty list
+  (points-only) if no wireframe is defined for the tracker.
+  """
+  try:
+    from caliscope.gui.geometry.wireframe import load_wireframe_config
+    import caliscope
+    caliscope_root = Path(caliscope.__file__).parent
+    toml_path = (
+      caliscope_root / "gui" / "geometry" / "wireframes"
+      / f"{tracker_name.lower()}_wireframe.toml"
+    )
+
+    if not toml_path.exists():
+      logger.info(f"No wireframe TOML for tracker '{tracker_name}', using points only")
+      return []
+
+    config = load_wireframe_config(toml_path)
+    segments = [
+      WireSegment(
+        name=seg.name,
+        point_a_id=seg.point_a_id,
+        point_b_id=seg.point_b_id,
+        color_rgb=seg.color_rgb,
+      )
+      for seg in config.segments
+    ]
+    logger.info(f"Loaded {len(segments)} wireframe segments for '{tracker_name}'")
+    return segments
+
+  except ImportError:
+    logger.warning("caliscope not available, cannot load wireframe")
+    return []
+  except Exception as e:
+    logger.warning(f"Failed to load wireframe for '{tracker_name}': {e}")
+    return []
+
+
+# ============================================================================
+# Rendering
+# ============================================================================
+
+def render_frame(ax, viz_data: Viz3DData, frame_idx: int):
+  """
+  Render a single frame onto a matplotlib 3D Axes.
+
+  Args:
+      ax: matplotlib Axes3D instance
+      viz_data: loaded visualization data
+      frame_idx: index into viz_data.frame_indices (0-based position)
+  """
+  ax.cla()
+
+  if frame_idx < 0 or frame_idx >= viz_data.num_frames:
+    return
+
+  sync_idx = viz_data.frame_indices[frame_idx]
+  points = viz_data.frames.get(sync_idx, {})
+
+  if not points:
+    _apply_axis_limits(ax, viz_data)
+    return
+
+  # Extract coordinates
+  pids = list(points.keys())
+  coords = np.array([points[pid] for pid in pids])
+  xs, ys, zs = coords[:, 0], coords[:, 1], coords[:, 2]
+
+  # Draw points
+  ax.scatter(xs, ys, zs, c="#00BFFF", s=8, alpha=0.8, depthshade=True)
+
+  # Draw wireframe segments
+  if viz_data.segments:
+    point_lookup = points
+    for seg in viz_data.segments:
+      if seg.point_a_id in point_lookup and seg.point_b_id in point_lookup:
+        pa = point_lookup[seg.point_a_id]
+        pb = point_lookup[seg.point_b_id]
+        ax.plot(
+          [pa[0], pb[0]], [pa[1], pb[1]], [pa[2], pb[2]],
+          color=seg.color_rgb, linewidth=1.2, alpha=0.9,
+        )
+
+  _apply_axis_limits(ax, viz_data)
+
+  # Dark theme styling
+  ax.set_facecolor("#1a1a1a")
+  ax.set_xlabel("X", fontsize=7, color="#888888")
+  ax.set_ylabel("Y", fontsize=7, color="#888888")
+  ax.set_zlabel("Z", fontsize=7, color="#888888")
+  ax.tick_params(labelsize=6, colors="#666666")
+  for pane in [ax.xaxis.pane, ax.yaxis.pane, ax.zaxis.pane]:
+    pane.set_facecolor("#222222")
+    pane.set_edgecolor("#444444")
+  ax.grid(True, alpha=0.2)
+
+
+def _apply_axis_limits(ax, viz_data: Viz3DData):
+  """Set consistent axis limits."""
+  lim = viz_data.axis_limits
+  ax.set_xlim(lim[0], lim[1])
+  ax.set_ylim(lim[2], lim[3])
+  ax.set_zlim(lim[4], lim[5])

stereo_charuco_pipeline-0.1.0.dist-info/METADATA

@@ -0,0 +1,10 @@
+Metadata-Version: 2.4
+Name: stereo-charuco-pipeline
+Version: 0.1.0
+Summary: Stereo ChArUco 3D motion capture pipeline with auto-calibration
+Requires-Python: <3.13,>=3.10
+Requires-Dist: caliscope>=0.6.9
+Requires-Dist: matplotlib>=3.7.0
+Requires-Dist: opencv-contrib-python>=4.8.0.74
+Requires-Dist: pillow>=10.0.0
+Requires-Dist: pyyaml>=6.0

stereo_charuco_pipeline-0.1.0.dist-info/RECORD

@@ -0,0 +1,19 @@
+recorder/__init__.py,sha256=uVaF6VHhg-JlMfpey8mbT_EMMEwyzFdGeoF69lIE3nY,2659
+recorder/auto_calibrate.py,sha256=aRA9LRkQRLzWQy-oL9qJZWN1BBM54SVezBgQd-oztp0,18318
+recorder/calibration_ui.py,sha256=xh-qQkxir2TprzvbRObd3CQKbAJVhyeNtQXtuMKyv78,40224
+recorder/calibration_ui_advanced.py,sha256=C5hey8QZYPTzXb2549-8th5voXOFvjdU7S63Y2wPD5E,40480
+recorder/camera.py,sha256=Q9C12QYNwD-6typOWVK3-bIiNC3r6NVaxCv9s381wyY,1392
+recorder/cli.py,sha256=wGj9zdStCpmdVgBR1RQ6q0BDz0l4QVBhdlxHSzleiB0,3839
+recorder/config.py,sha256=dN2khzDYT7Bbawo3X9aNRbgTrCykVfX4R1z8yMcetxM,2158
+recorder/ffmpeg.py,sha256=wmUXlPqVBo6K8S5mrGad2_aqVTqrgv0cTNtpc3D1918,3397
+recorder/paths.py,sha256=7AoEKZb_NlvCRkv_A1UERC6bF_AalALaVDVPuLQpito,2671
+recorder/pipeline_ui.py,sha256=4Os5fhCh90y1z-lIBWMi20YFCqLIAdG533VdVTdNuVU,65931
+recorder/project_manager.py,sha256=_TXzBKDRpnb9hhYTmjsY8PjvRrWJGxLgH2gwD78YLV4,10438
+recorder/smart_recorder.py,sha256=JBQspi44uk8QgAPUmO3r3j9_mEiO01GMp4j6jx1Qeyo,16590
+recorder/ui.py,sha256=Kw5ci9l9JimJ5Uf1HuKk_Upik3rO3AcAsPn-XrKcNSM,4329
+recorder/viz_3d.py,sha256=hfrWKRm0sHGdcij2kuc57hgYpqXpBBkmHUCAmzfKXJ4,6956
+recorder/configs/default.yaml,sha256=itVzn19PZQ90h0FtTQ5sfKA-nPgiVxlss8tZZbbQYnA,544
+stereo_charuco_pipeline-0.1.0.dist-info/METADATA,sha256=KcdCmctKZydW6WJfao7Qt3il4Pa4rlsP2Srgn2ER3fI,339
+stereo_charuco_pipeline-0.1.0.dist-info/WHEEL,sha256=WLgqFyCfm_KASv4WHyYy0P3pM_m7J5L9k2skdKLirC8,87
+stereo_charuco_pipeline-0.1.0.dist-info/entry_points.txt,sha256=f7I33mf6XwGP_dwaqCjRIFKGi8ZyePBb52rdylR7d54,144
+stereo_charuco_pipeline-0.1.0.dist-info/RECORD,,

stereo_charuco_pipeline-0.1.0.dist-info/WHEEL

@@ -0,0 +1,4 @@
+Wheel-Version: 1.0
+Generator: hatchling 1.28.0
+Root-Is-Purelib: true
+Tag: py3-none-any

stereo_charuco_pipeline-0.1.0.dist-info/entry_points.txt

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+[console_scripts]
+stereo-calibrate = recorder.cli:calibrate_only
+stereo-pipeline = recorder.cli:main
+stereo-record = recorder.cli:pipeline_only