Fix py_structs import errors across codebase

multical/app/calibrate.py

@@ -2,7 +2,7 @@
 from multical.io.logging import setup_logging
 from .vis import visualize_ws
 
-from structs.struct import struct, map_none, to_structs
+from py_structs import struct, map_none, to_structs
 import numpy as np
 
 from multical.config import *

multical/app/intrinsic.py

@@ -8,10 +8,10 @@
 from multical.io.logging import setup_logging
 from multical.io.logging import info
 
-from structs.struct import  map_list, pformat_struct, split_dict
+from py_structs import struct, map_list, pformat_struct, split_dict
 from multical import image
 
-from structs.numpy import struct, shape
+from py_structs.numpy import shape
 
 from multical.config.arguments import *
 

multical/board/__init__.py

@@ -8,7 +8,7 @@
 from typing import Tuple
 
 from omegaconf.omegaconf import OmegaConf, MISSING
-from structs.struct import struct
+from py_structs import struct
 
 from multical.io.logging import debug, info, error
 

multical/board/aprilgrid.py

@@ -2,14 +2,14 @@
 
 from multical.io.logging import error
 from multical.board.board import Board
-from structs.numpy import Table
+from py_structs.numpy import Table
 from multical.board.common import *
 from pprint import pformat
 from cached_property import cached_property
 import cv2
 import numpy as np
 
-from structs.struct import struct, choose, subset
+from py_structs import struct, choose, subset
 from multical.optimization.parameters import Parameters
 
 

multical/board/board.py

@@ -1,6 +1,6 @@
 from cached_property import cached_property
 import numpy as np
-from structs.struct import struct
+from py_structs import struct
 
 class Board(object):
 

multical/board/charuco.py

@@ -5,7 +5,7 @@
 import numpy as np
 from .common import *
 
-from structs.struct import struct, choose, subset
+from py_structs import struct, choose, subset
 from multical.optimization.parameters import Parameters
 
 class CharucoBoard(Parameters, Board):

multical/board/common.py

@@ -2,7 +2,7 @@
 import numpy as np
 
 
-from structs.struct import struct
+from py_structs import struct
 from multical.transform import rtvec
 
 

multical/camera.py

@@ -3,15 +3,15 @@
 from cached_property import cached_property
 import numpy as np
 import cv2
-from structs.numpy import shape
+from py_structs.numpy import shape
 
-from structs.struct import subset, transpose_structs, transpose_lists
+from py_structs import subset, transpose_structs, transpose_lists
 
 from pprint import pformat
 
 from .transform import rtvec, matrix
 
-from structs.struct import struct
+from py_structs import struct
 from .optimization.parameters import Parameters
 
 from multiprocessing.pool import ThreadPool
@@ -20,7 +20,7 @@
 import cv2
 from tqdm import tqdm
 
-from structs.struct import split_list
+from py_structs import split_list
 
 
 

multical/camera_fisheye.py

@@ -2,17 +2,17 @@
 import operator
 from cached_property import cached_property
 import numpy as np
-from structs.numpy import shape
+from py_structs.numpy import shape
 
-from structs.struct import subset, transpose_structs, transpose_lists
+from py_structs import subset, transpose_structs, transpose_lists
 
 from pprint import pformat
 
 
 from . import camera
 from .transform import rtvec, matrix
 
-from structs.struct import struct
+from py_structs import struct
 from .optimization.parameters import Parameters
 
 from multiprocessing.pool import ThreadPool
@@ -21,7 +21,7 @@
 import cv2
 from tqdm import tqdm
 
-from structs.struct import split_list
+from py_structs import split_list
 
 
 
@@ -202,4 +202,4 @@ def stereo_calibrate_fisheye(cameras, matches, max_iter=60, eps=1e-6,
   left = CameraFisheye(dist=d1, intrinsic=K1, image_size=image_size, model=model)
   right = CameraFisheye(dist=d2, intrinsic=K2, image_size=image_size, model=model)
 
-  return left, right, matrix.join(R, T.flatten()), err
+  return left, right, matrix.join(R, T.flatten()), err

multical/config/arguments.py

@@ -4,7 +4,7 @@
 import os
 from typing import List, Optional, Union
 
-from structs.struct import Struct
+from py_structs import Struct
 
 from simple_parsing import ArgumentParser, choice
 from simple_parsing.helpers import list_field

multical/config/runtime.py

@@ -3,7 +3,7 @@
 from multical.io.logging import info
 from os import path
 
-from structs.struct import struct
+from py_structs import struct
 from multical.board import load_config, load_calico
 
 

multical/config/workspace.py

@@ -1,4 +1,4 @@
-from structs.struct import map_none
+from py_structs import map_none
 from multical.io.import_calib import load_calibration
 from multical.motion.static_frames import StaticFrames
 from multical.motion.rolling_frames import RollingFrames
@@ -52,4 +52,4 @@ def optimize(ws : Workspace, opt : OptimizerOpts = OptimizerOpts()):
     auto_scale=opt.auto_scale, 
     outlier_threshold=opt.outlier_threshold, quantile=opt.outlier_quantile)
 
-  return ws
+  return ws

multical/display.py

@@ -4,7 +4,7 @@
 from .transform import rtvec
 from . import tables
 
-from structs.struct import struct
+from py_structs import struct
 from .image.display import display_stacked
 import palettable.colorbrewer.qualitative as palettes
 
@@ -89,4 +89,4 @@ def draw_detections(image, detections, **options):
 def display_boards(boards, pixels_mm=1):
 
   board_images = [board.draw(pixels_mm=pixels_mm) for board in boards]
-  display_stacked(board_images)
+  display_stacked(board_images)

multical/image/detect.py

@@ -8,7 +8,7 @@
 from multical.camera import  stereo_calibrate
 from multical.threading import parmap_lists
 
-from structs.struct import transpose_structs, struct, filter_none
+from py_structs import transpose_structs, struct, filter_none
 
 def load_image(filename):
   assert path.isfile(filename), f"load_image: file {filename} does not exist"

multical/io/detections.py

@@ -2,7 +2,7 @@
 import pickle
 from multical.io.logging import info
 
-from structs.struct import struct
+from py_structs import struct
 
 def try_load_detections(filename, cache_key={}):
   try:
@@ -24,4 +24,4 @@ def write_detections(filename, detected_points, cache_key={}):
     detected_points = detected_points
   )
   with open(filename, "wb") as file:
-    pickle.dump(data, file)
+    pickle.dump(data, file)

multical/io/export_calib.py

@@ -2,7 +2,7 @@
 from os import path
 import numpy as np
 
-from structs.struct import struct, to_dicts, transpose_lists
+from py_structs import struct, to_dicts, transpose_lists
 from multical.transform import matrix
 
 

multical/io/import_calib.py

@@ -1,7 +1,7 @@
 import json
 import numpy as np
 
-from structs.struct import struct, to_structs
+from py_structs import struct, to_structs
 from multical.transform import matrix
 
 from multical.camera import Camera
@@ -93,4 +93,4 @@ def import_cameras(calib_data):
 
 def load_calibration(filename):
   calib_data = load_json(filename)
-  return import_cameras(calib_data)
+  return import_cameras(calib_data)

multical/io/logging.py

@@ -6,7 +6,7 @@
 from copy import copy
 
 import numpy as np
-from structs.struct import struct
+from py_structs import struct
 
 logger = logging.getLogger("calibration")
 

multical/motion/hand_eye.py

@@ -1,6 +1,6 @@
 from multical.motion.static_frames import project_points
 import numpy as np
-from structs.struct import struct, subset
+from py_structs import struct, subset
 from multical import tables
 from multical.io.export_calib import export_poses
 from multical.optimization.parameters import IndexMapper, Parameters
@@ -104,4 +104,4 @@ def copy(self, **k):
     """Copy object and change some attribute (no mutation)"""
     d = self.__getstate__()
     d.update(k)
-    return self.__class__(**d)
+    return self.__class__(**d)

multical/motion/rolling_frames.py

@@ -1,12 +1,12 @@
 from multical.motion.static_frames import project_cameras
 from cached_property import cached_property
 import numpy as np
-from structs.struct import struct, subset
+from py_structs import struct, subset
 from .motion_model import MotionModel
 
 from multical.optimization.parameters import IndexMapper, Parameters
 from multical import tables
-from structs.numpy import Table, shape
+from py_structs.numpy import Table, shape
 
 from multical.transform import rtvec, matrix
 from multical.transform.interpolate import interpolate_poses, lerp

multical/motion/static_frames.py

@@ -2,8 +2,8 @@
 from multical.motion.motion_model import MotionModel
 from multical.optimization.pose_set import PoseSet
 import numpy as np
-from structs.numpy import Table, shape
-from structs.struct import struct, subset
+from py_structs.numpy import Table, shape
+from py_structs import struct, subset
 from multical import tables
 
 

multical/optimization/calibration.py

@@ -18,8 +18,8 @@
 from . import parameters
 from .parameters import ParamList
 
-from structs.numpy import Table, shape
-from structs.struct import concat_lists, apply_none, struct, choose, subset, when
+from py_structs.numpy import Table, shape
+from py_structs import concat_lists, apply_none, struct, choose, subset, when
 
 from scipy import optimize
 

multical/optimization/hand_eye.py

@@ -1,8 +1,8 @@
 from multical.io.report import report_pose_errors
 from cached_property import cached_property
 import numpy as np
-from structs.numpy import table
-from structs.struct import subset
+from py_structs.numpy import table
+from py_structs import subset
 from .calibration import Calibration
 from multical.transform.hand_eye import hand_eye_robot_world
 
@@ -95,4 +95,4 @@ def copy(self, **k):
     d = self.__getstate__()
     d.update(k)
     return self.__class__(**d)
-
+

multical/optimization/parameters.py

@@ -3,11 +3,11 @@
 from pprint import pformat
 from typing import Any, Dict, Generic, List, TypeVar
 import numpy as np
-from structs.numpy import map_arrays, reduce_arrays, shape
+from py_structs.numpy import map_arrays, reduce_arrays, shape
 
 from cached_property import cached_property
 from scipy.sparse import lil_matrix
-from structs.struct import subset
+from py_structs import subset
 from numbers import Number
 
 

multical/optimization/pose_set.py

@@ -1,5 +1,5 @@
 from multical import tables
-from structs.struct import struct, subset
+from py_structs import struct, subset
 from multical.optimization.parameters import Parameters
 from cached_property import cached_property
 from multical.io.export_calib import export_poses
@@ -70,4 +70,4 @@ def copy(self, **k):
     """Copy object and change some attribute (no mutation)"""
     d = self.__getstate__()
     d.update(k)
-    return self.__class__(**d)
+    return self.__class__(**d)

multical/tables.py

@@ -3,8 +3,8 @@
 from .io.logging import debug, info
 import numpy as np
 
-from structs.struct import transpose_structs, invert_keys
-from structs.numpy import shape_info, struct, Table, shape
+from py_structs import struct, transpose_structs, invert_keys
+from py_structs.numpy import shape_info, Table, shape
 
 from .transform import rtvec, matrix
 from . import graph

multical/threading.py

@@ -3,7 +3,7 @@
 from multiprocessing import Pool, cpu_count, get_logger
 from multiprocessing.pool import ThreadPool
 
-from structs.struct import map_list, concat_lists, split_list
+from py_structs import map_list, concat_lists, split_list
 
 from tqdm import tqdm
 import traceback

multical/transform/matrix.py

@@ -1,8 +1,8 @@
 import numpy as np
 import math
 
-from structs.numpy import shape
-from structs.struct import choose, struct
+from py_structs.numpy import shape
+from py_structs import choose, struct
 from . import common
 
 from scipy.spatial.transform import Rotation as R

multical/workspace.py

@@ -16,11 +16,11 @@
 from multical.image.detect import common_image_size
 
 from multical.optimization.calibration import Calibration, select_threshold
-from structs.struct import map_list, split_dict, struct, subset, to_dicts
+from py_structs import map_list, split_dict, struct, subset, to_dicts
 from . import tables, image
 from .camera import calibrate_cameras
 
-from structs.numpy import shape
+from py_structs.numpy import shape
 
 from .camera_fisheye import calibrate_cameras_fisheye
 from .io.logging import MemoryHandler, info