q3dviewer 1.0.1__py3-none-any.whl → 1.0.3__py3-none-any.whl

{q3dviewer-1.0.1.dist-info → q3dviewer-1.0.3.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: q3dviewer
-Version: 1.0.1
+Version: 1.0.3
 Requires-Dist: numpy
 Requires-Dist: pyqtgraph
 Requires-Dist: pyqt5

q3dviewer-1.0.3.dist-info/RECORD

@@ -0,0 +1,5 @@
+q3dviewer-1.0.3.dist-info/METADATA,sha256=F17ziZy4LHhLDapWbZc1n0B04eSkdsAurZVmvZEXNKY,189
+q3dviewer-1.0.3.dist-info/WHEEL,sha256=g4nMs7d-Xl9-xC9XovUrsDHGXt-FT0E17Yqo92DEfvY,92
+q3dviewer-1.0.3.dist-info/entry_points.txt,sha256=6zSxtJ5cjcpc32sR_wkRqOaeiJFpEuLnJQckZE3niU0,316
+q3dviewer-1.0.3.dist-info/top_level.txt,sha256=AbpHGcgLb-kRsJGnwFEktk7uzpZOCcBY74-YBdrKVGs,1
+q3dviewer-1.0.3.dist-info/RECORD,,

q3dviewer-1.0.3.dist-info/top_level.txt

@@ -0,0 +1 @@
+

q3dviewer/__init__.py

@@ -1,4 +0,0 @@
-from q3dviewer.utils import *
-from q3dviewer.custom_items import *
-from q3dviewer.viewer_widget import *
-from q3dviewer.basic_viewer import *

q3dviewer/basic_viewer.py

@@ -1,56 +0,0 @@
-#!/usr/bin/env python3
-
-from q3dviewer.viewer_widget import *
-import signal
-import sys
-
-
-def handler(signal, frame):
-    QApplication.quit()
-    print("Force close by Ctrl+C")
-
-
-class Viewer(QMainWindow):
-    def __init__(self, name='Viewer', win_size=[1920, 1080], vw=ViewWidget):
-        signal.signal(signal.SIGINT, handler)
-        super(Viewer, self).__init__()
-        self.vw = vw
-        self.setGeometry(0, 0, win_size[0], win_size[1])
-        self.initUI()
-        self.setWindowTitle(name)
-
-    def initUI(self):
-        centerWidget = QWidget()
-        self.setCentralWidget(centerWidget)
-        layout = QVBoxLayout()
-        centerWidget.setLayout(layout)
-        self.viewerWidget = self.vw()
-        layout.addWidget(self.viewerWidget, 1)
-        timer = QtCore.QTimer(self)
-        timer.setInterval(20)  # period, in milliseconds
-        timer.timeout.connect(self.update)
-        self.viewerWidget.setCameraPosition(distance=40)
-        timer.start()
-
-    def addItems(self, named_items: dict):
-        for name, item in named_items.items():
-            self.viewerWidget.addItem(name, item)
-
-    def __getitem__(self, name: str):
-        if name in self.viewerWidget.named_items:
-            return self.viewerWidget.named_items[name]
-        else:
-            return None
-
-    def update(self):
-        # force update by timer
-        self.viewerWidget.update()
-
-    def closeEvent(self, event):
-        event.accept()
-        QApplication.quit()
-
-    def show(self):
-        self.viewerWidget.setting_window.addSetting(
-            "main win", self.viewerWidget)
-        super().show()

q3dviewer/custom_items/__init__.py

@@ -1,9 +0,0 @@
-from q3dviewer.custom_items.axis_item import *
-from q3dviewer.custom_items.cloud_item import *
-from q3dviewer.custom_items.cloud_io_item import *
-from q3dviewer.custom_items.gaussian_item import *
-from q3dviewer.custom_items.camera_frame_item import *
-from q3dviewer.custom_items.grid_item import *
-from q3dviewer.custom_items.text_item import *
-from q3dviewer.custom_items.image_item import *
-from q3dviewer.custom_items.trajectory_item import *

q3dviewer/custom_items/axis_item.py

@@ -1,73 +0,0 @@
-#!/usr/bin/env python3
-
-import numpy as np
-import pyqtgraph.opengl as gl
-from OpenGL.GL import *
-from OpenGL.GLU import *
-from OpenGL.GLUT import *
-import numpy as np
-from PyQt5.QtWidgets import QLabel, QDoubleSpinBox
-
-
-class GLAxisItem(gl.GLGraphicsItem.GLGraphicsItem):
-    def __init__(self, size=1., width=5, glOptions='translucent'):
-        gl.GLGraphicsItem.GLGraphicsItem.__init__(self)
-        self.size = size
-        self.width = width
-        self.org = np.array([0, 0, 0, 1])
-        self.axis_x = np.array([self.size, 0, 0, 1])
-        self.axis_y = np.array([0, self.size, 0, 1])
-        self.axis_z = np.array([0, 0, self.size, 1])
-        self.setGLOptions(glOptions)
-        self.T = np.eye(4)
-        self.settings = []
-
-    def addSetting(self, layout):
-        label1 = QLabel("Set size:")
-        layout.addWidget(label1)
-        box1 = QDoubleSpinBox()
-        box1.setSingleStep(0.1)
-        layout.addWidget(box1)
-        box1.setValue(self.size)
-        box1.valueChanged.connect(self.setSize)
-        box1.setRange(0.0, 100)
-
-        label2 = QLabel("Set Width:")
-        layout.addWidget(label2)
-        box2 = QDoubleSpinBox()
-        layout.addWidget(box2)
-        box2.setSingleStep(0.1)
-        box2.setValue(self.width)
-        box2.valueChanged.connect(self.setWidth)
-        box2.setRange(0, 1000)
-
-    def setSize(self, size):
-        self.size = size
-        self.axis_x = np.array([self.size, 0, 0, 1])
-        self.axis_y = np.array([0, self.size, 0, 1])
-        self.axis_z = np.array([0, 0, self.size, 1])
-
-    def setWidth(self, width):
-        self.width = width
-
-    def setTransform(self, T):
-        self.T = T
-
-    def paint(self):
-        org = self.T.dot(self.org)
-        axis_x = self.T.dot(self.axis_x)
-        axis_y = self.T.dot(self.axis_y)
-        axis_z = self.T.dot(self.axis_z)
-        self.setupGLState()
-        glLineWidth(self.width)
-        glBegin(GL_LINES)
-        glColor4f(0, 0, 1, 1)  # z is blue
-        glVertex3f(org[0], org[1], org[2])
-        glVertex3f(axis_z[0], axis_z[1], axis_z[2])
-        glColor4f(0, 1, 0, 1)  # y is green
-        glVertex3f(org[0], org[1], org[2])
-        glVertex3f(axis_y[0], axis_y[1], axis_y[2])
-        glColor4f(1, 0, 0, 1)  # x is red
-        glVertex3f(org[0], org[1], org[2])
-        glVertex3f(axis_x[0], axis_x[1], axis_x[2])
-        glEnd()

q3dviewer/custom_items/camera_frame_item.py

@@ -1,173 +0,0 @@
-import pyqtgraph.opengl as gl
-from OpenGL.GL import *
-import numpy as np
-from OpenGL.GL import shaders
-from PIL import Image as PIL_Image
-
-
-# Vertex and Fragment shader source code
-vertex_shader_source = """
-#version 330 core
-layout(location = 0) in vec3 position;
-layout(location = 1) in vec2 texCoord;
-
-out vec2 TexCoord;
-
-uniform mat4 view_matrix;
-uniform mat4 project_matrix;
-
-void main()
-{
-    gl_Position = project_matrix * view_matrix * vec4(position, 1.0);
-    TexCoord = texCoord;
-}
-"""
-
-fragment_shader_source = """
-#version 330 core
-in vec2 TexCoord;
-out vec4 color;
-uniform sampler2D ourTexture;
-void main()
-{
-    color = texture(ourTexture, TexCoord);
-}
-"""
-
-
-def set_uniform_mat4(shader, content, name):
-    content = content.T
-    glUniformMatrix4fv(
-        glGetUniformLocation(shader, name),
-        1,
-        GL_FALSE,
-        content.astype(np.float32)
-    )
-
-
-class GLCameraFrameItem(gl.GLGraphicsItem.GLGraphicsItem):
-    def __init__(self, T=np.eye(4), size=1, width=3, path=None):
-        gl.GLGraphicsItem.GLGraphicsItem.__init__(self)
-        self.size = size
-        self.width = width
-        self.T = T
-        self.path = path
-
-    def initializeGL(self):
-        # Rectangle vertices and texture coordinates
-        hsize = self.size / 2
-        self.vertices = np.array([
-            # positions          # texture coords
-            [-hsize, -hsize,  0.0,  0.0, 0.0],  # bottom-left
-            [hsize, -hsize,  0.0,  1.0, 0.0],  # bottom-right
-            [hsize,  hsize,  0.0,  1.0, 1.0],  # top-right
-            [-hsize,  hsize,  0.0,  0.0, 1.0],   # top-left
-            [0,  0, -hsize * 0.66, 0.0, 0.0],   # top-left
-        ], dtype=np.float32)
-
-        R = self.T[:3, :3]
-        t = self.T[:3, 3]
-        self.vertices[:, :3] = (
-            R @ self.vertices[:, :3].T + t[:, np.newaxis]).T
-
-        self.focal_p = np.array([0, 0, hsize * 0.66])
-
-        indices = np.array([
-            0, 1, 2,  # first triangle
-            2, 3, 0   # second triangle
-        ], dtype=np.uint32)
-
-        self.vao = glGenVertexArrays(1)
-        vbo = glGenBuffers(1)
-        ebo = glGenBuffers(1)
-
-        glBindVertexArray(self.vao)
-
-        glBindBuffer(GL_ARRAY_BUFFER, vbo)
-        glBufferData(GL_ARRAY_BUFFER, self.vertices.itemsize *
-                     5 * 4, self.vertices, GL_STATIC_DRAW)
-
-        glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, ebo)
-        glBufferData(GL_ELEMENT_ARRAY_BUFFER,
-                     indices.nbytes, indices, GL_STATIC_DRAW)
-
-        # Vertex positions
-
-        glVertexAttribPointer(0, 3, GL_FLOAT, GL_FALSE,
-                              20, ctypes.c_void_p(0))
-        glEnableVertexAttribArray(0)
-        # Texture coordinates
-        glVertexAttribPointer(1, 2, GL_FLOAT, GL_FALSE,
-                              20, ctypes.c_void_p(12))
-        glEnableVertexAttribArray(1)
-
-        project_matrix = np.array(self._GLGraphicsItem__view.projectionMatrix().data(),
-                                  np.float32).reshape([4, 4]).T
-        # Compile shaders and create shader program
-        self.program = shaders.compileProgram(
-            shaders.compileShader(vertex_shader_source, GL_VERTEX_SHADER),
-            shaders.compileShader(fragment_shader_source, GL_FRAGMENT_SHADER),
-        )
-        glUseProgram(self.program)
-        set_uniform_mat4(self.program, project_matrix, 'project_matrix')
-        glUseProgram(0)
-
-        self.texture = glGenTextures(1)
-        glBindTexture(GL_TEXTURE_2D, self.texture)
-
-        # Load image
-        image = PIL_Image.open(self.path)
-        # image = image.transpose(Image.FLIP_TOP_BOTTOM)
-        img_data = image.convert("RGBA").tobytes()
-        glTexImage2D(GL_TEXTURE_2D, 0, GL_RGBA, image.width,
-                     image.height, 0, GL_RGBA, GL_UNSIGNED_BYTE, img_data)
-        glGenerateMipmap(GL_TEXTURE_2D)
-        glBindTexture(GL_TEXTURE_2D, 0)
-        glBindVertexArray(0)
-
-    def setTransform(self, T):
-        self.T = T
-
-    def paint(self):
-        self.view_matrix = np.array(
-            self._GLGraphicsItem__view.viewMatrix().data(), np.float32).reshape([4, 4]).T
-        project_matrix = np.array(self._GLGraphicsItem__view.projectionMatrix(
-        ).data(), np.float32).reshape([4, 4]).T
-
-        glEnable(GL_DEPTH_TEST)
-        glEnable(GL_BLEND)
-        glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA)
-
-        glUseProgram(self.program)
-        set_uniform_mat4(self.program, self.view_matrix, 'view_matrix')
-        set_uniform_mat4(self.program, project_matrix, 'project_matrix')
-        glBindVertexArray(self.vao)
-        glBindTexture(GL_TEXTURE_2D, self.texture)
-        glDrawElements(GL_TRIANGLES, 6, GL_UNSIGNED_INT, None)
-        glBindTexture(GL_TEXTURE_2D, 0)
-        glBindVertexArray(0)
-        glUseProgram(0)
-
-        glLineWidth(self.width)
-        glBegin(GL_LINES)
-        glColor4f(1, 1, 1, 1)  # z is blue
-        glVertex3f(*self.vertices[0, :3])
-        glVertex3f(*self.vertices[1, :3])
-        glVertex3f(*self.vertices[1, :3])
-        glVertex3f(*self.vertices[2, :3])
-        glVertex3f(*self.vertices[2, :3])
-        glVertex3f(*self.vertices[3, :3])
-        glVertex3f(*self.vertices[3, :3])
-        glVertex3f(*self.vertices[0, :3])
-        glVertex3f(*self.vertices[4, :3])
-        glVertex3f(*self.vertices[0, :3])
-        glVertex3f(*self.vertices[4, :3])
-        glVertex3f(*self.vertices[1, :3])
-        glVertex3f(*self.vertices[4, :3])
-        glVertex3f(*self.vertices[2, :3])
-        glVertex3f(*self.vertices[4, :3])
-        glVertex3f(*self.vertices[3, :3])
-        glEnd()
-
-        glDisable(GL_DEPTH_TEST)
-        glDisable(GL_BLEND)

q3dviewer/custom_items/cloud_io_item.py

@@ -1,83 +0,0 @@
-#!/usr/bin/env python3
-
-from q3dviewer.custom_items.cloud_item import CloudItem
-from pypcd4 import PointCloud, MetaData
-from pathlib import Path
-import os
-from PyQt5.QtWidgets import QPushButton, QLabel, QLineEdit, QMessageBox
-import numpy as np
-
-
-class CloudIOItem(CloudItem):
-    """
-    add save/load function to CloudItem
-    """
-    def __init__(self, **kwargs):
-        super().__init__(**kwargs)
-        self.save_path = str(Path(os.getcwd(), "data.pcd"))
-
-    def addSetting(self, layout):
-        super().addSetting(layout)
-
-        label4 = QLabel("Save Path:")
-        layout.addWidget(label4)
-        box4 = QLineEdit()
-        box4.setText(self.save_path)
-        box4.textChanged.connect(self.setPath)
-        layout.addWidget(box4)
-        save_button = QPushButton("Save Cloud")
-        save_button.clicked.connect(self.save)
-        layout.addWidget(save_button)
-
-    def save(self):
-        cloud = self.buff[:self.valid_buff_top]
-        if self.save_path.endswith(".pcd"):
-            fields = ("x", "y", "z", "rgb")
-            metadata = MetaData.model_validate(
-                {
-                    "fields": fields,
-                    "size": [4, 4, 4, 4],
-                    "type": ['F', 'F', 'F', 'U'],
-                    "count": [1, 1, 1, 1],
-                    "width": cloud.shape[0],
-                    "points": cloud.shape[0],
-                })
-            pc = PointCloud(metadata, cloud)
-            try:
-                pc.save(self.save_path)
-                save_msg = QMessageBox()
-                save_msg.setIcon(QMessageBox.Information)
-                save_msg.setWindowTitle("save")
-                save_msg.setStandardButtons(QMessageBox.Ok)
-                save_msg.setText("save cloud to  %s" % self.save_path)
-            except:
-                save_msg.setText("Cannot save to %s" % self.save_path)
-            save_msg.exec()
-
-        elif self.save_path.endswith(".ply"):
-            print("Not implment yet!")
-        else:
-            print("Not supported cloud file type!")
-
-    def load(self, file):
-            print("Try to load %s ..." % file)
-            pc = PointCloud.from_path(file).pc_data
-
-            try:
-                color = pc["rgb"].astype(np.uint32)
-                self.setColorMode('RGB')
-            except ValueError:
-                try:
-                    color = pc["intensity"].astype(np.uint32)
-                    self.setColorMode('I')
-                except ValueError:
-                    color = pc['z'].astype(np.uint32)
-                    self.setColorMode('#FFFFFF')
-
-            cloud = np.rec.fromarrays(
-                [np.stack([pc["x"], pc["y"], pc["z"]], axis=1), color],
-                dtype=self.data_type)
-            self.setData(data=cloud)
-
-    def setPath(self, path):
-        self.save_path = path