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

q3dviewer/tools/ros_viewer.py

@@ -1,102 +0,0 @@
-#!/usr/bin/env python3
-
-
-from q3dviewer.utils import make_transform
-import q3dviewer as q3d
-import rospy
-from nav_msgs.msg import Odometry
-from sensor_msgs.msg import PointCloud2
-import numpy as np
-import random
-from pypcd4 import PointCloud
-from sensor_msgs.msg import Image
-
-viewer = None
-point_num_per_scan = None
-color_mode = None
-
-
-def odomCB(data):
-    global viewer
-    pose = np.array(
-        [data.pose.pose.position.x,
-         data.pose.pose.position.y,
-         data.pose.pose.position.z])
-    rotation = np.array([
-        data.pose.pose.orientation.x,
-        data.pose.pose.orientation.y,
-        data.pose.pose.orientation.z,
-        data.pose.pose.orientation.w])
-    transform = make_transform(pose, rotation)
-    viewer['odom'].setTransform(transform)
-
-
-def scanCB(data):
-    global viewer
-    global point_num_per_scan
-    global color_mode
-    pc = PointCloud.from_msg(data).pc_data
-    data_type = viewer['scan'].data_type
-    if 'rgb' in pc.dtype.names:
-        color = pc['rgb'].view(np.uint32)
-    else:
-        color = pc['intensity']
-    
-    if color_mode is None:
-        if 'rgb' in pc.dtype.names:
-            color_mode = 'RGB'
-        else:
-            color_mode = 'I'
-        viewer['map'].setColorMode(color_mode)
-    
-    cloud = np.rec.fromarrays(
-        [np.stack([pc['x'], pc['y'], pc['z']], axis=1), color],
-        dtype=data_type)
-    if (cloud.shape[0] > point_num_per_scan):
-        idx = random.sample(range(cloud.shape[0]), point_num_per_scan)
-        cloud = cloud[idx]
-    viewer['map'].setData(data=cloud, append=True)
-    viewer['scan'].setData(data=cloud)
-
-
-def imageCB(data):
-    image = np.frombuffer(data.data, dtype=np.uint8).reshape(
-        data.height, data.width, -1)
-    if (data.encoding == 'bgr8'):
-        image = image[:, :, ::-1]  # convert bgr to rgb
-    viewer['img'].setData(data=image)
-
-
-def main():
-    rospy.init_node('ros_viewer', anonymous=True)
-
-    global viewer
-    global point_num_per_scan
-    point_num_per_scan = 10000
-    map_item = q3d.CloudIOItem(size=1, alpha=0.1, color_mode='RGB')
-    scan_item = q3d.CloudItem(size=2, alpha=1, color_mode='#FFFFFF')
-    odom_item = q3d.GLAxisItem(size=0.5, width=5)
-    grid_item = q3d.GridItem(size=1000, spacing=20)
-    img_item = q3d.ImageItem(pos=np.array([0, 0]), size=np.array([800, 600]))
-
-    app = q3d.QApplication(['ROS Viewer'])
-    viewer = q3d.Viewer(name='ROS Viewer')
-
-    viewer.addItems({'map': map_item, 'scan': scan_item,
-                    'odom': odom_item, 'grid': grid_item, 'img': img_item})
-
-    point_num_per_scan = rospy.get_param("scan_num", 100000)
-    print("point_num_per_scan: %d" % point_num_per_scan)
-    rospy.Subscriber(
-        "/cloud_registered", PointCloud2, scanCB,
-        queue_size=1, buff_size=2**24)
-    rospy.Subscriber(
-        "/odometry", Odometry, odomCB, queue_size=1, buff_size=2**24)
-    rospy.Subscriber('/image', Image, imageCB)
-
-    viewer.show()
-    app.exec_()
-
-
-if __name__ == "__main__":
-    main()

q3dviewer/utils.py

@@ -1,146 +0,0 @@
-import numpy as np
-import time
-
-
-def rainbow(scalars, scalar_min=0, scalar_max=255):
-    range = scalar_max - scalar_min
-    values = 1.0 - (scalars - scalar_min) / range
-    # values = (scalars - scalar_min) / range  # using inverted color
-    colors = np.zeros([scalars.shape[0], 3], dtype=np.float32)
-    values = np.clip(values, 0, 1)
-
-    h = values * 5.0 + 1.0
-    i = np.floor(h).astype(int)
-    f = h - i
-    f[np.logical_not(i % 2)] = 1 - f[np.logical_not(i % 2)]
-    n = 1 - f
-
-    # idx = i <= 1
-    colors[i <= 1, 0] = n[i <= 1] * 255
-    colors[i <= 1, 1] = 0
-    colors[i <= 1, 2] = 255
-
-    colors[i == 2, 0] = 0
-    colors[i == 2, 1] = n[i == 2] * 255
-    colors[i == 2, 2] = 255
-
-    colors[i == 3, 0] = 0
-    colors[i == 3, 1] = 255
-    colors[i == 3, 2] = n[i == 3] * 255
-
-    colors[i == 4, 0] = n[i == 4] * 255
-    colors[i == 4, 1] = 255
-    colors[i == 4, 2] = 0
-
-    colors[i >= 5, 0] = 255
-    colors[i >= 5, 1] = n[i >= 5] * 255
-    colors[i >= 5, 2] = 0
-    return colors
-
-
-def euler_to_matrix(rpy):
-    roll, pitch, yaw = rpy
-    Rx = np.array([[1, 0, 0],
-                   [0, np.cos(roll), -np.sin(roll)],
-                   [0, np.sin(roll), np.cos(roll)]])
-    Ry = np.array([[np.cos(pitch), 0, np.sin(pitch)],
-                   [0, 1, 0],
-                   [-np.sin(pitch), 0, np.cos(pitch)]])
-    Rz = np.array([[np.cos(yaw), -np.sin(yaw), 0],
-                   [np.sin(yaw), np.cos(yaw), 0],
-                   [0, 0, 1]])
-    R = Rz @ Ry @ Rx
-    return R
-
-
-def matrix_to_euler(R):
-    sy = np.sqrt(R[0, 0]**2 + R[1, 0]**2)
-    singular = sy < 1e-6  # Check for gimbal lock
-    if not singular:
-        roll = np.arctan2(R[2, 1], R[2, 2])   # X-axis rotation
-        pitch = np.arctan2(-R[2, 0], sy)      # Y-axis rotation
-        yaw = np.arctan2(R[1, 0], R[0, 0])    # Z-axis rotation
-    else:
-        # Gimbal lock case
-        roll = np.arctan2(-R[1, 2], R[1, 1])
-        pitch = np.arctan2(-R[2, 0], sy)
-        yaw = 0  # Arbitrarily set yaw to 0
-
-    return np.array([roll, pitch, yaw])
-
-
-def matrix_to_quaternion(matrix):
-    trace = matrix[0, 0] + matrix[1, 1] + matrix[2, 2]
-    if trace > 0:
-        s = 0.5 / np.sqrt(trace + 1.0)
-        w = 0.25 / s
-        x = (matrix[2, 1] - matrix[1, 2]) * s
-        y = (matrix[0, 2] - matrix[2, 0]) * s
-        z = (matrix[1, 0] - matrix[0, 1]) * s
-    else:
-        if matrix[0, 0] > matrix[1, 1] and matrix[0, 0] > matrix[2, 2]:
-            s = 2.0 * np.sqrt(1.0 + matrix[0, 0] - matrix[1, 1] - matrix[2, 2])
-            w = (matrix[2, 1] - matrix[1, 2]) / s
-            x = 0.25 * s
-            y = (matrix[0, 1] + matrix[1, 0]) / s
-            z = (matrix[0, 2] + matrix[2, 0]) / s
-        elif matrix[1, 1] > matrix[2, 2]:
-            s = 2.0 * np.sqrt(1.0 + matrix[1, 1] - matrix[0, 0] - matrix[2, 2])
-            w = (matrix[0, 2] - matrix[2, 0]) / s
-            x = (matrix[0, 1] + matrix[1, 0]) / s
-            y = 0.25 * s
-            z = (matrix[1, 2] + matrix[2, 1]) / s
-        else:
-            s = 2.0 * np.sqrt(1.0 + matrix[2, 2] - matrix[0, 0] - matrix[1, 1])
-            w = (matrix[1, 0] - matrix[0, 1]) / s
-            x = (matrix[0, 2] + matrix[2, 0]) / s
-            y = (matrix[1, 2] + matrix[2, 1]) / s
-            z = 0.25 * s
-    return np.array([x, y, z, w])
-
-
-def quaternion_to_matrix(quaternion):
-    x, y, z, w = quaternion
-    q = np.array(quaternion[:4], dtype=np.float64, copy=True)
-    n = np.linalg.norm(q)
-    if np.any(n == 0.0):
-        raise ZeroDivisionError("bad quaternion input")
-    else:
-        m = np.empty((3, 3))
-        m[0, 0] = 1.0 - 2*(y**2 + z**2)/n
-        m[0, 1] = 2*(x*y - z*w)/n
-        m[0, 2] = 2*(x*z + y*w)/n
-        m[1, 0] = 2*(x*y + z*w)/n
-        m[1, 1] = 1.0 - 2*(x**2 + z**2)/n
-        m[1, 2] = 2*(y*z - x*w)/n
-        m[2, 0] = 2*(x*z - y*w)/n
-        m[2, 1] = 2*(y*z + x*w)/n
-        m[2, 2] = 1.0 - 2*(x**2 + y**2)/n
-        return m
-
-
-def make_transform(pose, rotation):
-    transform = np.eye(4)
-    transform[0:3, 0:3] = quaternion_to_matrix(rotation)
-    transform[0:3, 3] = pose
-    return transform
-
-
-class FPSMonitor():
-    def __init__(self):
-        self.stamp_record = []
-
-    def count(self):
-        cur_stamp = time.time()
-        self.stamp_record.append(cur_stamp)
-        while len(self.stamp_record) > 0:
-            if(cur_stamp - self.stamp_record[0] > 1.):
-                self.stamp_record.pop(0)
-            else:
-                break
-        return len(self.stamp_record)
-
-
-# euler = np.array([1, 0.1, 0.1])
-# euler_angles = matrix_to_euler(euler_to_matrix(euler))
-# print("Euler Angles:", euler_angles)

q3dviewer/viewer_widget.py

@@ -1,183 +0,0 @@
-#!/usr/bin/env python3
-
-import numpy as np
-import pyqtgraph.opengl as gl
-from pyqtgraph.Qt import QtCore
-from PyQt5.QtWidgets import QWidget, QComboBox, QVBoxLayout, QHBoxLayout, \
-    QSizePolicy, QSpacerItem, QMainWindow
-from OpenGL.GL import *
-from PyQt5.QtGui import QKeyEvent, QVector3D
-from PyQt5.QtWidgets import QApplication, QWidget
-import numpy as np
-from PyQt5.QtWidgets import QLabel, QLineEdit, \
-    QDoubleSpinBox, QSpinBox, QCheckBox
-
-
-class SettingWindow(QWidget):
-    def __init__(self):
-        super().__init__()
-        self.combo_items = QComboBox()
-        self.combo_items.currentIndexChanged.connect(self.onComboboxSelection)
-        main_layout = QVBoxLayout()
-        self.stretch = QSpacerItem(
-            10, 10, QSizePolicy.Minimum, QSizePolicy.Expanding)
-        main_layout.addWidget(self.combo_items)
-        self.layout = QVBoxLayout()
-        self.layout.addItem(self.stretch)
-        main_layout.addLayout(self.layout)
-        self.setLayout(main_layout)
-        self.setWindowTitle("Setting Window")
-        self.setGeometry(200, 200, 300, 200)
-        self.items = {}
-
-    def addSetting(self, name, item):
-        self.items.update({name: item})
-        self.combo_items.addItem("%s(%s)" % (name, item.__class__.__name__))
-
-    def clearSetting(self):
-        while self.layout.count():
-            child = self.layout.takeAt(0)
-            if child.widget():
-                child.widget().deleteLater()
-
-    def onComboboxSelection(self, index):
-        self.layout.removeItem(self.stretch)
-        # remove all setting of previous widget
-        self.clearSetting()
-
-        key = list(self.items.keys())
-        try:
-            item = self.items[key[index]]
-            item.addSetting(self.layout)
-            self.layout.addItem(self.stretch)
-        except AttributeError:
-            print("%s: No setting." % (item.__class__.__name__))
-
-
-class ViewWidget(gl.GLViewWidget):
-    def __init__(self):
-        self.followed_name = 'none'
-        self.named_items = {}
-        self.color = '#000000'
-        self.followable_item_name = ['none']
-        self.setting_window = SettingWindow()
-        super(ViewWidget, self).__init__()
-
-    def onFollowableSelection(self, index):
-        self.followed_name = self.followable_item_name[index]
-
-    def update(self):
-        if self.followed_name != 'none':
-            pos = self.named_items[self.followed_name].T[:3, 3]
-            self.opts['center'] = QVector3D(pos[0], pos[1], pos[2])
-        super().update()
-
-    def addSetting(self, layout):
-        label1 = QLabel("Set background color:")
-        label1.setToolTip("using '#xxxxxx', i.e. #FF4500")
-        box1 = QLineEdit()
-        box1.setToolTip("'using '#xxxxxx', i.e. #FF4500")
-        box1.setText(str(self.color))
-        box1.textChanged.connect(self.setBKColor)
-        layout.addWidget(label1)
-        layout.addWidget(box1)
-        label2 = QLabel("Set Focus:")
-        combo2 = QComboBox()
-        for name in self.followable_item_name:
-            combo2.addItem(name)
-        combo2.currentIndexChanged.connect(self.onFollowableSelection)
-        layout.addWidget(label2)
-        layout.addWidget(combo2)
-
-    def setBKColor(self, color):
-        if (type(color) != str):
-            return
-        if color.startswith("#"):
-            try:
-                self.setBackgroundColor(color)
-                self.color = color
-            except ValueError:
-                return
-
-    def addItem(self, name, item):
-        self.named_items.update({name: item})
-        if (item.__class__.__name__ == 'GLAxisItem'):
-            self.followable_item_name.append(name)
-        self.setting_window.addSetting(name, item)
-        super().addItem(item)
-
-    def mouseReleaseEvent(self, ev):
-        if hasattr(self, 'mousePos'):
-            delattr(self, 'mousePos')
-
-    def mouseMoveEvent(self, ev):
-        lpos = ev.localPos()
-        if not hasattr(self, 'mousePos'):
-            self.mousePos = lpos
-        diff = lpos - self.mousePos
-        self.mousePos = lpos
-        if ev.buttons() == QtCore.Qt.MouseButton.RightButton:
-            self.orbit(-diff.x(), diff.y())
-        elif ev.buttons() == QtCore.Qt.MouseButton.LeftButton:
-            pitch_abs = np.abs(self.opts['elevation'])
-            camera_mode = 'view-upright'
-            if (pitch_abs <= 45.0 or pitch_abs == 90):
-                camera_mode = 'view'
-            self.pan(diff.x(), diff.y(), 0, relative=camera_mode)
-
-    def keyPressEvent(self, ev: QKeyEvent):
-        step = 10
-        zoom_delta = 20
-        speed = 2
-        self.projectionMatrix().data()
-
-        pitch_abs = np.abs(self.opts['elevation'])
-        camera_mode = 'view-upright'
-        if (pitch_abs <= 45.0 or pitch_abs == 90):
-            camera_mode = 'view'
-
-        if ev.key() == QtCore.Qt.Key_M:  # setting meun
-            print("Open setting windows")
-            self.openSettingWindow()
-        elif ev.key() == QtCore.Qt.Key_R:
-            print("Clear viewer")
-            for item in self.named_items.values():
-                try:
-                    item.clear()
-                except AttributeError:
-                    pass
-        elif ev.key() == QtCore.Qt.Key_Up:
-            if ev.modifiers() & QtCore.Qt.KeyboardModifier.ControlModifier:
-                self.pan(0, +step, 0, relative=camera_mode)
-            else:
-                self.orbit(azim=0, elev=-speed)
-        elif ev.key() == QtCore.Qt.Key_Down:
-            if ev.modifiers() & QtCore.Qt.KeyboardModifier.ControlModifier:
-                self.pan(0, -step, 0, relative=camera_mode)
-            else:
-                self.orbit(azim=0, elev=speed)
-        elif ev.key() == QtCore.Qt.Key_Left:
-            if ev.modifiers() & QtCore.Qt.KeyboardModifier.ControlModifier:
-                self.pan(+step, 0, 0, relative=camera_mode)
-            else:
-                self.orbit(azim=speed, elev=0)
-
-        elif ev.key() == QtCore.Qt.Key_Right:
-            if ev.modifiers() & QtCore.Qt.KeyboardModifier.ControlModifier:
-                self.pan(-step, 0, 0, relative=camera_mode)
-            else:
-                self.orbit(azim=-speed, elev=0)
-
-        elif ev.key() == QtCore.Qt.Key_Z:
-            self.opts['distance'] *= 0.999**(+zoom_delta)
-        elif ev.key() == QtCore.Qt.Key_X:
-            self.opts['distance'] *= 0.999**(-zoom_delta)
-        else:
-            super().keyPressEvent(ev)
-
-    def openSettingWindow(self):
-        if self.setting_window.isVisible():
-            self.setting_window.raise_()
-
-        else:
-            self.setting_window.show()

q3dviewer-1.0.1.dist-info/RECORD

@@ -1,28 +0,0 @@
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-q3dviewer/basic_viewer.py,sha256=A7bMxutP1grnqE5A4tjODGrzNfFq6-c6MlNYj8t54WU,1609
-q3dviewer/gau_io.py,sha256=fKry1eyeFdw_JO5JZqU3l66dzt43NGpHhX89ER_y38A,5900
-q3dviewer/utils.py,sha256=xzUAXUhgxoJyPrnivnyrJWoQQg9LrDPhxgZo1Cp35kQ,4596
-q3dviewer/viewer_widget.py,sha256=repcGWZZXRxua8C-3CYHumvkVoPQl8ycFPTBx5zovRg,6561
-q3dviewer/custom_items/__init__.py,sha256=Isb3HPtymuxEev1hc81x51inzH6epomtBHBQsPp4gZY,446
-q3dviewer/custom_items/axis_item.py,sha256=Er8HRSnOscROZ7fOZEESnrZp62A5kY4oqP-GCAXczYU,2353
-q3dviewer/custom_items/camera_frame_item.py,sha256=hvpZ3UEnkbs1nHNr2R7huuy1MdvBmwQPiqqKImWWG8c,5622
-q3dviewer/custom_items/cloud_io_item.py,sha256=nbZbZLX72CWNFrInpxwysA2usbCkgAUrwZEOOVWx9Mc,2816
-q3dviewer/custom_items/cloud_item.py,sha256=gOIun2VOfarA4Xo_2vdyWpIII0vvWVcQ4VqCZsYj584,9711
-q3dviewer/custom_items/gaussian_item.py,sha256=3YXdJxHNSdk0D2HS2VJvuGTUjbi9D_UcrWEXSzxP7BY,10177
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-q3dviewer/custom_items/image_item.py,sha256=qOT0r6p8_NcF5GVeJrrR8rJNe68U_jW1qrUDZ05O5hI,5312
-q3dviewer/custom_items/text_item.py,sha256=lbJaXfpeyyxr6lhlMjypk4a079-aUpsrXFjGi-BTzPU,1872
-q3dviewer/custom_items/trajectory_item.py,sha256=9gM5voiYk0j4JMEp3drF7VFYSPsJcEK7mibdx45OQDs,2778
-q3dviewer/tools/__init__.py,sha256=OXoXCP15ApA04VGNukCufubyK3OG_dg8tQqaS-5vl0k,376
-q3dviewer/tools/cloud_viewer.py,sha256=qqOLulsVBRnykbWxatHN0eto52sMwF9yOHz35-Ye_SQ,2322
-q3dviewer/tools/example_viewer.py,sha256=aKydEeM_h9AUvgeVvaWqGsL4l7YHzgxvXhXibQhsuqQ,747
-q3dviewer/tools/gaussian_viewer.py,sha256=o_Vu-kKGN6A0VffPcOBZCCDFGfg_56v94IoC0r7mv1Y,1489
-q3dviewer/tools/lidar_calib.py,sha256=f57xgFD2A-YqEwxCo0fgEAtiPnEvhT2NhM0b4lrTaFU,10238
-q3dviewer/tools/lidar_cam_calib.py,sha256=8LHe7rgr1WCXgcyy1dnFoENdfkANf_CDrwVUmZ85HfQ,10794
-q3dviewer/tools/mesh_viewer.py,sha256=QjahZzNy71xIwV-RzlxAtZs8cO57QlOSmMeqJnylS8g,1542
-q3dviewer/tools/ros_viewer.py,sha256=PZ6kod7QT5DdRXudYw_olFkd072GD8GTszovBjTL3Cs,2984
-q3dviewer-1.0.1.dist-info/METADATA,sha256=iWXwr3_iGpcW7LmVMsmEFXTIVPl9nem1OJMVDVbegco,189
-q3dviewer-1.0.1.dist-info/WHEEL,sha256=g4nMs7d-Xl9-xC9XovUrsDHGXt-FT0E17Yqo92DEfvY,92
-q3dviewer-1.0.1.dist-info/entry_points.txt,sha256=6zSxtJ5cjcpc32sR_wkRqOaeiJFpEuLnJQckZE3niU0,316
-q3dviewer-1.0.1.dist-info/top_level.txt,sha256=HFFDCbGu28txcGe2HPc46A7EPaguBa_b5oH7bufmxHM,10
-q3dviewer-1.0.1.dist-info/RECORD,,

q3dviewer-1.0.1.dist-info/top_level.txt

@@ -1 +0,0 @@
-q3dviewer