q3dviewer 1.0.7__py3-none-any.whl → 1.0.8__py3-none-any.whl

q3dviewer/custom_items/axis_item.py

@@ -49,7 +49,7 @@ class AxisItem(BaseItem):
         super().__init__()
         self.size = size
         self.width = width
-        self.model_matrix = np.eye(4, dtype=np.float32)
+        self.T = np.eye(4, dtype=np.float32)
         self.need_update_setting = True
 
     def initialize_gl(self):
@@ -116,7 +116,7 @@ class AxisItem(BaseItem):
             return
         glUseProgram(self.program)
         set_uniform(self.program, float(self.size), 'size')
-        set_uniform(self.program, self.model_matrix, 'model_matrix')
+        set_uniform(self.program, self.T, 'model_matrix')
         glUseProgram(0)
         self.need_update_setting = False
 
@@ -127,7 +127,7 @@ class AxisItem(BaseItem):
         """
         Set the transformation matrix for the axis item.
         """
-        self.model_matrix = transform
+        self.T = transform
         self.need_update_setting = True
 
     def paint(self):

q3dviewer/custom_items/cloud_item.py

@@ -124,7 +124,12 @@ class CloudItem(BaseItem):
 
     def set_color_mode(self, color_mode):
         if color_mode in {'FLAT', 'RGB', 'I'}:
-            self.combo_color.setCurrentIndex(self.mode_table[color_mode])
+            try:
+                self.combo_color.setCurrentIndex(self.mode_table[color_mode])
+            except RuntimeError:
+                pass
+            except ValueError:
+                pass
         else:
             print(f"Invalid color mode: {color_mode}")
 

q3dviewer/glwidget.py

@@ -73,8 +73,7 @@ class GLWidget(BaseGLWidget):
 
     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])
+            self.center = self.named_items[self.followed_name].T[:3, 3]
         super().update()
 
     def add_setting(self, layout):

q3dviewer/tools/ros_viewer.py

@@ -18,7 +18,7 @@ from q3dviewer.utils.convert_ros_msg import convert_pointcloud2_msg, convert_odo
 viewer = None
 point_num_per_scan = None
 color_mode = None
-
+auto_set_color_mode = True
 
 def odom_cb(data):
     global viewer
@@ -29,16 +29,15 @@ def odom_cb(data):
 def scan_cb(data):
     global viewer
     global point_num_per_scan
+    global auto_set_color_mode
     cloud, fields, _ = convert_pointcloud2_msg(data)
     if (cloud.shape[0] > point_num_per_scan):
         idx = random.sample(range(cloud.shape[0]), point_num_per_scan)
         cloud = cloud[idx]
-    color_mode = 'FLAT'
-    if 'intensity' in fields:
-        color_mode = 'I'
-    if 'rgb' in fields:
-        color_mode = 'RGB'
-    viewer['map'].set_color_mode(color_mode)
+    if 'rgb' in fields and auto_set_color_mode:
+        print("Set color mode to RGB")
+        viewer['map'].set_color_mode('RGB')
+        auto_set_color_mode = False
     viewer['map'].set_data(data=cloud, append=True)
     viewer['scan'].set_data(data=cloud)
 
@@ -54,7 +53,7 @@ def main():
     global viewer
     global point_num_per_scan
     point_num_per_scan = 10000
-    map_item = q3d.CloudIOItem(size=1, alpha=0.1, color_mode='RGB')
+    map_item = q3d.CloudIOItem(size=1, alpha=0.1, color_mode='I')
     scan_item = q3d.CloudItem(
         size=2, alpha=1, color_mode='FLAT', color='#ffffff')
     odom_item = q3d.AxisItem(size=0.5, width=5)

{q3dviewer-1.0.7.dist-info → q3dviewer-1.0.8.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: q3dviewer
-Version: 1.0.7
+Version: 1.0.8
 Summary: UNKNOWN
 Home-page: UNKNOWN
 Author: UNKNOWN

{q3dviewer-1.0.7.dist-info → q3dviewer-1.0.8.dist-info}/RECORD

@@ -4,14 +4,14 @@ q3dviewer/base_item.py,sha256=-6GogOKrjVRSTszio9ELPDhehBaUlTyNaag2bUl81l8,1337
 q3dviewer/basic_window.py,sha256=CFErOPRMysFcCqq3vhDsQ-xZzLArO3m1yABCTIhq5do,7946
 q3dviewer/cloud_viewer.py,sha256=IxxrB6Sl6aPCr9P9QzKHGkMcDP_DjsBWbkmIbsAoIM4,2358
 q3dviewer/gau_io.py,sha256=S6NmqL5vSMgHVxKR-eu4CWCqgZeWBJKYRoOMAwr8Xbo,5890
-q3dviewer/glwidget.py,sha256=ppkAJUCCJ4pnLX3j6jCFmJw8O-kCr7UphsEdkGSakpQ,4832
+q3dviewer/glwidget.py,sha256=BwBxbok40cq705QBYjPbtckf-hbLxnKTxyA6nhaT1Ic,4772
 q3dviewer/utils.py,sha256=evF0d-v17hbTmquC24fmMIp9CsXpUnSQZr4MVy2sfao,2426
 q3dviewer/viewer.py,sha256=Rv_YMo-N2kibh4Bnaz0g32hEtNyn8WXRmoh7GTSPcJg,1708
 q3dviewer/custom_items/__init__.py,sha256=gOiAxdjDaAnFL8YbqSEWWWOwUrJfvzP9JLR34sCB9-4,434
-q3dviewer/custom_items/axis_item.py,sha256=6dWGqBeA3DL-9xmsxdmTSIGLs6BcRbiysBKkkXVb5oI,4456
+q3dviewer/custom_items/axis_item.py,sha256=8ZIzBH9rYFD9DWNAlshpJFBpSyXfMcv-eewjqlJ9GIE,4423
 q3dviewer/custom_items/camera_frame_item.py,sha256=VBsr3Avly_YWXViIh4DJkGc_HJt227GeOYLpGtbYTOw,5605
 q3dviewer/custom_items/cloud_io_item.py,sha256=gjK3n9WKB7JwxC93ijkweEHA5EezpgNJ8KO-PBaDKCs,2835
-q3dviewer/custom_items/cloud_item.py,sha256=u9hHHFjK4Ls6ssFVbBFqdR2xg0QNmgsKOz9jGHSqrt8,12444
+q3dviewer/custom_items/cloud_item.py,sha256=kkIpJky7-Bbry3yCUodsU08BCZqtRQD69-0EMCLKnUs,12571
 q3dviewer/custom_items/frame_item.py,sha256=YTBOEeRWh95trhAlKoZ9LZ4I2x-A5JjOhNPp4OvD5E0,6983
 q3dviewer/custom_items/gaussian_item.py,sha256=B0mYjlW83Kr6FUtZ6P_f40pjjiASPB8g3CSjMTnjsvY,9857
 q3dviewer/custom_items/grid_item.py,sha256=U4nk16d5Dkbt6U9s23c9PIlG-wPwu15Ho0HsamDuyqM,3436
@@ -31,16 +31,16 @@ q3dviewer/tools/example_viewer.py,sha256=yeVXT0k4-h1vTLKnGzWADZD3our6XUaYUTy0p5d
 q3dviewer/tools/gaussian_viewer.py,sha256=vIwWmiFhjNmknrEkBLzt2yiegeH7LP3OeNjnGM6GzaI,1633
 q3dviewer/tools/lidar_calib.py,sha256=beQP6Z9NyW7ME6zCRAxH1RRSm5zMalcmlmF_HzJPLi8,10811
 q3dviewer/tools/lidar_cam_calib.py,sha256=kYR41Eq3o7frHLIWqysHUvVbB29GC0sDLzUigwxG4n4,11539
-q3dviewer/tools/ros_viewer.py,sha256=Arpy5Y89h_1aSb8aFbeHJEYFFUOxCNm4QWLh5tKcPQI,2504
+q3dviewer/tools/ros_viewer.py,sha256=ARB3I5wohY3maP8dCu0O0hxObd6JFKuK2y7AApVgMWA,2551
 q3dviewer/utils/__init__.py,sha256=irm8Z_bT8l9kzhoMlds2Dal8g4iw4vjmqNPZSs4W6e0,157
 q3dviewer/utils/cloud_io.py,sha256=ttD8FJExdDhXB1Z0Ej9S939i8gcq4JfyqwLXVh8CEFw,11094
 q3dviewer/utils/convert_ros_msg.py,sha256=sAoQfy3qLQKsIArBAVm8H--wlQXOcmkKK3-Ox9UCcrc,1686
 q3dviewer/utils/gl_helper.py,sha256=dRY_kUqyPMr7NTcupUr6_VTvgnj53iE2C0Lk0-oFYsI,1435
 q3dviewer/utils/maths.py,sha256=ghnZQYxQtAQonTqQOmfHAMdSluk0sO1Ps_9bL2vMeb8,5397
 q3dviewer/utils/range_slider.py,sha256=jZJQL-uQgnpgLvtYSWpKTrJlLkt3aqNpaRQAePEpNd0,3174
-q3dviewer-1.0.7.dist-info/LICENSE,sha256=81cMOyNfw8KLb1JnPYngGHJ5W83gSbZEBU9MEP3tl-E,1124
-q3dviewer-1.0.7.dist-info/METADATA,sha256=IP5D90vA9PSGbJAuw2N8a0mceD8YOzx7rIze_lqZGXQ,349
-q3dviewer-1.0.7.dist-info/WHEEL,sha256=g4nMs7d-Xl9-xC9XovUrsDHGXt-FT0E17Yqo92DEfvY,92
-q3dviewer-1.0.7.dist-info/entry_points.txt,sha256=2vsxH5_1WhM-DnDgY0TDbiAGFPFMfI0Wmfs_6iXEf4Y,317
-q3dviewer-1.0.7.dist-info/top_level.txt,sha256=HFFDCbGu28txcGe2HPc46A7EPaguBa_b5oH7bufmxHM,10
-q3dviewer-1.0.7.dist-info/RECORD,,
+q3dviewer-1.0.8.dist-info/LICENSE,sha256=81cMOyNfw8KLb1JnPYngGHJ5W83gSbZEBU9MEP3tl-E,1124
+q3dviewer-1.0.8.dist-info/METADATA,sha256=36WLMFrKUX9e1GTT3s9QgIBgchCmF_7v2QzF4TiNJck,349
+q3dviewer-1.0.8.dist-info/WHEEL,sha256=g4nMs7d-Xl9-xC9XovUrsDHGXt-FT0E17Yqo92DEfvY,92
+q3dviewer-1.0.8.dist-info/entry_points.txt,sha256=2vsxH5_1WhM-DnDgY0TDbiAGFPFMfI0Wmfs_6iXEf4Y,317
+q3dviewer-1.0.8.dist-info/top_level.txt,sha256=HFFDCbGu28txcGe2HPc46A7EPaguBa_b5oH7bufmxHM,10
+q3dviewer-1.0.8.dist-info/RECORD,,