q3dviewer 1.0.7__py3-none-any.whl → 1.0.9__py3-none-any.whl

q3dviewer/utils/maths.py

@@ -3,9 +3,145 @@ Copyright 2024 Panasonic Advanced Technology Development Co.,Ltd. (Liu Yang)
 Distributed under MIT license. See LICENSE for more information.
 """
 
+"""
+Math proofs and implementations: 
+https://github.com/scomup/MathematicalRobotics.git
+"""
+
+
 import numpy as np
 
 
+_epsilon_ = 1e-5
+
+
+def skew(vector):
+    return np.array([[0, -vector[2], vector[1]],
+                     [vector[2], 0, -vector[0]],
+                     [-vector[1], vector[0], 0]])
+
+
+def expSO3(omega):
+    """
+    Exponential map of SO3
+    The proof is shown in 3d_rotation_group.md (10)
+    """
+    theta2 = omega.dot(omega)
+    theta = np.sqrt(theta2)
+    nearZero = theta2 <= _epsilon_
+    W = skew(omega)
+    if (nearZero):
+        return np.eye(3) + W
+    else:
+        K = W/theta
+        KK = K.dot(K)
+        sin_theta = np.sin(theta)
+        one_minus_cos = 1 - np.cos(theta)
+        R = np.eye(3) + sin_theta * K + one_minus_cos * KK  # rotation.md (10)
+        return R
+
+
+def logSO3(R):
+    """
+    Logarithm map of SO3
+    The proof is shown in rotation.md (14)
+    """
+    R11, R12, R13 = R[0, :]
+    R21, R22, R23 = R[1, :]
+    R31, R32, R33 = R[2, :]
+    tr = np.trace(R)
+    omega = np.zeros(3)
+    v = np.array([R32 - R23, R13 - R31, R21 - R12])
+    # when trace == -1, i.e., the theta is approx to +-pi, +-3pi, +-5pi, etc.
+    # we do something special
+    if (tr + 1.0 < 1e-3):
+        if (R33 > R22 and R33 > R11):
+            # R33 is largest
+            # sin(theta) approx to sgn_w*pi-theta, cos(theta) approx to -1
+            W = R21 - R12  # 2*r3*sin(theta) = 2*r3*(sgn_w*pi-theta)
+            Q1 = R31 + R13          # 4 * r1*r3
+            Q2 = R23 + R32          # 4 * r2*r3
+            Q3 = 2.0 + 2.0 * R33    # 4 * r3*r3
+            r = np.sqrt(Q3)         # 2 * r3
+            one_over_r = 1 / r      # 1 / (2*r3)
+            norm = np.sqrt(Q1*Q1 + Q2*Q2 + Q3*Q3 + W*W)  # 4*r3
+            sgn_w = np.sign(W)      # get the sgn of theta
+            mag = np.pi - (2 * sgn_w * W) / norm   # theta*sgn_w
+            scale = 0.5 * mag * one_over_r  # theta * sgn_w / (4*r3)
+            # omega = theta * [4*r1*r3, 4*r2*r3, 4*r3*r3]/ (4*r3)
+            omega = sgn_w * scale * np.array([Q1, Q2, Q3])
+        elif (R22 > R11):
+            # R22 is the largest
+            W = R13 - R31  # 2*r2*sin(theta) = 2*r2*(sgn_w*pi-theta)
+            Q1 = R12 + R21        # 4 * r2*r1
+            Q2 = 2.0 + 2.0 * R22  # 4 * r2*r2
+            Q3 = R23 + R32        # 4 * r2*r3
+            r = np.sqrt(Q2)
+            one_over_r = 1 / r
+            norm = np.sqrt(Q1*Q1 + Q2*Q2 + Q3*Q3 + W*W)
+            sgn_w = np.sign(W)
+            mag = np.pi - (2 * sgn_w * W) / norm
+            scale = 0.5 * one_over_r * mag
+            omega = sgn_w * scale * np.array([Q1, Q2, Q3])
+        else:
+            # R11 is the largest
+            W = R32 - R23  # 2*r1*sin(theta) = 2*r1*(sgn_w*pi-theta)
+            Q1 = 2.0 + 2.0 * R11 # 4 * r1*r1
+            Q2 = R12 + R21       # 4 * r1*r2
+            Q3 = R31 + R13       # 4 * r1*r3
+            r = np.sqrt(Q1)
+            one_over_r = 1 / r
+            norm = np.sqrt(Q1*Q1 + Q2*Q2 + Q3*Q3 + W*W)
+            sgn_w = np.sign(W)
+            mag = np.pi - (2 * sgn_w * W) / norm
+            scale = 0.5 * one_over_r * mag
+            omega = sgn_w * scale * np.array([Q1, Q2, Q3])
+    else:
+        magnitude = 0
+        tr_3 = tr - 3.0
+        if (tr_3 < -1e-6):
+            # this is the normal case -1 < trace < 3
+            theta = np.arccos((tr - 1.0) / 2.0)
+            magnitude = theta / (2.0 * np.sin(theta))
+        else:
+            # when theta near 0, +-2pi, +-4pi, etc. (trace near 3.0)
+            # use Taylor expansion: theta \approx 1/2-(t-3)/12 + O((t-3)^2)
+            # see https://github.com/borglab/gtsam/issues/746 for details
+            magnitude = 0.5 - tr_3 / 12.0 + tr_3*tr_3/60.0
+        omega = magnitude * np.array([R32 - R23, R13 - R31, R21 - R12])
+    return omega
+
+
+def interpolate_pose(T1, T2, v_max, omega_max, dt=0.02):
+    R1, t1 = makeRt(T1)
+    R2, t2 = makeRt(T2)
+    
+    # Get transfrom time based on linear velocity
+    d = np.linalg.norm(t2 - t1)
+    t_lin = d / v_max
+    
+    # Get transform time based on angular velocity
+    omega = logSO3(R2 @ R1.T)
+    theta = np.linalg.norm(omega)
+    t_ang = theta / omega_max
+    
+    # Get total time based on the linear and angular time.
+    t_total = max(t_lin, t_ang)
+    num_steps = int(np.ceil(t_total / dt))
+    
+    # Generate interpolated transforms
+    interpolated_Ts = []
+    for i in range(num_steps):
+        s = i / num_steps
+        t_interp = (1 - s) * t1 + s * t2
+        # Interpolate rotation using SO3.
+        R_interp = expSO3(s * omega) @ R1
+        T_interp = makeT(R_interp, t_interp)
+        interpolated_Ts.append(T_interp)
+    
+    return interpolated_Ts
+
+
 def frustum(left, right, bottom, top, near, far):
     # see https://www.khronos.org/registry/OpenGL-Refpages/gl2.1/xhtml/glFrustum.xml
     if near <= 0 or far <= 0 or near >= far or left == right or bottom == top:
@@ -157,11 +293,25 @@ def makeRt(T):
     return R, t
 
 def hex_to_rgba(hex_color):
-    color_flat = int(hex_color[1:], 16)
-    red = (color_flat >> 16) & 0xFF
-    green = (color_flat >> 8) & 0xFF
-    blue = color_flat & 0xFF
-    return (red / 255.0, green / 255.0, blue / 255.0, 1.0)
+    if not hex_color.startswith("#"):
+        print("Invalid hex color string.")
+        return (1.0, 1.0, 1.0, 1.0)
+    if len(hex_color) == 7:
+        color_flat = int(hex_color[1:], 16)
+        red = (color_flat >> 16) & 0xFF
+        green = (color_flat >> 8) & 0xFF
+        blue = color_flat & 0xFF
+        return (red / 255.0, green / 255.0, blue / 255.0, 1.0)
+    elif len(hex_color) == 9:
+        color_flat = int(hex_color[1:], 16)
+        red = (color_flat >> 24) & 0xFF
+        green = (color_flat >> 16) & 0xFF
+        blue = (color_flat >> 8) & 0xFF
+        alpha = color_flat & 0xFF
+        return (red / 255.0, green / 255.0, blue / 255.0, alpha / 255.0)
+    else:
+        print("Invalid hex color string.")
+        return (1.0, 1.0, 1.0, 1.0)
 
 # euler = np.array([1, 0.1, 0.1])
 # euler_angles = matrix_to_euler(euler_to_matrix(euler))

q3dviewer/viewer.py

@@ -6,7 +6,7 @@ Distributed under MIT license. See LICENSE for more information.
 
 from q3dviewer.glwidget import *
 import signal
-from PySide6.QtWidgets import QMainWindow, QApplication
+from PySide6.QtWidgets import QMainWindow, QApplication, QHBoxLayout
 
 
 def handler(signal, frame):
@@ -15,22 +15,45 @@ def handler(signal, frame):
 
 
 class Viewer(QMainWindow):
-    def __init__(self, name='Viewer', win_size=[1920, 1080]):
+    def __init__(self, name='Viewer', win_size=[1920, 1080], 
+                 gl_widget_class=GLWidget, update_interval=20):
         signal.signal(signal.SIGINT, handler)
         super(Viewer, self).__init__()
         self.setGeometry(0, 0, win_size[0], win_size[1])
+        self.gl_widget_class = gl_widget_class
         self.init_ui()
+        self.update_interval = update_interval
+        self.add_update_timer()
         self.setWindowTitle(name)
+        self.installEventFilter(self)
 
     def init_ui(self):
         center_widget = QWidget()
         self.setCentralWidget(center_widget)
-        self.layout = QHBoxLayout()
-        center_widget.setLayout(self.layout)
-        self.glwidget = GLWidget()
-        self.layout.addWidget(self.glwidget, 1)
+        main_layout = QHBoxLayout()
+        self.add_control_panel(main_layout)
+        center_widget.setLayout(main_layout)
+        self.glwidget = self.gl_widget_class()
+        main_layout.addWidget(self.glwidget, 1)
+        self.default_gl_setting(self.glwidget)
+
+    def add_control_panel(self, main_layout):
+        """
+        Override this function to add your own control panel to 
+        the left side of the main window.
+        Don't forget add your own layout to the main_layout.
+        """
+        pass
+
+    def default_gl_setting(self, glwidget):
+        """
+        Override this function to set the default opengl setting of the viewer.
+        """
+        pass
+
+    def add_update_timer(self):
         timer = QtCore.QTimer(self)
-        timer.setInterval(20)  # period, in milliseconds
+        timer.setInterval(self.update_interval)  # period, in milliseconds
         timer.timeout.connect(self.update)
         timer.start()
 

{q3dviewer-1.0.7.dist-info → q3dviewer-1.0.9.dist-info}/METADATA

@@ -1,21 +1,14 @@
 Metadata-Version: 2.1
 Name: q3dviewer
-Version: 1.0.7
-Summary: UNKNOWN
-Home-page: UNKNOWN
-Author: UNKNOWN
-Author-email: UNKNOWN
-License: UNKNOWN
-Platform: UNKNOWN
-Requires-Dist: PyOpenGL
-Requires-Dist: laspy
-Requires-Dist: meshio
+Version: 1.0.9
+License-File: LICENSE
 Requires-Dist: numpy
+Requires-Dist: pyside6
+Requires-Dist: PyOpenGL
 Requires-Dist: pillow
-Requires-Dist: pye57
+Requires-Dist: meshio
 Requires-Dist: pypcd4
-Requires-Dist: pyside6
-
-UNKNOWN
-
+Requires-Dist: pye57
+Requires-Dist: laspy
+Requires-Dist: imageio
 

q3dviewer-1.0.9.dist-info/RECORD

@@ -0,0 +1,45 @@
+q3dviewer/__init__.py,sha256=rP5XX_x8g7hxIMqNHlU89BN4dt5MSvoYYwip68fCmhc,173
+q3dviewer/base_glwidget.py,sha256=7CJKea2JSP78jsESZJP38yfLhhRINF-VQ9R8sMXwAo0,10697
+q3dviewer/base_item.py,sha256=lzb04oRaS4rRJrAP6C1Bu4ugK237FgupMTB97zjNVFw,1768
+q3dviewer/gau_io.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
+q3dviewer/glwidget.py,sha256=im8hjVYEL0Zl7fOIHTQMJdWu7WNOHlvTdIDYjebz9WA,4940
+q3dviewer/viewer.py,sha256=LH1INLFhi6pRjzazzQJ0AWT4hgyXI6GnmqoJFUwUZVE,2517
+q3dviewer/custom_items/__init__.py,sha256=gOiAxdjDaAnFL8YbqSEWWWOwUrJfvzP9JLR34sCB9-4,434
+q3dviewer/custom_items/axis_item.py,sha256=PTBSf5DmQI8ieSinYjY_aC7P8q1nzE-2Vc2GNd1O3Os,2568
+q3dviewer/custom_items/cloud_io_item.py,sha256=gjK3n9WKB7JwxC93ijkweEHA5EezpgNJ8KO-PBaDKCs,2835
+q3dviewer/custom_items/cloud_item.py,sha256=7r6s_j1qEUfLe70t-M68-oIrGRrPOUcZp18ML6jST0s,12542
+q3dviewer/custom_items/frame_item.py,sha256=6BOM3MXi-Akv6KUXDC3QYEAXKxwk0Eo1KQn-F7jkqrQ,7559
+q3dviewer/custom_items/gaussian_item.py,sha256=CZoXMmj2JPFfMqu7v4q4dLUI2cg_WfE1DHWGXjEYn6M,9869
+q3dviewer/custom_items/grid_item.py,sha256=20n4TGm5YEaudhnEOCOk-HtsKwxVxaPr8YV36kO04yU,4802
+q3dviewer/custom_items/image_item.py,sha256=ctNR81fVgxkdl2n3U_TPFL6yn086UhNI_A9fFHgkc-4,5491
+q3dviewer/custom_items/line_item.py,sha256=u0oFN2iHzsRHtnbvyvC_iglEkCwEU2NnTuE536sKUAE,4348
+q3dviewer/custom_items/text_item.py,sha256=nuHMVMQrwy50lNk9hxB94criFxbJJK-SYiK2fSXWUMQ,2158
+q3dviewer/shaders/cloud_frag.glsl,sha256=tbCsDUp9YlPe0hRWlFS724SH6TtMeLO-GVYROzEElZg,609
+q3dviewer/shaders/cloud_vert.glsl,sha256=Vxgw-Zrr0knAK0z4qMXKML6IC4EbffKMwYN2TMXROoI,2117
+q3dviewer/shaders/gau_frag.glsl,sha256=5_UY84tWDts59bxP8x4I-wgnzY8aGeGuo28wX--LW7E,975
+q3dviewer/shaders/gau_prep.glsl,sha256=eCT9nm65uz32w8NaDjeGKhyAZh42Aea-QTwr3yQVr9U,7218
+q3dviewer/shaders/gau_vert.glsl,sha256=NNbVhv_JyqZDK9iXAyBAcIHAtim7G9yWbC9IaUfTL1w,1666
+q3dviewer/shaders/sort_by_key.glsl,sha256=CA2zOcbyDGYAJSJEUvgjUqNshg9NAehf8ipL3Jsv4qE,1097
+q3dviewer/test/test_interpolation.py,sha256=rR_CXsYFLpn0zO0mHf_jL-naluDBMSky--FviOQga0Q,1657
+q3dviewer/test/test_rendering.py,sha256=gbTcu7-cg20DgC5Zoi17C1s5lBGLfAE1rW9biqPjRsA,2164
+q3dviewer/tools/__init__.py,sha256=01wG7BGM6VX0QyFBKsqPmyf2e-vrmV_N3-mo-VQ1VBg,20
+q3dviewer/tools/cinematographer.py,sha256=o_24SSQ4mF062QQ7Gv3i90v7fA79PcHLB03UHXufuEA,13950
+q3dviewer/tools/cloud_viewer.py,sha256=lNvOD0XWDAfgdqc2aJGigcCJsaWUS4qxadjFwf59-OY,3861
+q3dviewer/tools/example_viewer.py,sha256=yeVXT0k4-h1vTLKnGzWADZD3our6XUaYUTy0p5daTkE,959
+q3dviewer/tools/film_maker.py,sha256=MtmmL1-iogSmHXCZc0MLk35_bP-RMBN8twaOtTkv77w,15180
+q3dviewer/tools/gaussian_viewer.py,sha256=vIwWmiFhjNmknrEkBLzt2yiegeH7LP3OeNjnGM6GzaI,1633
+q3dviewer/tools/lidar_calib.py,sha256=M01bGg2mT8LwVcYybolr4UW_UUaR-f-BFciEHtjeK-w,10488
+q3dviewer/tools/lidar_cam_calib.py,sha256=SYNLDvi15MX7Q3aGn771fvu1cES9xeXgP0_WmDq33w4,11200
+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=5TmjWUX1K3UjygXxrUsydjbo7tPzu0gD-yy7qtQUGBU,10588
+q3dviewer/utils/range_slider.py,sha256=jZJQL-uQgnpgLvtYSWpKTrJlLkt3aqNpaRQAePEpNd0,3174
+q3dviewer-1.0.9.dist-info/LICENSE,sha256=81cMOyNfw8KLb1JnPYngGHJ5W83gSbZEBU9MEP3tl-E,1124
+q3dviewer-1.0.9.dist-info/METADATA,sha256=zD6g_ySQ3hityOMXY5cKo1wpbaYk0whJEVzQIRReqL4,275
+q3dviewer-1.0.9.dist-info/WHEEL,sha256=g4nMs7d-Xl9-xC9XovUrsDHGXt-FT0E17Yqo92DEfvY,92
+q3dviewer-1.0.9.dist-info/entry_points.txt,sha256=aeUdGH7UIgMZEMFUc-0xPZWspY95GoPdZcZuLceq85g,361
+q3dviewer-1.0.9.dist-info/top_level.txt,sha256=HFFDCbGu28txcGe2HPc46A7EPaguBa_b5oH7bufmxHM,10
+q3dviewer-1.0.9.dist-info/RECORD,,

{q3dviewer-1.0.7.dist-info → q3dviewer-1.0.9.dist-info}/entry_points.txt

@@ -1,8 +1,8 @@
 [console_scripts]
 cloud_viewer = q3dviewer.tools.cloud_viewer:main
+film_maker = q3dviewer.tools.film_maker:main
 gaussian_viewer = q3dviewer.tools.gaussian_viewer:main
 lidar_calib = q3dviewer.tools.lidar_calib:main
 lidar_cam_calib = q3dviewer.tools.lidar_cam_calib:main
 mesh_viewer = q3dviewer.tools.mesh_viewer:main
 ros_viewer = q3dviewer.tools.ros_viewer:main
-

q3dviewer/basic_window.py

@@ -1,228 +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
-import signal
-import sys
-from PyQt5.QtWidgets import QLabel, QLineEdit, QDoubleSpinBox, QSpinBox
-
-
-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:
-                    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()
-
-
-class Viewer(QMainWindow):
-    def __init__(self, name='Viewer', win_size=[1920, 1080], vw=ViewWidget):
-        signal.signal(signal.SIGINT, signal.SIG_DFL)
-        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, _):
-        sys.exit(0)
-
-    def show(self):
-        self.viewerWidget.setting_window.addSetting("main win", self.viewerWidget)
-        super().show()

q3dviewer/cloud_viewer.py

@@ -1,74 +0,0 @@
-#!/usr/bin/env python3
-
-import numpy as np
-from q3dviewer.custom_items import *
-from q3dviewer.basic_window import *
-from pypcd4 import PointCloud
-
-class CloudViewer(Viewer):
-    def __init__(self):
-        super(CloudViewer, self).__init__(name="Cloud Viewer")
-        self.setAcceptDrops(True)
-
-    def dragEnterEvent(self, event):
-        if event.mimeData().hasUrls():
-            event.accept()
-        else:
-            event.ignore()
-
-    def dropEvent(self, event):
-        for url in event.mimeData().urls():
-            file_path = url.toLocalFile()
-            self.openCloudFile(file_path)
-
-    def openCloudFile(self, file):
-        cloud_item = self['cloud']
-        if cloud_item is None:
-            print("Can't find clouditem.")
-            return
-        if file.endswith('.pcd'):
-            pc = PointCloud.from_path(file).pc_data
-            if 'rgb' in pc.dtype.names:
-                color = pc["rgb"].astype(np.uint32)
-                cloud_item.setColorMode('RGB')
-            elif 'intensity' in pc.dtype.names:
-                color = pc["intensity"].astype(np.uint32)
-                cloud_item.setColorMode('I')
-            else:
-                color = pc['z'].astype(np.uint32)
-                cloud_item.setColorMode('#FFFFFF')
-            cloud = np.rec.fromarrays(
-                [np.stack([pc["x"], pc["y"], pc["z"]], axis=1), color],
-                dtype=cloud_item.data_type)
-        elif file.endswith('.npy'):
-            pc = np.load(file)
-            cloud = np.rec.fromarrays(
-                [np.stack([pc[:, 0], pc[:, 1], pc[:, 2]], axis=1), pc[:, 3].astype(np.uint32)],
-                dtype=cloud_item.data_type)
-        cloud_item.setData(data=cloud)
-
-
-def main():
-    import argparse
-    parser = argparse.ArgumentParser()
-    parser.add_argument("--pcd", help="the pcd path")
-    args = parser.parse_args()
-    app = QApplication([])
-    viewer = CloudViewer()
-    cloud_item = CloudIOItem(size=1, alpha=0.1)
-    axis_item = GLAxisItem(size=0.5, width=5)
-    gird_item = GridItem(size=1000, spacing=20)
-    # viewer.viewerWidget.setBackgroundColor(255, 255, 255, 255)
-
-    viewer.addItems({'cloud': cloud_item, 'grid': gird_item, 'axis': axis_item})
-
-    if args.pcd:
-        pcd_fn = args.pcd
-        viewer.openCloudFile(pcd_fn)
-
-    viewer.show()
-    app.exec_()
-
-
-if __name__ == '__main__':
-    main()