q3dviewer 1.0.8__py3-none-any.whl → 1.0.9__py3-none-any.whl

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-1.0.8.dist-info → q3dviewer-1.0.9.dist-info}/METADATA

@@ -1,21 +1,14 @@
 Metadata-Version: 2.1
 Name: q3dviewer
-Version: 1.0.8
-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-1.0.8.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()

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
-
-
-# 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 = 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)