q3dviewer 1.0.9__py3-none-any.whl → 1.1.0__py3-none-any.whl

q3dviewer/base_glwidget.py

@@ -238,12 +238,19 @@ class BaseGLWidget(QtOpenGLWidgets.QOpenGLWidget):
         return Tcw
 
     def set_cam_position(self, **kwargs):
-        pos = kwargs.get('pos', None)
+        center = kwargs.get('center', None)
         distance = kwargs.get('distance', None)
-        if pos is not None:
-            self.set_center(pos)
+        euler = kwargs.get('euler', None)
+        if center is not None:
+            self.set_center(center)
         if distance is not None:
             self.set_dist(distance)
+        if euler is not None:
+            self.set_euler(euler)
+    
+    def set_euler(self, euler):
+        self.euler = euler
+        self.view_need_update = True
 
     def set_color(self, color):
         self.color = color

q3dviewer/tools/cloud_viewer.py

@@ -52,7 +52,7 @@ class FileLoaderThread(QThread):
             self.viewer.progress_dialog.set_file_name(file_path)
             cloud = cloud_item.load(file_path, append=(i > 0))
             center = np.nanmean(cloud['xyz'].astype(np.float64), axis=0)
-            self.viewer.glwidget.set_cam_position(pos=center)
+            self.viewer.glwidget.set_cam_position(center=center)
             self.progress.emit(int((i + 1) / len(self.files) * 100))
         self.finished.emit()
 
@@ -94,7 +94,7 @@ class CloudViewer(q3d.Viewer):
             return
         cloud = cloud_item.load(file, append=append)
         center = np.nanmean(cloud['xyz'].astype(np.float64), axis=0)
-        self.glwidget.set_cam_position(pos=center)
+        self.glwidget.set_cam_position(center=center)
 
 
 def main():

q3dviewer/tools/film_maker.py

@@ -17,11 +17,20 @@ import imageio.v2 as imageio
 import os
 
 
+def recover_center_euler(Twc, dist):
+    Rwc = Twc[:3, :3]  # Extract rotation
+    twc = Twc[:3, 3]   # Extract translation
+    tco = np.array([0, 0, dist])  # Camera frame origin
+    two = twc - Rwc @ tco  # Compute center
+    euler = q3d.matrix_to_euler(Rwc)
+    return two, euler
+
+
 class KeyFrame:
     def __init__(self, Twc, lin_vel=10, ang_vel=np.pi/3, stop_time=0):
         self.Twc = Twc
         self.lin_vel = lin_vel
-        self.ang_vel = ang_vel # rad/s
+        self.ang_vel = ang_vel  # rad/s
         self.stop_time = stop_time
         self.item = q3d.FrameItem(Twc, width=3, color='#0000FF')
 
@@ -106,6 +115,7 @@ class CMMViewer(q3d.Viewer):
         self.frame_list = QListWidget()
         setting_layout.addWidget(self.frame_list)
         self.frame_list.itemSelectionChanged.connect(self.on_select_frame)
+        self.frame_list.itemDoubleClicked.connect(self.on_double_click_frame)
         self.installEventFilter(self)
 
         # Add spin boxes for linear / angular velocity and stop time
@@ -147,19 +157,19 @@ class CMMViewer(q3d.Viewer):
         view_matrix = self.glwidget.view_matrix
         # Get camera pose in world frame
         Twc = np.linalg.inv(view_matrix)
-        # Add the key frame to the end of the list
         if self.key_frames:
             prev = self.key_frames[-1]
-            key_frame = KeyFrame(Twc, 
+            key_frame = KeyFrame(Twc,
                                  lin_vel=prev.lin_vel, 
-                                 ang_vel=prev.ang_vel)
+                                 ang_vel=prev.ang_vel,
+                                 stop_time=prev.stop_time)
         else:
             key_frame = KeyFrame(Twc)
         self.key_frames.append(key_frame)
         # visualize this key frame using FrameItem
         self.glwidget.add_item(key_frame.item)
         # move the camera back to 0.5 meter, let the user see the frame
-        self.glwidget.update_dist(0.5)
+        # self.glwidget.update_dist(0.5)
         # Add the key frame to the Qt ListWidget
         item = QListWidgetItem(f"Frame {len(self.key_frames)}")
         self.frame_list.addItem(item)
@@ -167,19 +177,22 @@ class CMMViewer(q3d.Viewer):
 
     def del_key_frame(self):
         current_index = self.frame_list.currentRow()
-        if current_index >= 0:
-            self.glwidget.remove_item(self.key_frames[current_index].item)
-            self.key_frames.pop(current_index)
-            self.frame_list.itemSelectionChanged.disconnect(self.on_select_frame)
-            self.frame_list.takeItem(current_index)
-            self.frame_list.itemSelectionChanged.connect(self.on_select_frame)
-            self.on_select_frame()
+        if current_index < 0:
+            return
+        self.glwidget.remove_item(self.key_frames[current_index].item)
+        self.key_frames.pop(current_index)
+        self.frame_list.itemSelectionChanged.disconnect(self.on_select_frame)
+        self.frame_list.takeItem(current_index)
+        self.frame_list.itemSelectionChanged.connect(self.on_select_frame)
+        self.on_select_frame()
         # Update frame labels
         for i in range(len(self.key_frames)):
             self.frame_list.item(i).setText(f"Frame {i + 1}")
     
     def on_select_frame(self):
         current = self.frame_list.currentRow()
+        if current < 0:
+            return
         for i, frame in enumerate(self.key_frames):
             if i == current:
                 # Highlight the selected frame
@@ -195,18 +208,31 @@ class CMMViewer(q3d.Viewer):
 
     def set_frame_lin_vel(self, value):
         current_index = self.frame_list.currentRow()
-        if current_index >= 0:
-            self.key_frames[current_index].lin_vel = value
+        if current_index < 0:
+            return
+        self.key_frames[current_index].lin_vel = value
 
     def set_frame_ang_vel(self, value):
         current_index = self.frame_list.currentRow()
-        if current_index >= 0:
-            self.key_frames[current_index].ang_vel = np.deg2rad(value)
+        if current_index < 0:
+            return
+        self.key_frames[current_index].ang_vel = np.deg2rad(value)
 
     def set_frame_stop_time(self, value):
         current_index = self.frame_list.currentRow()
-        if current_index >= 0:
-            self.key_frames[current_index].stop_time = value
+        if current_index < 0:
+            return
+        self.key_frames[current_index].stop_time = value
+
+    def on_double_click_frame(self, item):
+        current_index = self.frame_list.row(item)
+        if current_index < 0:
+            return
+        Twc = self.key_frames[current_index].Twc
+        center, euler = recover_center_euler(Twc, self.glwidget.dist)
+        self.glwidget.set_cam_position(center=center,
+                                       euler=euler)
+
 
     def create_frames(self):
         """
@@ -368,7 +394,7 @@ class CMMViewer(q3d.Viewer):
             return
         cloud = cloud_item.load(file, append=append)
         center = np.nanmean(cloud['xyz'].astype(np.float64), axis=0)
-        self.glwidget.set_cam_position(pos=center)
+        self.glwidget.set_cam_position(center=center)
 
 def main():
     import argparse

q3dviewer-1.1.0.dist-info/METADATA

@@ -0,0 +1,214 @@
+Metadata-Version: 2.1
+Name: q3dviewer
+Version: 1.1.0
+Summary: A library designed for quickly deploying a 3D viewer.
+Home-page: https://github.com/scomup/q3dviewer
+Author: Liu Yang
+Classifier: Programming Language :: Python :: 3
+Classifier: License :: OSI Approved :: MIT License
+Classifier: Operating System :: OS Independent
+Description-Content-Type: text/markdown
+License-File: LICENSE
+Requires-Dist: numpy
+Requires-Dist: pyside6
+Requires-Dist: PyOpenGL
+Requires-Dist: pillow
+Requires-Dist: meshio
+Requires-Dist: pypcd4
+Requires-Dist: pye57
+Requires-Dist: laspy
+Requires-Dist: imageio
+
+## q3dviewer
+
+`q3dviewer` is a library designed for quickly deploying a 3D viewer. It is based on Qt (PySide6) and provides efficient OpenGL items for displaying 3D objects (e.g., point clouds, cameras, and 3D Gaussians). You can use it to visualize your 3D data or set up an efficient viewer application. It is inspired by PyQtGraph but focuses more on efficient 3D rendering.
+
+## Installation
+
+To install `q3dviewer`, execute the following command in your terminal on either Linux or Windows:
+
+```bash
+pip install q3dviewer
+```
+
+### Note for Windows Users
+
+- Ensure that you have a Python 3 environment set up:
+  - Download and install Python 3 from the [official Python website](https://www.python.org/downloads/).
+  - During installation, make sure to check the "Add Python to PATH" option.
+
+### Note for Linux Users
+
+If you encounter an error related to loading the shared library `libxcb-cursor.so.0` on Ubuntu 20.04 or 22.04, please install `libxcb-cursor0`:
+
+```bash
+sudo apt-get install libxcb-cursor0
+```
+
+## Tools
+
+Once installed, you can directly use the following tools:
+
+### 1. Cloud Viewer
+
+A tool for visualizing point cloud files. Launch it by executing the following command in your terminal:
+
+```sh
+cloud_viewer  # The viewer will be displayed
+```
+
+*Alternatively*, if the path is not set (though it's not recommended):
+
+```sh
+python3 -m q3dviewer.tools.cloud_viewer
+```
+
+After the viewer launches, you can drag and drop files onto the window to display the point clouds. Multiple files can be dropped simultaneously to view them together. Supported formats include LAS, PCD, PLY, and E57.
+
+For example, you can download and view point clouds of Tokyo in LAS format from the following link:
+
+[Tokyo Point Clouds](https://www.geospatial.jp/ckan/dataset/tokyopc-23ku-2024/resource/7807d6d1-29f3-4b36-b0c8-f7aa0ea2cff3)
+
+![Cloud Viewer Screenshot](https://qiita-image-store.s3.ap-northeast-1.amazonaws.com/0/149168/03c981c6-1aec-e5b9-4536-e07e1e56ff29.png)
+
+Press `M` on your keyboard to display a menu on the screen, where you can modify visualization settings for each item. For example, you can adjust various settings such as shape, size, color, and transparency for `CloudItem`.
+
+![Cloud Viewer Settings](https://qiita-image-store.s3.ap-northeast-1.amazonaws.com/0/149168/deeb996a-e419-58f4-6bc2-535099b1b73a.png)
+
+### 2. ROS Viewer
+
+A high-performance SLAM viewer compatible with ROS, serving as an alternative to RVIZ.
+
+```sh
+roscore &
+ros_viewer
+```
+
+### 3. Film Maker
+
+Would you like to create a video from point cloud data? With Film Maker, you can easily create videos with simple operations. Just edit keyframes using the user-friendly GUI, and the software will automatically interpolate the keyframes to generate the video.
+
+```sh
+film_maker # drag and drop your cloud file to the window
+```
+
+* Space key to add a keyframe.
+* Delete key to remove a keyframe.
+
+Film Maker GUI: 
+
+![Screenshot from 2025-02-02 18-20-51.png](https://qiita-image-store.s3.ap-northeast-1.amazonaws.com/0/149168/a1a6ad63-237c-482e-439d-e760223c59ca.png)
+
+### 4. Gaussian Viewer
+
+A simple viewer for 3D Gaussians. See [EasyGaussianSplatting](https://github.com/scomup/EasyGaussianSplatting) for more information.
+
+```sh
+gaussian_viewer  # Drag and drop your Gaussian file onto the window
+```
+
+![Gaussian Viewer GIF](https://qiita-image-store.s3.ap-northeast-1.amazonaws.com/0/149168/441e6f5a-214d-f7c1-11bf-5fa79e63b38e.gif)
+
+### 5. LiDAR-LiDAR Calibration Tools
+
+A tool to compute the relative pose between two LiDARs. It allows for both manual adjustment in the settings screen and automatic calibration.
+
+```sh
+lidar_calib --lidar0=/YOUR_LIDAR0_TOPIC --lidar1=/YOUR_LIDAR1_TOPIC
+```
+
+![LiDAR Calibration](https://qiita-image-store.s3.ap-northeast-1.amazonaws.com/0/149168/5a8a9903-a42a-8322-1d23-0cbecd3fa99a.png)
+
+### 6. LiDAR-Camera Calibration Tools
+
+A tool for calculating the relative pose between a LiDAR and a camera. It allows for manual adjustment in the settings screen and real-time verification of LiDAR point projection onto images.
+
+```sh
+lidar_cam_calib --lidar=/YOUR_LIDAR_TOPIC --camera=/YOUR_CAMERA_TOPIC --camera_info=/YOUR_CAMERA_INFO_TOPIC
+```
+
+![LiDAR-Camera Calibration](https://qiita-image-store.s3.ap-northeast-1.amazonaws.com/0/149168/f8359820-2ae7-aa37-6577-0fa035f4dd95.png)
+
+## Using as a Library
+
+Using the examples above, you can easily customize and develop your own 3D viewer with `q3dviewer`. Below is a coding example.
+
+### Custom 3D Viewer
+
+```python
+#!/usr/bin/env python3
+
+import q3dviewer as q3d  # Import q3dviewer
+
+def main():
+    # Create a Qt application
+    app = q3d.QApplication([])
+
+    # Create various 3D items
+    axis_item = q3d.AxisItem(size=0.5, width=5)
+    grid_item = q3d.GridItem(size=10, spacing=1)
+
+    # Create a viewer
+    viewer = q3d.Viewer(name='example')
+    
+    # Add items to the viewer
+    viewer.add_items({
+        'grid': grid_item,
+        'axis': axis_item,
+    })
+
+    # Show the viewer & run the Qt application
+    viewer.show()
+    app.exec()
+
+if __name__ == '__main__':
+    main()
+```
+
+`q3dviewer` provides the following 3D items:
+
+- **AxisItem**: Displays coordinate axes or the origin position.
+- **CloudItem**: Displays point clouds.
+- **CloudIOItem**: Displays point clouds with input/output capabilities.
+- **GaussianItem**: Displays 3D Gaussians.
+- **GridItem**: Displays grids.
+- **ImageItem**: Displays 2D images.
+- **Text2DItem**: Displays 2D text.
+- **LineItem**: Displays lines or trajectories.
+
+### Developing Custom Items
+
+In addition to the standard 3D items provided, you can visualize custom 3D items with simple coding. Below is a sample:
+
+```python
+from OpenGL.GL import *
+import numpy as np
+import q3dviewer as q3d
+from PySide6.QtWidgets import QLabel, QSpinBox
+
+class YourItem(q3d.BaseItem):
+    def __init__(self):
+        super(YourItem, self).__init__()
+        # Necessary initialization
+
+    def add_setting(self, layout):
+        # Initialize the settings screen
+        label = QLabel("Add your setting:")
+        layout.addWidget(label)
+        box = QSpinBox()
+        layout.addWidget(box)
+
+    def set_data(self, data):
+        # Obtain the data you want to visualize
+        pass
+
+    def initialize_gl(self):
+        # OpenGL initialization settings (if needed)
+        pass
+
+    def paint(self):
+        # Visualize 3D objects using OpenGL
+        pass
+```
+
+Enjoy using `q3dviewer`!

{q3dviewer-1.0.9.dist-info → q3dviewer-1.1.0.dist-info}/RECORD

@@ -1,5 +1,5 @@
 q3dviewer/__init__.py,sha256=rP5XX_x8g7hxIMqNHlU89BN4dt5MSvoYYwip68fCmhc,173
-q3dviewer/base_glwidget.py,sha256=7CJKea2JSP78jsESZJP38yfLhhRINF-VQ9R8sMXwAo0,10697
+q3dviewer/base_glwidget.py,sha256=k4fVwV2A_0CS7zZgHargbKE7push-l2UN7rmr2Z9vFo,10916
 q3dviewer/base_item.py,sha256=lzb04oRaS4rRJrAP6C1Bu4ugK237FgupMTB97zjNVFw,1768
 q3dviewer/gau_io.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 q3dviewer/glwidget.py,sha256=im8hjVYEL0Zl7fOIHTQMJdWu7WNOHlvTdIDYjebz9WA,4940
@@ -24,9 +24,9 @@ q3dviewer/test/test_interpolation.py,sha256=rR_CXsYFLpn0zO0mHf_jL-naluDBMSky--Fv
 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/cloud_viewer.py,sha256=10f2LSWpmsXzxrGobXw188doVjJbgBfPoqZPUi35EtI,3867
 q3dviewer/tools/example_viewer.py,sha256=yeVXT0k4-h1vTLKnGzWADZD3our6XUaYUTy0p5daTkE,959
-q3dviewer/tools/film_maker.py,sha256=MtmmL1-iogSmHXCZc0MLk35_bP-RMBN8twaOtTkv77w,15180
+q3dviewer/tools/film_maker.py,sha256=CC4RuK0bE_-0kcdU6xyzqR47pB4TEcm0g4LlDrFs3qY,16004
 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
@@ -37,9 +37,9 @@ q3dviewer/utils/convert_ros_msg.py,sha256=sAoQfy3qLQKsIArBAVm8H--wlQXOcmkKK3-Ox9
 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-1.1.0.dist-info/LICENSE,sha256=81cMOyNfw8KLb1JnPYngGHJ5W83gSbZEBU9MEP3tl-E,1124
+q3dviewer-1.1.0.dist-info/METADATA,sha256=hiWxWsKDWmCaXB-lJYhi-kutcydCeafxfzDSgeQv5Y8,6991
+q3dviewer-1.1.0.dist-info/WHEEL,sha256=g4nMs7d-Xl9-xC9XovUrsDHGXt-FT0E17Yqo92DEfvY,92
+q3dviewer-1.1.0.dist-info/entry_points.txt,sha256=aeUdGH7UIgMZEMFUc-0xPZWspY95GoPdZcZuLceq85g,361
+q3dviewer-1.1.0.dist-info/top_level.txt,sha256=HFFDCbGu28txcGe2HPc46A7EPaguBa_b5oH7bufmxHM,10
+q3dviewer-1.1.0.dist-info/RECORD,,

q3dviewer-1.0.9.dist-info/METADATA

@@ -1,14 +0,0 @@
-Metadata-Version: 2.1
-Name: q3dviewer
-Version: 1.0.9
-License-File: LICENSE
-Requires-Dist: numpy
-Requires-Dist: pyside6
-Requires-Dist: PyOpenGL
-Requires-Dist: pillow
-Requires-Dist: meshio
-Requires-Dist: pypcd4
-Requires-Dist: pye57
-Requires-Dist: laspy
-Requires-Dist: imageio
-