q3dviewer 1.1.1__py3-none-any.whl → 1.1.3__py3-none-any.whl

q3dviewer/base_glwidget.py

@@ -25,7 +25,7 @@ class BaseGLWidget(QtOpenGLWidgets.QOpenGLWidget):
         self.active_keys = set()
         self.show_center = False
         self.enable_show_center = True
-        self.view_need_update = True
+        self.need_recalc_view = True
         self.view_matrix = self.get_view_matrix()
         self.projection_matrix = self.get_projection_matrix()
 
@@ -98,7 +98,7 @@ class BaseGLWidget(QtOpenGLWidgets.QOpenGLWidget):
 
     def set_view_matrix(self, view_matrix):
         self.view_matrix = view_matrix
-        self.view_need_update = False
+        self.need_recalc_view = False
 
     def mouseReleaseEvent(self, ev):
         if hasattr(self, 'mousePos'):
@@ -106,13 +106,13 @@ class BaseGLWidget(QtOpenGLWidgets.QOpenGLWidget):
 
     def set_dist(self, dist):
         self.dist = dist
-        self.view_need_update = True
+        self.need_recalc_view = True
 
     def update_dist(self, delta):
         self.dist += delta
         if self.dist < 0.1:
             self.dist = 0.1
-        self.view_need_update = True
+        self.need_recalc_view = True
 
     def wheelEvent(self, ev):
         delta = ev.angleDelta().x()
@@ -121,6 +121,24 @@ class BaseGLWidget(QtOpenGLWidgets.QOpenGLWidget):
         self.update_dist(-delta * self.dist * 0.001)
         self.show_center = True
 
+
+    def rotate_keep_cam_pos(self, rx=0, ry=0, rz=0):
+        """
+        Rotate the camera while keeping the current camera position. 
+        This updates both the Euler angles and the center point.
+        """
+        new_euler = self.euler + np.array([rx, ry, rz])
+        new_euler = (new_euler + np.pi) % (2 * np.pi) - np.pi
+        
+        Rwc_old = euler_to_matrix(self.euler)
+        tco = np.array([0, 0, self.dist])
+        twc = self.center + Rwc_old @ tco
+        
+        Rwc_new = euler_to_matrix(new_euler)
+        self.center = twc - Rwc_new @ tco
+        self.euler = new_euler
+        self.need_recalc_view = True
+
     def mouseMoveEvent(self, ev):
         lpos = ev.localPos()
         if not hasattr(self, 'mousePos'):
@@ -131,24 +149,26 @@ class BaseGLWidget(QtOpenGLWidgets.QOpenGLWidget):
             rot_speed = 0.2
             dyaw = radians(-diff.x() * rot_speed)
             droll = radians(-diff.y() * rot_speed)
-            self.rotate(droll, 0, dyaw)
+            if ev.modifiers() & QtCore.Qt.ShiftModifier:
+                self.rotate_keep_cam_pos(droll, 0, dyaw)
+            else:
+                self.rotate(droll, 0, dyaw)
         elif ev.buttons() == QtCore.Qt.MouseButton.LeftButton:
             Rwc = euler_to_matrix(self.euler)
             Kinv = np.linalg.inv(self.get_K())
             dist = max(self.dist, 0.5)
-            self.center += Rwc @ Kinv @ np.array([-diff.x(), diff.y(), 0]) * dist
+            self.translate(Rwc @ Kinv @ np.array([-diff.x(), diff.y(), 0]) * dist)
         self.show_center = True
-        self.view_need_update = True
 
     def set_center(self, center):
         self.center = center
-        self.view_need_update = True
+        self.need_recalc_view = True
 
     def paintGL(self):
         # if the camera is moved, update the model view matrix.
-        if self.view_need_update:
+        if self.need_recalc_view:
             self.view_matrix = self.get_view_matrix()
-            self.view_need_update = False
+            self.need_recalc_view = False
         self.update_model_view()
 
         # set the background color
@@ -192,45 +212,48 @@ class BaseGLWidget(QtOpenGLWidgets.QOpenGLWidget):
             return
         rot_speed = 0.5
         trans_speed = max(self.dist * 0.005, 0.1)
+        shift_pressed = QtCore.Qt.Key_Shift in self.active_keys
         # Handle rotation keys
         if QtCore.Qt.Key_Up in self.active_keys:
-            self.rotate(radians(rot_speed), 0, 0)
-            self.view_need_update = True
+            if shift_pressed:
+                self.rotate_keep_cam_pos(radians(rot_speed), 0, 0)
+            else:
+                self.rotate(radians(rot_speed), 0, 0)
         if QtCore.Qt.Key_Down in self.active_keys:
-            self.rotate(radians(-rot_speed), 0, 0)
-            self.view_need_update = True
+            if shift_pressed:
+                self.rotate_keep_cam_pos(radians(-rot_speed), 0, 0)
+            else:
+                self.rotate(radians(-rot_speed), 0, 0)
         if QtCore.Qt.Key_Left in self.active_keys:
-            self.rotate(0, 0, radians(rot_speed))
-            self.view_need_update = True
+            if shift_pressed:
+                self.rotate_keep_cam_pos(0, 0, radians(rot_speed))
+            else:
+                self.rotate(0, 0, radians(rot_speed))
         if QtCore.Qt.Key_Right in self.active_keys:
-            self.rotate(0, 0, radians(-rot_speed))
-            self.view_need_update = True
+            if shift_pressed:
+                self.rotate_keep_cam_pos(0, 0, radians(-rot_speed))
+            else:
+                self.rotate(0, 0, radians(-rot_speed))
         # Handle zoom keys
         xz_keys = {QtCore.Qt.Key_Z, QtCore.Qt.Key_X}
         if self.active_keys & xz_keys:
             Rwc = euler_to_matrix(self.euler)
             if QtCore.Qt.Key_Z in self.active_keys:
-                self.center += Rwc @ np.array([0, 0, -trans_speed])
-                self.view_need_update = True
+                self.translate(Rwc @ np.array([0, 0, -trans_speed]))
             if QtCore.Qt.Key_X in self.active_keys:
-                self.center += Rwc @ np.array([0, 0, trans_speed])
-                self.view_need_update = True
+                self.translate(Rwc @ np.array([0, 0, trans_speed]))
         # Handle translation keys on the z plane
         dir_keys = {QtCore.Qt.Key_W, QtCore.Qt.Key_S, QtCore.Qt.Key_A, QtCore.Qt.Key_D}
         if self.active_keys & dir_keys:
             Rz = euler_to_matrix([0, 0, self.euler[2]])
             if QtCore.Qt.Key_W in self.active_keys:
-                self.center += Rz @ np.array([0, trans_speed, 0])
-                self.view_need_update = True
+                self.translate(Rz @ np.array([0, trans_speed, 0]))
             if QtCore.Qt.Key_S in self.active_keys:
-                self.center += Rz @ np.array([0, -trans_speed, 0])
-                self.view_need_update = True
+                self.translate(Rz @ np.array([0, -trans_speed, 0]))
             if QtCore.Qt.Key_A in self.active_keys:
-                self.center += Rz @ np.array([-trans_speed, 0, 0])
-                self.view_need_update = True
+                self.translate(Rz @ np.array([-trans_speed, 0, 0]))
             if QtCore.Qt.Key_D in self.active_keys:
-                self.center += Rz @ np.array([trans_speed, 0, 0])
-                self.view_need_update = True
+                self.translate(Rz @ np.array([trans_speed, 0, 0]))
 
     def update_model_view(self):
         glMatrixMode(GL_MODELVIEW)
@@ -259,7 +282,7 @@ class BaseGLWidget(QtOpenGLWidgets.QOpenGLWidget):
     
     def set_euler(self, euler):
         self.euler = euler
-        self.view_need_update = True
+        self.need_recalc_view = True
 
     def set_color(self, color):
         self.color = color
@@ -303,6 +326,11 @@ class BaseGLWidget(QtOpenGLWidgets.QOpenGLWidget):
         self.euler[2] = (self.euler[2] + np.pi) % (2 * np.pi) - np.pi
         self.euler[1] = (self.euler[1] + np.pi) % (2 * np.pi) - np.pi
         self.euler[0] = np.clip(self.euler[0], 0, np.pi)
+        self.need_recalc_view = True
+
+    def translate(self, trans):
+        self.center += trans
+        self.need_recalc_view = True
 
     def change_show_center(self, state):
         self.enable_show_center = state

q3dviewer/custom_items/image_item.py

@@ -7,7 +7,6 @@ from q3dviewer.base_item import BaseItem
 from OpenGL.GL import *
 import numpy as np
 from OpenGL.GL import shaders
-from PIL import Image as PIL_Image
 from PySide6.QtWidgets import QLabel, QSpinBox, QCheckBox
 
 
@@ -108,12 +107,8 @@ class ImageItem(BaseItem):
         glBindVertexArray(0)
 
     def set_data(self, data):
-        if isinstance(data, np.ndarray):
-            pass
-        elif isinstance(data, PIL_Image.Image):
-            data = np.array(data)
-        else:
-            print("not support image type")
+        if not isinstance(data, np.ndarray):
+            print("The image type is not supported.")
             raise NotImplementedError
 
         if data.ndim == 2:  # Grayscale image

q3dviewer/tools/film_maker.py

@@ -107,7 +107,7 @@ class CMMViewer(q3d.Viewer):
         label_codec = QLabel("Codec:")
         codec_layout.addWidget(label_codec)
         self.codec_combo = QComboBox()
-        self.codec_combo.addItems(["mjpeg", "mpeg4", "libx264", "libx265"])
+        self.codec_combo.addItems(["libx264", "mjpeg", "mpeg4", "libx265"])
         codec_layout.addWidget(self.codec_combo)
         setting_layout.addLayout(codec_layout)
 
@@ -143,6 +143,8 @@ class CMMViewer(q3d.Viewer):
         dock_widget = QDockWidget("Settings", self)
         dock_widget.setWidget(QWidget())
         dock_widget.widget().setLayout(setting_layout)
+        # Hide close and undock buttons, I don't want the user to close the dock
+        dock_widget.setFeatures(QDockWidget.DockWidgetMovable)
         self.addDockWidget(QtCore.Qt.RightDockWidgetArea, dock_widget)
 
         # Add the dock widget to the main layout
@@ -308,14 +310,16 @@ class CMMViewer(q3d.Viewer):
 
     def start_recording(self):
         self.is_recording = True
-        self.frames_to_record = []
+        self.prv_frame_shape = None
         video_path = self.video_path_edit.text()
         codec = self.codec_combo.currentText()
         self.play_button.setStyleSheet("background-color: red")
         self.play_button.setText("Recording")
         self.writer = imageio.get_writer(video_path, 
                                          fps=self.update_interval,
-                                         codec=codec)  # quality=10
+                                         codec=codec,
+                                         quality=10,
+                                         pixelformat='yuvj420p')
         # disable the all the frame_item while recording
         for frame in self.key_frames:
             frame.item.hide()
@@ -323,6 +327,7 @@ class CMMViewer(q3d.Viewer):
 
     def stop_recording(self, save_movie=True):
         self.is_recording = False
+        self.prv_frame_shape = None
         self.record_checkbox.setChecked(False)
         # enable the all the frame_item after recording
         for frame in self.key_frames:
@@ -342,17 +347,27 @@ class CMMViewer(q3d.Viewer):
 
     def record_frame(self):
         frame = self.glwidget.capture_frame()
-        # make sure the frame size is multiple of 16
+        
+        # restart recording if the window size changes
+        if self.prv_frame_shape is not None and frame.shape != self.prv_frame_shape:
+            self.writer.close()
+            self.start_recording()
+            return
+        self.prv_frame_shape = frame.shape 
+
         height, width, _ = frame.shape
-        if height % 16 != 0 or width % 16 != 0:
-            frame = frame[:-(height % 16), :-(width % 16), :]
-            frame = np.ascontiguousarray(frame)
-        self.frames_to_record.append(frame)
+        # Adjust frame dimensions to be multiples of 16
+        new_height = height - (height % 16)
+        new_width = width - (width % 16)
+        frame = frame[:new_height, :new_width, :]
+        frame = np.ascontiguousarray(frame)
         try:
             self.writer.append_data(frame)
         except Exception as e:
-            print("Don't change the window size during recording.")
-            self.stop_recording(False) # Stop recording without saving
+            # unexpected error, stop recording without saving
+            print("Error while recording:")
+            print(e)
+            self.stop_recording(False)
             self.stop_playback()
 
     def eventFilter(self, obj, event):

{q3dviewer-1.1.1.dist-info → q3dviewer-1.1.3.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: q3dviewer
-Version: 1.1.1
+Version: 1.1.3
 Summary: A library designed for quickly deploying a 3D viewer.
 Home-page: https://github.com/scomup/q3dviewer
 Author: Liu Yang
@@ -16,7 +16,6 @@ Requires-Dist: imageio[ffmpeg]
 Requires-Dist: laspy
 Requires-Dist: meshio
 Requires-Dist: numpy
-Requires-Dist: pillow
 Requires-Dist: pye57
 Requires-Dist: pypcd4
 Requires-Dist: pyside6

{q3dviewer-1.1.1.dist-info → q3dviewer-1.1.3.dist-info}/RECORD

@@ -1,5 +1,5 @@
 q3dviewer/__init__.py,sha256=rP5XX_x8g7hxIMqNHlU89BN4dt5MSvoYYwip68fCmhc,173
-q3dviewer/base_glwidget.py,sha256=tk8icQsRZ3OrSLkHvywmrxElk6jpMooLDZdbZ3sRLnk,11313
+q3dviewer/base_glwidget.py,sha256=yQb4ckj4ldmiFoKL_TdZAqZNeBnMeSRDhLbMaruM3nk,12298
 q3dviewer/base_item.py,sha256=lzb04oRaS4rRJrAP6C1Bu4ugK237FgupMTB97zjNVFw,1768
 q3dviewer/basic_window.py,sha256=CFErOPRMysFcCqq3vhDsQ-xZzLArO3m1yABCTIhq5do,7946
 q3dviewer/cloud_viewer.py,sha256=IxxrB6Sl6aPCr9P9QzKHGkMcDP_DjsBWbkmIbsAoIM4,2358
@@ -15,7 +15,7 @@ q3dviewer/custom_items/cloud_item.py,sha256=s46TxNDw7E6DW3V-ek_PF7egB3kRbnqpOBNU
 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/image_item.py,sha256=3FYAVlNLEILKZplkt2wbL8y16ke124GmwxcSmWmJY8Q,5357
 q3dviewer/custom_items/line_item.py,sha256=u0oFN2iHzsRHtnbvyvC_iglEkCwEU2NnTuE536sKUAE,4348
 q3dviewer/custom_items/text_item.py,sha256=nuHMVMQrwy50lNk9hxB94criFxbJJK-SYiK2fSXWUMQ,2158
 q3dviewer/custom_items/trajectory_item.py,sha256=uoKQSrTs_m_m1M8iNAm3peiXnZ9uVPsYQLYas3Gksjg,2754
@@ -28,7 +28,7 @@ q3dviewer/shaders/sort_by_key.glsl,sha256=CA2zOcbyDGYAJSJEUvgjUqNshg9NAehf8ipL3J
 q3dviewer/tools/__init__.py,sha256=01wG7BGM6VX0QyFBKsqPmyf2e-vrmV_N3-mo-VQ1VBg,20
 q3dviewer/tools/cloud_viewer.py,sha256=10f2LSWpmsXzxrGobXw188doVjJbgBfPoqZPUi35EtI,3867
 q3dviewer/tools/example_viewer.py,sha256=yeVXT0k4-h1vTLKnGzWADZD3our6XUaYUTy0p5daTkE,959
-q3dviewer/tools/film_maker.py,sha256=PkkMW6__ml7850U2UV2G1Pn4Ahk4EWa7edcvI_5-Z4Y,16028
+q3dviewer/tools/film_maker.py,sha256=KXl0H03vnS7eAFw7nSRvTG3J0Y7gYt6YFUYaoxJf3xM,16600
 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
@@ -39,9 +39,9 @@ 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-1.1.1.dist-info/LICENSE,sha256=81cMOyNfw8KLb1JnPYngGHJ5W83gSbZEBU9MEP3tl-E,1124
-q3dviewer-1.1.1.dist-info/METADATA,sha256=wSqlVSSanm719PxnxIE7VOStyogcvsVwK1QobHCOLQI,7032
-q3dviewer-1.1.1.dist-info/WHEEL,sha256=g4nMs7d-Xl9-xC9XovUrsDHGXt-FT0E17Yqo92DEfvY,92
-q3dviewer-1.1.1.dist-info/entry_points.txt,sha256=EOjker7XYaBk70ffvNB_knPcfA33Bnlg21ZjEeM1EyI,362
-q3dviewer-1.1.1.dist-info/top_level.txt,sha256=HFFDCbGu28txcGe2HPc46A7EPaguBa_b5oH7bufmxHM,10
-q3dviewer-1.1.1.dist-info/RECORD,,
+q3dviewer-1.1.3.dist-info/LICENSE,sha256=81cMOyNfw8KLb1JnPYngGHJ5W83gSbZEBU9MEP3tl-E,1124
+q3dviewer-1.1.3.dist-info/METADATA,sha256=AXXroAQRcP2jMPxZCzpiR0tu-Ykj2lHUg28rQQZvM6I,7010
+q3dviewer-1.1.3.dist-info/WHEEL,sha256=g4nMs7d-Xl9-xC9XovUrsDHGXt-FT0E17Yqo92DEfvY,92
+q3dviewer-1.1.3.dist-info/entry_points.txt,sha256=EOjker7XYaBk70ffvNB_knPcfA33Bnlg21ZjEeM1EyI,362
+q3dviewer-1.1.3.dist-info/top_level.txt,sha256=HFFDCbGu28txcGe2HPc46A7EPaguBa_b5oH7bufmxHM,10
+q3dviewer-1.1.3.dist-info/RECORD,,