q3dviewer 1.1.5__py3-none-any.whl → 1.1.6__py3-none-any.whl

q3dviewer/Qt/__init__.py

@@ -0,0 +1,68 @@
+#!/usr/bin/env python3
+
+"""
+Copyright 2024 Panasonic Advanced Technology Development Co.,Ltd. (Liu Yang)
+Distributed under MIT license. See LICENSE for more information.
+"""
+
+"""
+You can use the following code to set the Q3D_QT_IMPL environment variable
+# tested for PyQt5, PySide2 and PySide6
+# -------------------------------
+in your python script before importing QT:
+    import os
+    os.environ['Q3D_QT_IMPL'] = 'PySide6'
+or in your bash:
+    export Q3D_QT_IMPL=PyQt5
+# -------------------------------
+"""
+
+import importlib.util
+import builtins
+import sys
+import os
+
+
+Q3D_QT_IMPL = os.environ.get('Q3D_QT_IMPL')
+Q3D_DEBUG = os.environ.get('Q3D_DEBUG')
+
+if Q3D_QT_IMPL not in ['PyQt5', 'PySide2', 'PySide6']:
+    Q3D_QT_IMPL = None
+
+if Q3D_QT_IMPL is None:
+    if importlib.util.find_spec('PyQt5') is not None:
+        Q3D_QT_IMPL = 'PyQt5'
+    elif importlib.util.find_spec('PySide6') is not None:
+        Q3D_QT_IMPL = 'PySide6'
+    else:
+        raise ImportError('No Qt binding found. Please install PySide6.')
+
+
+def import_module(name):
+    module = builtins.__import__(f'{Q3D_QT_IMPL}.{name}').__dict__[name]
+    sys.modules[f'{__name__}.{name}'] = module
+
+
+def load_qt():
+    if Q3D_DEBUG is not None:
+        print(f'Using {Q3D_QT_IMPL} as Qt binding.')
+
+    # register common Qt modules
+    modules = ['QtCore', 'QtGui', 'QtWidgets']
+    for name in modules:
+        import_module(name)
+    # register OpenGL modules for PySide6
+    if Q3D_QT_IMPL == 'PySide6':
+        import_module('QtOpenGLWidgets')
+        sys.modules[f'{__name__}.QtWidgets'].QOpenGLWidget = sys.modules[f'{__name__}.QtOpenGLWidgets'].QOpenGLWidget
+    # make PyQt5 and PySide6 modules compatible
+    if Q3D_QT_IMPL == 'PyQt5':
+        sys.modules[f'{__name__}.QtCore'].Signal = sys.modules[f'{__name__}.QtCore'].pyqtSignal
+        sys.modules[f'{__name__}.QtCore'].Slot = sys.modules[f'{__name__}.QtCore'].pyqtSlot
+        sys.modules[f'{__name__}.QtCore'].Property = sys.modules[f'{__name__}.QtCore'].pyqtProperty
+    # Handle exec() for PySide2
+    if Q3D_QT_IMPL == 'PySide2':
+        sys.modules[f'{__name__}.QtWidgets'].QApplication.exec = sys.modules[f'{__name__}.QtWidgets'].QApplication.exec_
+
+
+load_qt()

q3dviewer/__init__.py

@@ -1,5 +1,14 @@
+import time
+t1 = time.time()
 from q3dviewer.custom_items import *
+t2 = time.time()
 from q3dviewer.glwidget import *
 from q3dviewer.viewer import *
 from q3dviewer.base_item import *
 from q3dviewer.base_glwidget import *
+t3 = time.time()
+
+from q3dviewer.Qt import Q3D_DEBUG
+if Q3D_DEBUG:
+    print("Import custom items: ", t2 - t1)
+    print("Import base q3dviewer: ", t3 - t2)

q3dviewer/base_glwidget.py

@@ -6,13 +6,14 @@ Distributed under MIT license. See LICENSE for more information.
 from OpenGL.GL import *
 from math import radians, tan
 import numpy as np
-from PySide6 import QtCore, QtGui, QtOpenGLWidgets
+from q3dviewer.Qt import QtCore, QtGui
 from q3dviewer.utils.maths import frustum, euler_to_matrix, makeT
+from q3dviewer.Qt.QtWidgets import QOpenGLWidget
 
 
-class BaseGLWidget(QtOpenGLWidgets.QOpenGLWidget):
+class BaseGLWidget(QOpenGLWidget):
     def __init__(self, parent=None):
-        QtOpenGLWidgets.QOpenGLWidget.__init__(self, parent)
+        QOpenGLWidget.__init__(self, parent)
         self.setFocusPolicy(QtCore.Qt.FocusPolicy.ClickFocus)
         self.reset()
         self._fov = 60

q3dviewer/base_item.py

@@ -2,11 +2,10 @@
 Copyright 2024 Panasonic Advanced Technology Development Co.,Ltd. (Liu Yang)
 Distributed under MIT license. See LICENSE for more information.
 """
+from q3dviewer.Qt.QtCore import QObject
 
-from PySide6 import QtCore
-import numpy as np
 
-class BaseItem(QtCore.QObject):
+class BaseItem(QObject):
     _next_id = 0
     
     def __init__(self):

q3dviewer/custom_items/__init__.py

@@ -1,9 +1,9 @@
-from q3dviewer.custom_items.axis_item import *
-from q3dviewer.custom_items.cloud_item import *
-from q3dviewer.custom_items.cloud_io_item import *
-from q3dviewer.custom_items.gaussian_item import *
-from q3dviewer.custom_items.frame_item import *
-from q3dviewer.custom_items.grid_item import *
-from q3dviewer.custom_items.text_item import *
-from q3dviewer.custom_items.image_item import *
-from q3dviewer.custom_items.line_item import *
+from q3dviewer.custom_items.axis_item import AxisItem
+from q3dviewer.custom_items.cloud_item import CloudItem
+from q3dviewer.custom_items.cloud_io_item import CloudIOItem
+from q3dviewer.custom_items.gaussian_item import GaussianItem
+from q3dviewer.custom_items.frame_item import FrameItem
+from q3dviewer.custom_items.grid_item import GridItem
+from q3dviewer.custom_items.text_item import Text2DItem
+from q3dviewer.custom_items.image_item import ImageItem
+from q3dviewer.custom_items.line_item import LineItem

q3dviewer/custom_items/axis_item.py

@@ -2,11 +2,10 @@
 Copyright 2024 Panasonic Advanced Technology Development Co.,Ltd. (Liu Yang)
 Distributed under MIT license. See LICENSE for more information.
 """
-
 from q3dviewer.base_item import BaseItem
 from OpenGL.GL import *
 import numpy as np
-from PySide6.QtWidgets import QDoubleSpinBox
+from q3dviewer.Qt.QtWidgets import QDoubleSpinBox
 
 
 class AxisItem(BaseItem):

q3dviewer/custom_items/cloud_io_item.py

@@ -6,7 +6,7 @@ Distributed under MIT license. See LICENSE for more information.
 from q3dviewer.custom_items.cloud_item import CloudItem
 from pathlib import Path
 import os
-from PySide6.QtWidgets import QPushButton, QLabel, QLineEdit, QMessageBox
+from q3dviewer.Qt.QtWidgets import QPushButton, QLabel, QLineEdit, QMessageBox
 from q3dviewer.utils.cloud_io import save_pcd, save_ply, save_e57, save_las, load_pcd, load_ply, load_e57, load_las
 
 class CloudIOItem(CloudItem):
@@ -38,12 +38,16 @@ class CloudIOItem(CloudItem):
         cloud = self.buff[:self.valid_buff_top]
         func = None
         if self.save_path.endswith(".pcd"):
+            from q3dviewer.utils.cloud_io import save_pcd
             func = save_pcd
         elif self.save_path.endswith(".ply"):
+            from q3dviewer.utils.cloud_io import save_ply
             func = save_ply
         elif self.save_path.endswith(".e57"):
+            from q3dviewer.utils.cloud_io import save_e57
             func = save_e57
         elif self.save_path.endswith(".las"):
+            from q3dviewer.utils.cloud_io import save_las
             func = save_las
         elif self.save_path.endswith(".tif") or self.save_path.endswith(".tiff"):
             print("Do not support save as tif type!")
@@ -61,12 +65,16 @@ class CloudIOItem(CloudItem):
     def load(self, file, append=False):
         # print("Try to load %s ..." % file)
         if file.endswith(".pcd"):
+            from q3dviewer.utils.cloud_io import load_pcd
             cloud = load_pcd(file)
         elif file.endswith(".ply"):
+            from q3dviewer.utils.cloud_io import load_ply
             cloud = load_ply(file)
         elif file.endswith(".e57"):
+            from q3dviewer.utils.cloud_io import load_e57
             cloud = load_e57(file)
         elif file.endswith(".las"):
+            from q3dviewer.utils.cloud_io import load_las
             cloud = load_las(file)
         else:
             print("Not supported file type.")

q3dviewer/custom_items/cloud_item.py

@@ -7,13 +7,15 @@ Distributed under MIT license. See LICENSE for more information.
 import numpy as np
 from q3dviewer.base_item import BaseItem
 from OpenGL.GL import *
+from OpenGL.GL import shaders
+
 import threading
 import os
-from PySide6.QtWidgets import QLabel, QLineEdit, QDoubleSpinBox, \
-    QComboBox, QCheckBox
-from OpenGL.GL import shaders
-from q3dviewer.utils import *
+from q3dviewer.Qt.QtWidgets import QLabel, QLineEdit, QDoubleSpinBox, QComboBox, QCheckBox
 from q3dviewer.utils.range_slider import RangeSlider
+from q3dviewer.utils import set_uniform
+from q3dviewer.utils import text_to_rgba
+from q3dviewer.Qt import Q3D_DEBUG
 
 
 # draw points with color (x, y, z, color)
@@ -143,14 +145,15 @@ class CloudItem(BaseItem):
             self.box_size.setPrefix("Set size (pixel): ")
             self.box_size.setDecimals(0)
             self.box_size.setSingleStep(1)
-            self.box_size.setValue(1)
-            self.size = 1
+            self.size = np.ceil(self.size)
+            self.box_size.setValue(self.size)
         else:
             self.box_size.setPrefix("Set size (meter): ")
             self.box_size.setDecimals(2)
             self.box_size.setSingleStep(0.01)
-            self.box_size.setValue(0.01)
-            self.size = 0.01
+            if self.size >= 1:
+                self.size = self.size * 0.01
+            self.box_size.setValue(self.size)
         self.need_update_setting = True
 
     def set_alpha(self, alpha):
@@ -237,7 +240,8 @@ class CloudItem(BaseItem):
             buff_capacity = self.buff.shape[0]
             while (new_buff_top > buff_capacity):
                 buff_capacity += self.CAPACITY
-            print("[Cloud Item] Update capacity to %d" % buff_capacity)
+            if Q3D_DEBUG is not None:
+                print("[Cloud Item] Update capacity to %d" % buff_capacity)
             new_buff = np.empty((buff_capacity), self.data_type)
             new_buff[:self.add_buff_loc] = self.buff[:self.add_buff_loc]
             new_buff[self.add_buff_loc:new_buff_top] = self.wait_add_data

q3dviewer/custom_items/frame_item.py

@@ -4,11 +4,11 @@ Distributed under MIT license. See LICENSE for more information.
 """
 
 from q3dviewer.base_item import BaseItem
-from OpenGL.GL import *
 import numpy as np
+from OpenGL.GL import *
 from OpenGL.GL import shaders
-from q3dviewer.utils import *
-
+from q3dviewer.utils import set_uniform
+from q3dviewer.utils import text_to_rgba
 
 # Vertex and Fragment shader source code
 vertex_shader_source = """

q3dviewer/custom_items/gaussian_item.py

@@ -8,9 +8,9 @@ from q3dviewer.base_item import BaseItem
 from OpenGL.GL import *
 import numpy as np
 import os
-from PySide6.QtWidgets import QComboBox, QLabel
+from q3dviewer.Qt.QtWidgets import QComboBox, QLabel
 from OpenGL.GL import shaders
-from q3dviewer.utils import *
+from q3dviewer.utils import set_uniform
 
 
 def div_round_up(x, y):

q3dviewer/custom_items/grid_item.py

@@ -5,9 +5,9 @@ Distributed under MIT license. See LICENSE for more information.
 
 from q3dviewer.base_item import BaseItem
 from OpenGL.GL import *
-from PySide6.QtWidgets import QLabel, QDoubleSpinBox, QLineEdit
+from q3dviewer.Qt.QtWidgets import QDoubleSpinBox
 import numpy as np
-from q3dviewer.utils.maths import text_to_rgba
+from q3dviewer.utils import text_to_rgba
 
 
 class GridItem(BaseItem):

q3dviewer/custom_items/image_item.py

@@ -5,9 +5,10 @@ Distributed under MIT license. See LICENSE for more information.
 
 from q3dviewer.base_item import BaseItem
 from OpenGL.GL import *
+
 import numpy as np
 from OpenGL.GL import shaders
-from PySide6.QtWidgets import QLabel, QSpinBox, QCheckBox
+from q3dviewer.Qt.QtWidgets import QSpinBox, QCheckBox
 
 
 # Vertex and Fragment shader source code

q3dviewer/custom_items/line_item.py

@@ -7,8 +7,8 @@ from q3dviewer.base_item import BaseItem
 from OpenGL.GL import *
 import numpy as np
 import threading
-from PySide6.QtWidgets import QLabel, QLineEdit, QDoubleSpinBox
-from q3dviewer.utils.maths import text_to_rgba
+from q3dviewer.Qt.QtWidgets import QLabel, QLineEdit, QDoubleSpinBox
+from q3dviewer.utils import text_to_rgba
 
 
 class LineItem(BaseItem):

q3dviewer/custom_items/text_item.py

@@ -3,10 +3,9 @@ Copyright 2024 Panasonic Advanced Technology Development Co.,Ltd. (Liu Yang)
 Distributed under MIT license. See LICENSE for more information.
 """
 
-from PySide6 import QtCore, QtGui
+from q3dviewer.Qt import QtCore, QtGui
 from q3dviewer.base_item import BaseItem
-from OpenGL.GL import *
-from q3dviewer.utils.maths import text_to_rgba
+from q3dviewer.utils import text_to_rgba
 
 
 class Text2DItem(BaseItem):
@@ -16,12 +15,12 @@ class Text2DItem(BaseItem):
         """All keyword arguments are passed to set_data()"""
         BaseItem.__init__(self)
         self.pos = (20, 50)
-        try:
-            self.rgb = text_to_rgba(self.color)
-        except ValueError:
-            raise ValueError("Invalid color format. Use mathplotlib color format.")
         self.text = ''
         self.font = QtGui.QFont('Helvetica', 16)
+
+        self.rgb = text_to_rgba('w')
+        if 'pos' in kwds:
+            self.pos = kwds['pos']
         self.set_data(**kwds)
 
     def set_data(self, **kwds):
@@ -47,7 +46,6 @@ class Text2DItem(BaseItem):
     def set_color(self, color):
         try:
             self.rgb = text_to_rgba(color)
-            self.color = color
         except ValueError:
             print("Invalid color format. Use mathplotlib color format.")
 

q3dviewer/glwidget.py

@@ -3,13 +3,11 @@ Copyright 2024 Panasonic Advanced Technology Development Co.,Ltd. (Liu Yang)
 Distributed under MIT license. See LICENSE for more information.
 """
 
-from PySide6 import QtCore
-from PySide6.QtWidgets import QWidget, QComboBox, QVBoxLayout, QHBoxLayout, QLabel, QLineEdit, QCheckBox, QGroupBox
-from PySide6.QtGui import QKeyEvent, QVector3D
-from OpenGL.GL import *
-import numpy as np
+from q3dviewer.Qt import QtCore
+from q3dviewer.Qt.QtWidgets import QWidget, QComboBox, QVBoxLayout, QLabel, QLineEdit, QCheckBox, QGroupBox
+from q3dviewer.Qt.QtGui import QKeyEvent
 from q3dviewer.base_glwidget import BaseGLWidget
-from q3dviewer.utils.maths import text_to_rgba
+from q3dviewer.utils import text_to_rgba
 
 class SettingWindow(QWidget):
     def __init__(self):

q3dviewer/tools/cloud_viewer.py

@@ -7,8 +7,8 @@ Distributed under MIT license. See LICENSE for more information.
 
 import numpy as np
 import q3dviewer as q3d
-from PySide6.QtWidgets import QVBoxLayout, QProgressBar, QDialog, QLabel
-from PySide6.QtCore import QThread, Signal
+from q3dviewer.Qt.QtWidgets import QVBoxLayout, QProgressBar, QDialog, QLabel
+from q3dviewer.Qt.QtCore import QThread, Signal
 
 
 class ProgressDialog(QDialog):

q3dviewer/tools/example_viewer.py

@@ -2,7 +2,7 @@
 
 import numpy as np
 import q3dviewer as q3d
-from PySide6.QtCore import QTimer
+from q3dviewer.Qt.QtCore import QTimer
 
 i = 0.0
 

q3dviewer/tools/film_maker.py

@@ -7,22 +7,23 @@ Distributed under MIT license. See LICENSE for more information.
 
 import numpy as np
 import q3dviewer as q3d
-from PySide6.QtWidgets import QVBoxLayout, QListWidget, QListWidgetItem, QPushButton, QDoubleSpinBox, QCheckBox, QLineEdit, QMessageBox, QLabel, QHBoxLayout, QDockWidget, QWidget, QComboBox
-from PySide6.QtCore import QTimer
-from q3dviewer.tools.cloud_viewer import ProgressDialog, FileLoaderThread
-from PySide6 import QtCore
-from PySide6.QtGui import QKeyEvent
+from q3dviewer.Qt.QtWidgets import QVBoxLayout, QListWidget, QListWidgetItem, QPushButton, QDoubleSpinBox, QCheckBox, QLineEdit, QMessageBox, QLabel, QHBoxLayout, QDockWidget, QWidget, QComboBox
+from q3dviewer.Qt.QtCore import QTimer
+from q3dviewer.Qt.QtGui import QKeyEvent
+from q3dviewer.Qt import QtCore
 from q3dviewer import GLWidget
+from q3dviewer.tools.cloud_viewer import ProgressDialog, FileLoaderThread
+
 import imageio.v2 as imageio
 import os
-
+from q3dviewer.utils.maths import matrix_to_euler, interpolate_pose
 
 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)
+    euler = matrix_to_euler(Rwc)
     return two, euler
 
 
@@ -247,7 +248,7 @@ class CMMViewer(q3d.Viewer):
                 for j in range(num_steps):
                     self.frames.append([i, current_frame.Twc])
             next_frame = self.key_frames[i + 1]
-            Ts = q3d.interpolate_pose(current_frame.Twc, next_frame.Twc,
+            Ts = interpolate_pose(current_frame.Twc, next_frame.Twc,
                                       current_frame.lin_vel,
                                       current_frame.ang_vel,
                                       dt)

q3dviewer/tools/lidar_calib.py

@@ -10,10 +10,11 @@ import rospy
 import numpy as np
 import argparse
 import q3dviewer as q3d
-from PySide6.QtWidgets import QLabel, QLineEdit, QDoubleSpinBox, \
-    QSpinBox, QWidget, QVBoxLayout, QHBoxLayout, QPushButton
-from PySide6 import QtCore
+from q3dviewer.Qt.QtWidgets import QLabel, QLineEdit, QDoubleSpinBox, QSpinBox, QWidget, QVBoxLayout, QHBoxLayout, QPushButton
+from q3dviewer.Qt import QtCore
 from q3dviewer.utils.convert_ros_msg import convert_pointcloud2_msg
+from q3dviewer.utils.maths import matrix_to_quaternion, euler_to_matrix, matrix_to_euler
+
 
 try:
     import open3d as o3d
@@ -123,7 +124,7 @@ class LiDARCalibViewer(q3d.Viewer):
 
         self.line_trans.setText(
             f"[{self.t01[0]:.6f}, {self.t01[1]:.6f}, {self.t01[2]:.6f}]")
-        quat = q3d.matrix_to_quaternion(self.R01)
+        quat = matrix_to_quaternion(self.R01)
         self.line_quat.setText(
             f"[{quat[0]:.6f}, {quat[1]:.6f}, {quat[2]:.6f}, {quat[3]:.6f}]")
 
@@ -155,8 +156,8 @@ class LiDARCalibViewer(q3d.Viewer):
         roll = self.box_roll.value()
         pitch = self.box_pitch.value()
         yaw = self.box_yaw.value()
-        self.R01 = q3d.euler_to_matrix(np.array([roll, pitch, yaw]))
-        quat = q3d.matrix_to_quaternion(self.R01)
+        self.R01 = euler_to_matrix(np.array([roll, pitch, yaw]))
+        quat = matrix_to_quaternion(self.R01)
         self.line_quat.setText(
             f"[{quat[0]:.6f}, {quat[1]:.6f}, {quat[2]:.6f}, {quat[3]:.6f}]")
 
@@ -202,8 +203,8 @@ class LiDARCalibViewer(q3d.Viewer):
             t01 = transformation_icp[:3, 3]
 
             # Update the UI with new values
-            quat = q3d.matrix_to_quaternion(R01)
-            rpy = q3d.matrix_to_euler(R01)
+            quat = matrix_to_quaternion(R01)
+            rpy = matrix_to_euler(R01)
             self.box_roll.setValue(rpy[0])
             self.box_pitch.setValue(rpy[1])
             self.box_yaw.setValue(rpy[2])

q3dviewer/tools/lidar_cam_calib.py

@@ -9,13 +9,15 @@ from sensor_msgs.msg import PointCloud2, Image, CameraInfo
 import rospy
 import numpy as np
 import q3dviewer as q3d
-from PySide6.QtWidgets import QLabel, QLineEdit, QDoubleSpinBox, \
+from q3dviewer.Qt.QtWidgets import QLabel, QLineEdit, QDoubleSpinBox, \
     QSpinBox, QWidget, QVBoxLayout, QHBoxLayout, QCheckBox
-from PySide6 import QtCore
+from q3dviewer.Qt import QtCore
 import rospy
 import cv2
 import argparse
 from q3dviewer.utils.convert_ros_msg import convert_pointcloud2_msg, convert_image_msg
+from q3dviewer.utils.maths import euler_to_matrix, matrix_to_quaternion, matrix_to_euler
+
 
 clouds = []
 remap_info = None
@@ -42,7 +44,7 @@ class LidarCamViewer(q3d.Viewer):
         # c: camera image frame
         # l: lidar frame
         self.Rbl = np.eye(3)
-        self.Rbl = q3d.euler_to_matrix(np.array([0.0, 0.0, 0.0]))
+        self.Rbl = euler_to_matrix(np.array([0.0, 0.0, 0.0]))
         self.Rcb = np.array([[0, -1, 0],
                              [0, 0, -1],
                              [1, 0, 0]])
@@ -104,7 +106,7 @@ class LidarCamViewer(q3d.Viewer):
         self.box_roll.setRange(-np.pi, np.pi)
         self.box_pitch.setRange(-np.pi, np.pi)
         self.box_yaw.setRange(-np.pi, np.pi)
-        rpy = q3d.matrix_to_euler(self.Rbl)
+        rpy = matrix_to_euler(self.Rbl)
         self.box_roll.setValue(rpy[0])
         self.box_pitch.setValue(rpy[1])
         self.box_yaw.setValue(rpy[2])
@@ -136,7 +138,7 @@ class LidarCamViewer(q3d.Viewer):
 
         self.line_trans.setText(
             f"[{self.tcl[0]:.6f}, {self.tcl[1]:.6f}, {self.tcl[2]:.6f}]")
-        quat = q3d.matrix_to_quaternion(self.Rcl)
+        quat = matrix_to_quaternion(self.Rcl)
         self.line_quat.setText(
             f"[{quat[0]:.6f}, {quat[1]:.6f}, {quat[2]:.6f}, {quat[3]:.6f}]")
 
@@ -170,9 +172,9 @@ class LidarCamViewer(q3d.Viewer):
         roll = self.box_roll.value()
         pitch = self.box_pitch.value()
         yaw = self.box_yaw.value()
-        self.Rbl = q3d.euler_to_matrix(np.array([roll, pitch, yaw]))
+        self.Rbl = euler_to_matrix(np.array([roll, pitch, yaw]))
         self.Rcl = self.Rcb @ self.Rbl
-        quat = q3d.matrix_to_quaternion(self.Rcl)
+        quat = matrix_to_quaternion(self.Rcl)
         self.line_quat.setText(
             f"[{quat[0]:.6f}, {quat[1]:.6f}, {quat[2]:.6f}, {quat[3]:.6f}]")
 

q3dviewer/utils/__init__.py

@@ -1,4 +1,2 @@
-from q3dviewer.utils.maths import *
-from q3dviewer.utils.gl_helper import *
-from q3dviewer.utils.range_slider import *
-from q3dviewer.utils.cloud_io import *
+from q3dviewer.utils.helpers import rainbow, text_to_rgba
+from q3dviewer.utils.gl_helper import set_uniform

q3dviewer/utils/cloud_io.py

@@ -4,13 +4,10 @@ Distributed under MIT license. See LICENSE for more information.
 """
 
 import numpy as np
-import meshio
-from pypcd4 import PointCloud, MetaData
-from pye57 import E57
-import laspy
 
 
 def save_ply(cloud, save_path):
+    import meshio
     xyz = cloud['xyz']
     i = (cloud['irgb'] & 0xFF000000) >> 24
     rgb = cloud['irgb'] & 0x00FFFFFF
@@ -20,6 +17,7 @@ def save_ply(cloud, save_path):
 
 
 def load_ply(file):
+    import meshio
     mesh = meshio.read(file)
     xyz = mesh.points
     rgb = np.zeros([xyz.shape[0]], dtype=np.uint32)
@@ -35,6 +33,7 @@ def load_ply(file):
 
 
 def save_pcd(cloud, save_path):
+    from pypcd4 import PointCloud, MetaData
     fields = ('x', 'y', 'z', 'intensity', 'rgb')
     metadata = MetaData.model_validate(
         {
@@ -82,12 +81,17 @@ def save_pcd(cloud, save_path):
 
 
 def load_pcd(file):
+    from pypcd4 import PointCloud
     dtype = [('xyz', '<f4', (3,)), ('irgb', '<u4')]
     pc = PointCloud.from_path(file).pc_data
     rgb = np.zeros([pc.shape[0]], dtype=np.uint32)
     intensity = np.zeros([pc.shape[0]], dtype=np.uint32)
     if 'intensity' in pc.dtype.names:
         intensity = pc['intensity'].astype(np.uint32)
+        max_initensity = np.max(intensity)
+        # normalize the intensity to 0-255
+        if max_initensity > 255:
+            intensity = (intensity / max_initensity * 255).astype(np.uint32)
     if 'rgb' in pc.dtype.names:
         rgb = pc['rgb'].astype(np.uint32)
     irgb = (intensity << 24) | rgb
@@ -97,6 +101,7 @@ def load_pcd(file):
 
 
 def save_e57(cloud, save_path):
+    from pye57 import E57
     e57 = E57(save_path, mode='w')
     x = cloud['xyz'][:, 0]
     y = cloud['xyz'][:, 1]
@@ -113,6 +118,7 @@ def save_e57(cloud, save_path):
 
 
 def load_e57(file_path):
+    from pye57 import E57
     e57 = E57(file_path, mode="r")
     scans = e57.read_scan(0, ignore_missing_fields=True,
                           intensity=True, colors=True)
@@ -138,6 +144,7 @@ def load_e57(file_path):
 
 
 def load_las(file):
+    import laspy
     with laspy.open(file) as f:
         las = f.read()
         xyz = np.vstack((las.x, las.y, las.z)).transpose()
@@ -147,21 +154,24 @@ def load_las(file):
         if 'intensity' in dimensions:
             intensity = las.intensity.astype(np.uint32)
         if 'red' in dimensions and 'green' in dimensions and 'blue' in dimensions:
-            red = las.red
-            green = las.green
-            blue = las.blue
-            max_val = np.max([red, green, blue])
-            if red.dtype == np.dtype('uint16') and max_val > 255:
+            red = las.red.astype(np.uint32)
+            green = las.green.astype(np.uint32)
+            blue = las.blue.astype(np.uint32)
+            if np.max([red, green, blue]) > 255:
                 red = (red / 255).astype(np.uint32)
                 green = (green / 255).astype(np.uint32)
                 blue = (blue / 255).astype(np.uint32)
             rgb = (red << 16) | (green << 8) | blue
-        color = ((intensity / 255)<< 24) | rgb
+        if np.max(intensity) > 255:
+            intensity = (intensity / 255).astype(np.uint32)
+            intensity = np.clip(intensity, 0, 255)
+        color = (intensity << 24) | rgb
         dtype = [('xyz', '<f4', (3,)), ('irgb', '<u4')]
         cloud = np.rec.fromarrays([xyz, color], dtype=dtype)
     return cloud
 
 def save_las(cloud, save_path):
+    import laspy
     header = laspy.LasHeader(point_format=3, version="1.2")
     las = laspy.LasData(header)
     las.x = cloud['xyz'][:, 0]
@@ -229,6 +239,7 @@ def matrix_to_quaternion_wxyz(matrices):
 
 
 def load_gs_ply(path, T=None):
+    import meshio
     mesh = meshio.read(path)
     vertices = mesh.points
     pws = vertices[:, :3]

q3dviewer/utils/helpers.py

@@ -0,0 +1,97 @@
+"""
+Copyright 2024 Panasonic Advanced Technology Development Co.,Ltd. (Liu Yang)
+Distributed under MIT license. See LICENSE for more information.
+"""
+
+import numpy as np
+from OpenGL.GL import *
+
+
+def rainbow(scalars, scalar_min=0, scalar_max=255):
+    range = scalar_max - scalar_min
+    values = 1.0 - (scalars - scalar_min) / range
+    # values = (scalars - scalar_min) / range  # using inverted color
+    colors = np.zeros([scalars.shape[0], 3], dtype=np.float32)
+    values = np.clip(values, 0, 1)
+
+    h = values * 5.0 + 1.0
+    i = np.floor(h).astype(int)
+    f = h - i
+    f[np.logical_not(i % 2)] = 1 - f[np.logical_not(i % 2)]
+    n = 1 - f
+
+    # idx = i <= 1
+    colors[i <= 1, 0] = n[i <= 1] * 255
+    colors[i <= 1, 1] = 0
+    colors[i <= 1, 2] = 255
+
+    colors[i == 2, 0] = 0
+    colors[i == 2, 1] = n[i == 2] * 255
+    colors[i == 2, 2] = 255
+
+    colors[i == 3, 0] = 0
+    colors[i == 3, 1] = 255
+    colors[i == 3, 2] = n[i == 3] * 255
+
+    colors[i == 4, 0] = n[i == 4] * 255
+    colors[i == 4, 1] = 255
+    colors[i == 4, 2] = 0
+
+    colors[i >= 5, 0] = 255
+    colors[i >= 5, 1] = n[i >= 5] * 255
+    colors[i >= 5, 2] = 0
+    return colors
+
+
+def text_to_rgba(color_text, flat=False):
+    """
+    Convert a color text to an RGBA tuple.
+    
+    :param color_text: e.g. '#FF0000', '#FF0000FF', 'red', 'green', 'blue', 'yellow', 
+                       'black', 'white', 'magenta', 'cyan', 'r', 'g', 'b', 'y', 'k', 'w', 'm', 'c'
+    :return: RGBA tuple, e.g. (1.0, 0.0, 0.0, 1.0)
+    """
+    from matplotlib.colors import to_rgba
+
+    rgba = to_rgba(color_text)
+    if flat:
+        r, g, b, _ = (np.array(rgba)*255).astype(np.uint32)
+        falt_rgb = ((r << 16) & 0xFF0000) | \
+                   ((g << 8) & 0x00FF00) | \
+                   ((b << 0) & 0x0000FF)
+        return falt_rgb
+    else:
+        return rgba
+    
+
+def set_uniform(shader, content, name):
+    location = glGetUniformLocation(shader, name)
+    if location == -1:
+        raise ValueError(
+            f"Uniform '{name}' not found in shader program {shader}.")
+
+    if isinstance(content, int):
+        glUniform1i(location, content)
+    elif isinstance(content, float):
+        glUniform1f(location, content)
+    elif isinstance(content, np.ndarray):
+        if content.ndim == 1:
+            if content.shape[0] == 2:
+                glUniform2f(location, *content)
+            elif content.shape[0] == 3:
+                glUniform3f(location, *content)
+            else:
+                raise ValueError(
+                    f"Unsupported 1D array size: {content.shape}.")
+        elif content.ndim == 2:
+            if content.shape == (4, 4):
+                glUniformMatrix4fv(location, 1, GL_FALSE,
+                                   content.T.astype(np.float32))
+            else:
+                raise ValueError(
+                    f"Unsupported 2D array size: {content.shape}.")
+        else:
+            raise ValueError(f"Unsupported array dimension: {content.ndim}.")
+    else:
+        raise TypeError(
+            f"Unsupported type for uniform '{name}': {type(content)}.")

q3dviewer/utils/maths.py

@@ -10,7 +10,6 @@ https://github.com/scomup/MathematicalRobotics.git
 
 
 import numpy as np
-from matplotlib.colors import to_rgba
 
 
 _epsilon_ = 1e-5
@@ -159,42 +158,6 @@ def frustum(left, right, bottom, top, near, far):
     return matrix
 
 
-def rainbow(scalars, scalar_min=0, scalar_max=255):
-    range = scalar_max - scalar_min
-    values = 1.0 - (scalars - scalar_min) / range
-    # values = (scalars - scalar_min) / range  # using inverted color
-    colors = np.zeros([scalars.shape[0], 3], dtype=np.float32)
-    values = np.clip(values, 0, 1)
-
-    h = values * 5.0 + 1.0
-    i = np.floor(h).astype(int)
-    f = h - i
-    f[np.logical_not(i % 2)] = 1 - f[np.logical_not(i % 2)]
-    n = 1 - f
-
-    # idx = i <= 1
-    colors[i <= 1, 0] = n[i <= 1] * 255
-    colors[i <= 1, 1] = 0
-    colors[i <= 1, 2] = 255
-
-    colors[i == 2, 0] = 0
-    colors[i == 2, 1] = n[i == 2] * 255
-    colors[i == 2, 2] = 255
-
-    colors[i == 3, 0] = 0
-    colors[i == 3, 1] = 255
-    colors[i == 3, 2] = n[i == 3] * 255
-
-    colors[i == 4, 0] = n[i == 4] * 255
-    colors[i == 4, 1] = 255
-    colors[i == 4, 2] = 0
-
-    colors[i >= 5, 0] = 255
-    colors[i >= 5, 1] = n[i >= 5] * 255
-    colors[i >= 5, 2] = 0
-    return colors
-
-
 def euler_to_matrix(rpy):
     roll, pitch, yaw = rpy
     Rx = np.array([[1, 0, 0],
@@ -294,27 +257,6 @@ def makeRt(T):
     return R, t
 
 
-def text_to_rgba(color_text, flat=False):
-    """
-    Convert a color text to an RGBA tuple.
-    
-    :param color_text: e.g. '#FF0000', '#FF0000FF', 'red', 'green', 'blue', 'yellow', 
-                       'black', 'white', 'magenta', 'cyan', 'r', 'g', 'b', 'y', 'k', 'w', 'm', 'c'
-    :return: RGBA tuple, e.g. (1.0, 0.0, 0.0, 1.0)
-    """
-    rgba = to_rgba(color_text)
-    if flat:
-        r, g, b, _ = (np.array(rgba)*255).astype(np.uint32)
-        falt_rgb = ((r << 16) & 0xFF0000) | \
-                   ((g << 8) & 0x00FF00) | \
-                   ((b << 0) & 0x0000FF)
-        return falt_rgb
-    else:
-        return rgba
-    # except ValueError as e:
-    #     raise ValueError(f"Invalid color text '{color_text}': {e}")
-
-
 # euler = np.array([1, 0.1, 0.1])
 # euler_angles = matrix_to_euler(euler_to_matrix(euler))
 # print("Euler Angles:", euler_angles)

q3dviewer/utils/range_slider.py

@@ -3,9 +3,9 @@ Copyright 2024 Panasonic Advanced Technology Development Co.,Ltd. (Liu Yang)
 Distributed under MIT license. See LICENSE for more information.
 """
 
-from PySide6.QtCore import Qt, Signal
-from PySide6.QtGui import QPainter, QColor
-from PySide6.QtWidgets import QSlider
+from q3dviewer.Qt.QtCore import Qt, Signal
+from q3dviewer.Qt.QtGui import QPainter, QColor
+from q3dviewer.Qt.QtWidgets import QSlider, QToolTip
 
 
 class RangeSlider(QSlider):
@@ -20,6 +20,10 @@ class RangeSlider(QSlider):
         self.lower_value = vmin
         self.upper_value = vmax
         self.active_handle = None
+        self.bar_color = QColor(200, 200, 200)  # Gray bar
+        self.highlight_color = QColor(100, 100, 255)  # Blue for selected range
+        self.handle_color = QColor(50, 50, 255)  # Blue handles
+
         self.setTickPosition(QSlider.NoTicks)  # Hide original ticks
         # Hide slider handle
         self.setStyleSheet("QSlider::handle { background: transparent; }")
@@ -41,35 +45,50 @@ class RangeSlider(QSlider):
         if self.active_handle == "lower":
             self.lower_value = max(
                 self.minimum(), min(pos, self.upper_value - 1))
+            QToolTip.showText(event.globalPos(), f"Lower: {self.lower_value:.1f}")
         elif self.active_handle == "upper":
             self.upper_value = min(
                 self.maximum(), max(pos, self.lower_value + 1))
+            QToolTip.showText(event.globalPos(), f"Upper: {self.upper_value:.1f}")
         self.rangeChanged.emit(self.lower_value, self.upper_value)
         self.update()
 
+    def mouseReleaseEvent(self, event):
+        """Override to hide tooltip when mouse stops."""
+        QToolTip.hideText()
+        super().mouseReleaseEvent(event)
+
+    def enterEvent(self, event):
+        """Show tooltips for lower and upper values when mouse enters."""
+        QToolTip.showText(self.mapToGlobal(self.rect().topLeft()), 
+                          f"Lower: {self.lower_value:.1f}, Upper: {self.upper_value:.1f}")
+        super().enterEvent(event)
+
+    def leaveEvent(self, event):
+        """Hide tooltips when mouse leaves."""
+        QToolTip.hideText()
+        super().leaveEvent(event)
+
     def paintEvent(self, event):
         """Override to paint custom range handles."""
         painter = QPainter(self)
 
         # Draw the range bar
-        bar_color = QColor(200, 200, 200)  # Gray bar
-        highlight_color = QColor(100, 100, 255)  # Blue for selected range
         painter.setPen(Qt.NoPen)
 
         bar_height = 6
         bar_y = self.height() // 2 - bar_height // 2
-        painter.setBrush(bar_color)
+        painter.setBrush(self.bar_color)
         painter.drawRect(0, bar_y, self.width(), bar_height)
 
         # Draw the selected range
         lower_x = int(self.valueToPixelPos(self.lower_value))
         upper_x = int(self.valueToPixelPos(self.upper_value))
-        painter.setBrush(highlight_color)
+        painter.setBrush(self.highlight_color)
         painter.drawRect(lower_x, bar_y, upper_x - lower_x, bar_height)
 
         # Draw the range handles
-        handle_color = QColor(50, 50, 255)  # Blue handles
-        painter.setBrush(handle_color)
+        painter.setBrush(self.handle_color)
         painter.drawEllipse(lower_x - 5, bar_y - 4, 12, 12)
         painter.drawEllipse(upper_x - 5, bar_y - 4, 12, 12)
 

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, QHBoxLayout
+from q3dviewer.Qt.QtWidgets import QMainWindow, QApplication, QHBoxLayout
 
 
 def handler(signal, frame):

{q3dviewer-1.1.5.dist-info → q3dviewer-1.1.6.dist-info}/METADATA

@@ -1,25 +1,24 @@
 Metadata-Version: 2.1
 Name: q3dviewer
-Version: 1.1.5
+Version: 1.1.6
 Summary: A library designed for quickly deploying a 3D viewer.
 Home-page: https://github.com/scomup/q3dviewer
 Author: Liu Yang
-License: UNKNOWN
-Platform: UNKNOWN
 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: meshio
+Requires-Dist: pypcd4
+Requires-Dist: pye57
+Requires-Dist: laspy
 Requires-Dist: imageio
 Requires-Dist: imageio[ffmpeg]
-Requires-Dist: laspy
 Requires-Dist: matplotlib
-Requires-Dist: meshio
-Requires-Dist: numpy
-Requires-Dist: pye57
-Requires-Dist: pypcd4
-Requires-Dist: pyside6
 
 
 ![q3dviewer Logo](imgs/logo.png)
@@ -172,7 +171,7 @@ def main():
 
     # Create a viewer
     viewer = q3d.Viewer(name='example')
-
+    
     # Add items to the viewer
     viewer.add_items({
         'grid': grid_item,
@@ -234,4 +233,3 @@ class YourItem(q3d.BaseItem):
 ```
 
 Enjoy using `q3dviewer`!
-

q3dviewer-1.1.6.dist-info/RECORD

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+q3dviewer-1.1.6.dist-info/top_level.txt,sha256=HFFDCbGu28txcGe2HPc46A7EPaguBa_b5oH7bufmxHM,10
+q3dviewer-1.1.6.dist-info/RECORD,,

{q3dviewer-1.1.5.dist-info → q3dviewer-1.1.6.dist-info}/WHEEL

@@ -1,5 +1,5 @@
 Wheel-Version: 1.0
-Generator: bdist_wheel (0.34.2)
+Generator: setuptools (75.3.2)
 Root-Is-Purelib: true
 Tag: py3-none-any
 

{q3dviewer-1.1.5.dist-info → q3dviewer-1.1.6.dist-info}/entry_points.txt

@@ -6,4 +6,3 @@ 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-1.1.5.dist-info/RECORD

@@ -1,47 +0,0 @@
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-q3dviewer/custom_items/__init__.py,sha256=gOiAxdjDaAnFL8YbqSEWWWOwUrJfvzP9JLR34sCB9-4,434
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-q3dviewer/custom_items/camera_frame_item.py,sha256=VBsr3Avly_YWXViIh4DJkGc_HJt227GeOYLpGtbYTOw,5605
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-q3dviewer/custom_items/image_item.py,sha256=3FYAVlNLEILKZplkt2wbL8y16ke124GmwxcSmWmJY8Q,5357
-q3dviewer/custom_items/line_item.py,sha256=np8sORS5kZFWptOUa_Vlq1p7b9rMK3CpGsBd77Qpo2M,4445
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-q3dviewer/custom_items/trajectory_item.py,sha256=uoKQSrTs_m_m1M8iNAm3peiXnZ9uVPsYQLYas3Gksjg,2754
-q3dviewer/shaders/cloud_frag.glsl,sha256=tbCsDUp9YlPe0hRWlFS724SH6TtMeLO-GVYROzEElZg,609
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-q3dviewer/shaders/gau_frag.glsl,sha256=5_UY84tWDts59bxP8x4I-wgnzY8aGeGuo28wX--LW7E,975
-q3dviewer/shaders/gau_prep.glsl,sha256=eCT9nm65uz32w8NaDjeGKhyAZh42Aea-QTwr3yQVr9U,7218
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-q3dviewer/tools/lidar_cam_calib.py,sha256=SYNLDvi15MX7Q3aGn771fvu1cES9xeXgP0_WmDq33w4,11200
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-q3dviewer/utils/__init__.py,sha256=irm8Z_bT8l9kzhoMlds2Dal8g4iw4vjmqNPZSs4W6e0,157
-q3dviewer/utils/cloud_io.py,sha256=xnsT3VEKS435BE1DwhciRHicwzuC-8-JASkImT8pKNk,11681
-q3dviewer/utils/convert_ros_msg.py,sha256=sAoQfy3qLQKsIArBAVm8H--wlQXOcmkKK3-Ox9UCcrc,1686
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-q3dviewer-1.1.5.dist-info/METADATA,sha256=6DZkBF6Jsghr4qu0K2Wp-gzjP8qoflKCvSk6qi2EoP4,7984
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-q3dviewer-1.1.5.dist-info/entry_points.txt,sha256=EOjker7XYaBk70ffvNB_knPcfA33Bnlg21ZjEeM1EyI,362
-q3dviewer-1.1.5.dist-info/top_level.txt,sha256=HFFDCbGu28txcGe2HPc46A7EPaguBa_b5oH7bufmxHM,10
-q3dviewer-1.1.5.dist-info/RECORD,,