q3dviewer 1.1.5__py3-none-any.whl → 1.1.7__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)
@@ -38,7 +40,7 @@ class CloudItem(BaseItem):
         except ValueError:
             print(f"Invalid color: {color}, please use matplotlib color format")
             exit(1)
-        self.mode_table = {'FLAT': 0,  'I': 1,  'RGB': 2}
+        self.mode_table = {'FLAT': 0,  'I': 1,  'RGB': 2, 'GRAY': 3}
         self.point_type_table = {'PIXEL': 0, 'SQUARE': 1, 'SPHERE': 2}
         self.color_mode = self.mode_table[color_mode]
         self.CAPACITY = 10000000  # 10MB * 3 (x,y,z, color) * 4
@@ -87,6 +89,7 @@ class CloudItem(BaseItem):
         self.combo_color.addItem("flat color")
         self.combo_color.addItem("intensity")
         self.combo_color.addItem("RGB")
+        self.combo_color.addItem("gray")
         self.combo_color.setCurrentIndex(self.color_mode)
         self.combo_color.currentIndexChanged.connect(self._on_color_mode)
         layout.addWidget(self.combo_color)
@@ -125,10 +128,13 @@ class CloudItem(BaseItem):
             self.edit_rgb.show()
         elif (index == self.mode_table['I']):  # flat color
             self.slider_v.show()
+        elif (index == self.mode_table['GRAY']):  # flat color
+            self.slider_v.show()
+
         self.need_update_setting = True
 
     def set_color_mode(self, color_mode):
-        if color_mode in {'FLAT', 'RGB', 'I'}:
+        if color_mode in {'FLAT', 'RGB', 'I', 'GRAY'}:
             try:
                 self.combo_color.setCurrentIndex(self.mode_table[color_mode])
             except:
@@ -143,14 +149,15 @@ 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 +244,8 @@ 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/shaders/cloud_vert.glsl

@@ -62,6 +62,15 @@ void main()
         c.y = float((value & uint(0x0000FF00)) >> 8)/255.;
         c.x = float((value & uint(0x00FF0000)) >> 16)/255.;
     }
+    else if(color_mode == 3)
+    {
+        uint intensity = value >> 24;
+        float range = vmax - vmin;
+        float value = 1.0 - (float(intensity) - vmin) / range;
+        c.z = value;
+        c.y = value;
+        c.x = value;
+    }
     else
     {
         c.z = float( uint(flat_rgb) & uint(0x000000FF))/255.;

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

@@ -9,14 +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
+from q3dviewer.utils.helpers import rainbow
 clouds = []
 remap_info = None
 K = None
@@ -42,7 +43,7 @@ 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 +105,7 @@ 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 +137,7 @@ 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 +171,9 @@ 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}]")
 
@@ -252,7 +253,7 @@ def image_cb(data):
         intensity = cloud_local['irgb'][u_mask][valid_points] >> 24
         vmin = viewer['scan'].vmin
         vmax = viewer['scan'].vmax
-        intensity_color = q3d.rainbow(intensity, scalar_min=vmin, scalar_max=vmax).astype(np.uint8)
+        intensity_color = rainbow(intensity, scalar_min=vmin, scalar_max=vmax).astype(np.uint8)
         draw_image = image_un.copy()
         draw_image = draw_larger_points(draw_image, u, intensity_color, radius)
         rgb = image_un[u[:, 1], u[:, 0]]

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):
@@ -17,7 +17,7 @@ def handler(signal, frame):
 class Viewer(QMainWindow):
     def __init__(self, name='Viewer', win_size=[1920, 1080], 
                  gl_widget_class=GLWidget, update_interval=20):
-        signal.signal(signal.SIGINT, handler)
+        self.set_quit_handler(handler)
         super(Viewer, self).__init__()
         self.setGeometry(0, 0, win_size[0], win_size[1])
         self.gl_widget_class = gl_widget_class
@@ -27,6 +27,9 @@ class Viewer(QMainWindow):
         self.setWindowTitle(name)
         self.installEventFilter(self)
 
+    def set_quit_handler(self, handler):
+        signal.signal(signal.SIGINT, handler)
+
     def init_ui(self):
         center_widget = QWidget()
         self.setCentralWidget(center_widget)

{q3dviewer-1.1.5.dist-info → q3dviewer-1.1.7.dist-info}/METADATA

@@ -1,25 +1,24 @@
 Metadata-Version: 2.1
 Name: q3dviewer
-Version: 1.1.5
+Version: 1.1.7
 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)
@@ -27,7 +26,7 @@ Requires-Dist: pyside6
 [![License: MIT](https://img.shields.io/badge/License-MIT-yellow.svg)](https://opensource.org/licenses/MIT)
 [![PyPI version](https://badge.fury.io/py/q3dviewer.svg)](https://badge.fury.io/py/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.
+`q3dviewer` is a library designed for quickly deploying a 3D viewer. It is based on Qt 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.
 
 
 To show how to use `q3dviewer` as a library, we also provide some [very useful tools](#tools).
@@ -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,
@@ -206,7 +205,7 @@ In addition to the standard 3D items provided, you can visualize custom 3D items
 from OpenGL.GL import *
 import numpy as np
 import q3dviewer as q3d
-from PySide6.QtWidgets import QLabel, QSpinBox
+from q3dviewer.Qt.QtWidgets import QLabel, QSpinBox
 
 class YourItem(q3d.BaseItem):
     def __init__(self):
@@ -234,4 +233,3 @@ class YourItem(q3d.BaseItem):
 ```
 
 Enjoy using `q3dviewer`!
-

q3dviewer-1.1.7.dist-info/RECORD

@@ -0,0 +1,49 @@
+q3dviewer/__init__.py,sha256=cjyfUE5zK6xohDGDQIWfb0DKkWChVznBd7CrVLg7whQ,376
+q3dviewer/base_glwidget.py,sha256=6Z5rINQ1Y9KqtpBexr0hMX66pNTh6qvovlb7fJe5ZGM,12303
+q3dviewer/base_item.py,sha256=63MarHyoWszPL40ox-vPoOAQ1N4ypekOjoRARdPik-E,1755
+q3dviewer/basic_window.py,sha256=CFErOPRMysFcCqq3vhDsQ-xZzLArO3m1yABCTIhq5do,7946
+q3dviewer/cloud_viewer.py,sha256=IxxrB6Sl6aPCr9P9QzKHGkMcDP_DjsBWbkmIbsAoIM4,2358
+q3dviewer/gau_io.py,sha256=S6NmqL5vSMgHVxKR-eu4CWCqgZeWBJKYRoOMAwr8Xbo,5890
+q3dviewer/glwidget.py,sha256=pkMQxPXNxVWp_sZUFX2r4IHuw_So9ok5e-ZdvBhArFQ,4631
+q3dviewer/utils.py,sha256=evF0d-v17hbTmquC24fmMIp9CsXpUnSQZr4MVy2sfao,2426
+q3dviewer/viewer.py,sha256=Vq3ucDlBcBBoiVVGmqG1sRjhLePl50heblx6wJpsc1A,2603
+q3dviewer/Qt/__init__.py,sha256=CcwS6oSXBXTMr58JNbRNYcPMVubDD2jiPtJ55DoLm8o,2199
+q3dviewer/custom_items/__init__.py,sha256=19z_BFXJEm8j31WqREICN31fiFcaIeUqvfo39d02vbk,509
+q3dviewer/custom_items/axis_item.py,sha256=-WM2urosqV847zpTpOtxdLjb7y9NJqFCH13qqodcCTg,2572
+q3dviewer/custom_items/camera_frame_item.py,sha256=VBsr3Avly_YWXViIh4DJkGc_HJt227GeOYLpGtbYTOw,5605
+q3dviewer/custom_items/cloud_io_item.py,sha256=E3Qyc4nuVP-MQAff4zII9JB-xQjVRsviATpqvpLQveM,3507
+q3dviewer/custom_items/cloud_item.py,sha256=ITOzVq4MAKFIQOGkIgY0Xc2a-yumwHWg3wIvZgjuyGc,13125
+q3dviewer/custom_items/frame_item.py,sha256=bUzww3tSDah0JZeqtU6_cYHhhTVWzXhJVMcAa5pCXHI,7458
+q3dviewer/custom_items/gaussian_item.py,sha256=JMubpahkTPh0E8ShL3FLTahv0e35ODzjgK5K1i0YXSU,9884
+q3dviewer/custom_items/grid_item.py,sha256=LDB_MYACoxld-xvz01_MfAf12vLcRkH7R_WtGHHdSgk,4945
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{q3dviewer-1.1.5.dist-info → q3dviewer-1.1.7.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-1.1.7.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

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