q3dviewer 1.1.6__py3-none-any.whl → 1.1.7__py3-none-any.whl

q3dviewer/custom_items/cloud_item.py

@@ -40,7 +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
@@ -89,6 +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)
@@ -127,10 +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:

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/lidar_cam_calib.py

@@ -17,8 +17,7 @@ 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
@@ -254,7 +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/viewer.py

@@ -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-1.1.6.dist-info → q3dviewer-1.1.7.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: q3dviewer
-Version: 1.1.6
+Version: 1.1.7
 Summary: A library designed for quickly deploying a 3D viewer.
 Home-page: https://github.com/scomup/q3dviewer
 Author: Liu Yang
@@ -26,7 +26,7 @@ Requires-Dist: matplotlib
 [![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).
@@ -205,7 +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):

{q3dviewer-1.1.6.dist-info → q3dviewer-1.1.7.dist-info}/RECORD

@@ -6,13 +6,13 @@ q3dviewer/cloud_viewer.py,sha256=IxxrB6Sl6aPCr9P9QzKHGkMcDP_DjsBWbkmIbsAoIM4,235
 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=odDtrieM5M-8C6XFrn414x0P6vaucm0UXU1FmRJ2Um4,2522
+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=mVJ4WW1q-2vFnLISzfNkP_D0G9mOe4jD5rMQhhn4G58,12968
+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
@@ -21,7 +21,7 @@ q3dviewer/custom_items/line_item.py,sha256=rel-lx8AgjDY7qyIecHxHQZzaswRn2ZTiOIjB
 q3dviewer/custom_items/text_item.py,sha256=VdmoCgXAfqN58fMKydqrdnJHCT53VelRiv_88X9aCfQ,2185
 q3dviewer/custom_items/trajectory_item.py,sha256=uoKQSrTs_m_m1M8iNAm3peiXnZ9uVPsYQLYas3Gksjg,2754
 q3dviewer/shaders/cloud_frag.glsl,sha256=tbCsDUp9YlPe0hRWlFS724SH6TtMeLO-GVYROzEElZg,609
-q3dviewer/shaders/cloud_vert.glsl,sha256=Vxgw-Zrr0knAK0z4qMXKML6IC4EbffKMwYN2TMXROoI,2117
+q3dviewer/shaders/cloud_vert.glsl,sha256=7VrNDbEVqzatpQOuIfFOLYgtbFVWG0Rxl2Od7DZ-l8U,2357
 q3dviewer/shaders/gau_frag.glsl,sha256=5_UY84tWDts59bxP8x4I-wgnzY8aGeGuo28wX--LW7E,975
 q3dviewer/shaders/gau_prep.glsl,sha256=eCT9nm65uz32w8NaDjeGKhyAZh42Aea-QTwr3yQVr9U,7218
 q3dviewer/shaders/gau_vert.glsl,sha256=NNbVhv_JyqZDK9iXAyBAcIHAtim7G9yWbC9IaUfTL1w,1666
@@ -32,7 +32,7 @@ q3dviewer/tools/example_viewer.py,sha256=sedL18GU3bTTjVJBREPVJ5hTLfSDFq_j91E4qXn
 q3dviewer/tools/film_maker.py,sha256=CXsI2SocgnQProIWKJ6lvRXtFv4DoO-rm6YNfweAJmw,16678
 q3dviewer/tools/gaussian_viewer.py,sha256=vIwWmiFhjNmknrEkBLzt2yiegeH7LP3OeNjnGM6GzaI,1633
 q3dviewer/tools/lidar_calib.py,sha256=hHnsSaQh_Pkdh8tPntt0MgEW26nQyAdC_HQHq4I3sw8,10562
-q3dviewer/tools/lidar_cam_calib.py,sha256=XnP3tdtav7OiMp88g88QsiNQToUJKCSP_BXTiIeTEms,11280
+q3dviewer/tools/lidar_cam_calib.py,sha256=AyF3RipBo1R5LYJqm5RR8LUbEovRWJiBUEmUtnrx6e8,11318
 q3dviewer/tools/ros_viewer.py,sha256=ARB3I5wohY3maP8dCu0O0hxObd6JFKuK2y7AApVgMWA,2551
 q3dviewer/utils/__init__.py,sha256=dwTNAAebTiKY4ygv2G1O-w6-TbJnmnNVO2UfJXvJhaQ,107
 q3dviewer/utils/cloud_io.py,sha256=xarfYakY0zgKwvZkgKSPO6b4DEo42hsq3mcvCbK64yg,12134
@@ -41,9 +41,9 @@ q3dviewer/utils/gl_helper.py,sha256=dRY_kUqyPMr7NTcupUr6_VTvgnj53iE2C0Lk0-oFYsI,
 q3dviewer/utils/helpers.py,sha256=SqR4YTQZi13FKbkVUYgodXce1JJ_YmrHEIRkUmnIUas,3085
 q3dviewer/utils/maths.py,sha256=zHaPtvVZIuo8xepIXCMeSL9tpx8FahUrq0l4K1oXrBk,8834
 q3dviewer/utils/range_slider.py,sha256=9djTxuzmzH54DgSwAljRpLGjsrIJ0hTxhaxFjPxsk8g,4007
-q3dviewer-1.1.6.dist-info/LICENSE,sha256=81cMOyNfw8KLb1JnPYngGHJ5W83gSbZEBU9MEP3tl-E,1124
-q3dviewer-1.1.6.dist-info/METADATA,sha256=OYd2NVqjqX9VkRGPQAsCzOtydm1cl9swhfbWEh6TpZ0,7974
-q3dviewer-1.1.6.dist-info/WHEEL,sha256=iAkIy5fosb7FzIOwONchHf19Qu7_1wCWyFNR5gu9nU0,91
-q3dviewer-1.1.6.dist-info/entry_points.txt,sha256=aeUdGH7UIgMZEMFUc-0xPZWspY95GoPdZcZuLceq85g,361
-q3dviewer-1.1.6.dist-info/top_level.txt,sha256=HFFDCbGu28txcGe2HPc46A7EPaguBa_b5oH7bufmxHM,10
-q3dviewer-1.1.6.dist-info/RECORD,,
+q3dviewer-1.1.7.dist-info/LICENSE,sha256=81cMOyNfw8KLb1JnPYngGHJ5W83gSbZEBU9MEP3tl-E,1124
+q3dviewer-1.1.7.dist-info/METADATA,sha256=ckr5ZX5GWsS3T7JmlUjlPzgwxRizYkjdV_vCAsBZYHo,7969
+q3dviewer-1.1.7.dist-info/WHEEL,sha256=iAkIy5fosb7FzIOwONchHf19Qu7_1wCWyFNR5gu9nU0,91
+q3dviewer-1.1.7.dist-info/entry_points.txt,sha256=aeUdGH7UIgMZEMFUc-0xPZWspY95GoPdZcZuLceq85g,361
+q3dviewer-1.1.7.dist-info/top_level.txt,sha256=HFFDCbGu28txcGe2HPc46A7EPaguBa_b5oH7bufmxHM,10
+q3dviewer-1.1.7.dist-info/RECORD,,