q3dviewer 1.1.7__py3-none-any.whl → 1.1.8__py3-none-any.whl

q3dviewer/custom_items/camera_frame_item.py

@@ -1,173 +0,0 @@
-import pyqtgraph.opengl as gl
-from OpenGL.GL import *
-import numpy as np
-from OpenGL.GL import shaders
-from PIL import Image
-
-
-# Vertex and Fragment shader source code
-vertex_shader_source = """
-#version 330 core
-layout(location = 0) in vec3 position;
-layout(location = 1) in vec2 texCoord;
-
-out vec2 TexCoord;
-
-uniform mat4 view_matrix;
-uniform mat4 project_matrix;
-
-void main()
-{
-    gl_Position = project_matrix * view_matrix * vec4(position, 1.0);
-    TexCoord = texCoord;
-}
-"""
-
-fragment_shader_source = """
-#version 330 core
-in vec2 TexCoord;
-out vec4 color;
-uniform sampler2D ourTexture;
-void main()
-{
-    color = texture(ourTexture, TexCoord);
-}
-"""
-
-
-def set_uniform_mat4(shader, content, name):
-    content = content.T
-    glUniformMatrix4fv(
-        glGetUniformLocation(shader, name),
-        1,
-        GL_FALSE,
-        content.astype(np.float32)
-    )
-
-
-class GLCameraFrameItem(gl.GLGraphicsItem.GLGraphicsItem):
-    def __init__(self, T=np.eye(4), size=1, width=3, path=None):
-        gl.GLGraphicsItem.GLGraphicsItem.__init__(self)
-        self.size = size
-        self.width = width
-        self.T = T
-        self.path = path
-
-    def initializeGL(self):
-        # Rectangle vertices and texture coordinates
-        hsize = self.size / 2
-        self.vertices = np.array([
-            # positions          # texture coords
-            [-hsize, -hsize,  0.0,  0.0, 0.0],  # bottom-left
-            [hsize, -hsize,  0.0,  1.0, 0.0],  # bottom-right
-            [hsize,  hsize,  0.0,  1.0, 1.0],  # top-right
-            [-hsize,  hsize,  0.0,  0.0, 1.0],   # top-left
-            [0,  0, -hsize * 0.66, 0.0, 0.0],   # top-left
-        ], dtype=np.float32)
-
-        R = self.T[:3, :3]
-        t = self.T[:3, 3]
-        self.vertices[:, :3] = (
-            R @ self.vertices[:, :3].T + t[:, np.newaxis]).T
-
-        self.focal_p = np.array([0, 0, hsize * 0.66])
-
-        indices = np.array([
-            0, 1, 2,  # first triangle
-            2, 3, 0   # second triangle
-        ], dtype=np.uint32)
-
-        self.vao = glGenVertexArrays(1)
-        vbo = glGenBuffers(1)
-        ebo = glGenBuffers(1)
-
-        glBindVertexArray(self.vao)
-
-        glBindBuffer(GL_ARRAY_BUFFER, vbo)
-        glBufferData(GL_ARRAY_BUFFER, self.vertices.itemsize *
-                     5 * 4, self.vertices, GL_STATIC_DRAW)
-
-        glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, ebo)
-        glBufferData(GL_ELEMENT_ARRAY_BUFFER,
-                     indices.nbytes, indices, GL_STATIC_DRAW)
-
-        # Vertex positions
-
-        glVertexAttribPointer(0, 3, GL_FLOAT, GL_FALSE,
-                              20, ctypes.c_void_p(0))
-        glEnableVertexAttribArray(0)
-        # Texture coordinates
-        glVertexAttribPointer(1, 2, GL_FLOAT, GL_FALSE,
-                              20, ctypes.c_void_p(12))
-        glEnableVertexAttribArray(1)
-
-        project_matrix = np.array(self._GLGraphicsItem__view.projectionMatrix().data(),
-                                  np.float32).reshape([4, 4]).T
-        # Compile shaders and create shader program
-        self.program = shaders.compileProgram(
-            shaders.compileShader(vertex_shader_source, GL_VERTEX_SHADER),
-            shaders.compileShader(fragment_shader_source, GL_FRAGMENT_SHADER),
-        )
-        glUseProgram(self.program)
-        set_uniform_mat4(self.program, project_matrix, 'project_matrix')
-        glUseProgram(0)
-
-        self.texture = glGenTextures(1)
-        glBindTexture(GL_TEXTURE_2D, self.texture)
-
-        # Load image
-        image = Image.open(self.path)
-        # image = image.transpose(Image.FLIP_TOP_BOTTOM)
-        img_data = image.convert("RGBA").tobytes()
-        glTexImage2D(GL_TEXTURE_2D, 0, GL_RGBA, image.width,
-                     image.height, 0, GL_RGBA, GL_UNSIGNED_BYTE, img_data)
-        glGenerateMipmap(GL_TEXTURE_2D)
-        glBindTexture(GL_TEXTURE_2D, 0)
-        glBindVertexArray(0)
-
-    def setTransform(self, T):
-        self.T = T
-
-    def paint(self):
-        self.view_matrix = np.array(
-            self._GLGraphicsItem__view.viewMatrix().data(), np.float32).reshape([4, 4]).T
-        project_matrix = np.array(self._GLGraphicsItem__view.projectionMatrix(
-        ).data(), np.float32).reshape([4, 4]).T
-
-        glEnable(GL_DEPTH_TEST)
-        glEnable(GL_BLEND)
-        glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA)
-
-        glUseProgram(self.program)
-        set_uniform_mat4(self.program, self.view_matrix, 'view_matrix')
-        set_uniform_mat4(self.program, project_matrix, 'project_matrix')
-        glBindVertexArray(self.vao)
-        glBindTexture(GL_TEXTURE_2D, self.texture)
-        glDrawElements(GL_TRIANGLES, 6, GL_UNSIGNED_INT, None)
-        glBindTexture(GL_TEXTURE_2D, 0)
-        glBindVertexArray(0)
-        glUseProgram(0)
-
-        glLineWidth(self.width)
-        glBegin(GL_LINES)
-        glColor4f(1, 1, 1, 1)  # z is blue
-        glVertex3f(*self.vertices[0, :3])
-        glVertex3f(*self.vertices[1, :3])
-        glVertex3f(*self.vertices[1, :3])
-        glVertex3f(*self.vertices[2, :3])
-        glVertex3f(*self.vertices[2, :3])
-        glVertex3f(*self.vertices[3, :3])
-        glVertex3f(*self.vertices[3, :3])
-        glVertex3f(*self.vertices[0, :3])
-        glVertex3f(*self.vertices[4, :3])
-        glVertex3f(*self.vertices[0, :3])
-        glVertex3f(*self.vertices[4, :3])
-        glVertex3f(*self.vertices[1, :3])
-        glVertex3f(*self.vertices[4, :3])
-        glVertex3f(*self.vertices[2, :3])
-        glVertex3f(*self.vertices[4, :3])
-        glVertex3f(*self.vertices[3, :3])
-        glEnd()
-
-        glDisable(GL_DEPTH_TEST)
-        glDisable(GL_BLEND)

q3dviewer/custom_items/trajectory_item.py

@@ -1,79 +0,0 @@
-import pyqtgraph.opengl as gl
-from OpenGL.GL import *
-import numpy as np
-import threading
-
-
-class TrajectoryItem(gl.GLGridItem):
-    def __init__(self, width=1, color=(0, 1, 0, 1)):
-        super(TrajectoryItem, self).__init__()
-        self.width = width
-        self.buff = np.empty((0, 3), np.float32)
-        self.wait_add_data = None
-        self.mutex = threading.Lock()
-        self.CAPACITY = 100000
-        self.valid_buff_top = 0
-        self.color = color
-
-    def addSetting(self, layout):
-        pass
-
-    def setData(self, data, append=True):
-        self.mutex.acquire()
-        data = data.astype(np.float32).reshape(-1, 3)
-        if (append is False):
-            self.wait_add_data = data
-            self.add_buff_loc = 0
-        else:
-            if (self.wait_add_data is None):
-                self.wait_add_data = data
-            else:
-                self.wait_add_data = np.concatenate([self.wait_add_data, data])
-            self.add_buff_loc = self.valid_buff_top
-        self.mutex.release()
-
-
-    def updateRenderBuffer(self):
-        if(self.wait_add_data is None):
-            return
-        self.mutex.acquire()
-
-        new_buff_top = self.add_buff_loc + self.wait_add_data.shape[0]
-        if new_buff_top > self.buff.shape[0]:
-            buff_capacity = self.buff.shape[0]
-            while (new_buff_top > buff_capacity):
-                buff_capacity += self.CAPACITY
-            self.buff = np.empty((buff_capacity, 3), np.float32)
-            self.buff[self.add_buff_loc:new_buff_top] = self.wait_add_data
-            glBindBuffer(GL_ARRAY_BUFFER, self.vbo)
-            glBufferData(GL_ARRAY_BUFFER, self.buff.nbytes, self.buff, GL_DYNAMIC_DRAW)
-            glBindBuffer(GL_ARRAY_BUFFER, 0)
-        else:
-            self.buff[self.add_buff_loc:new_buff_top] = self.wait_add_data
-            glBindBuffer(GL_ARRAY_BUFFER, self.vbo)
-            glBufferSubData(GL_ARRAY_BUFFER, self.add_buff_loc * 12,
-                            self.wait_add_data.shape[0] * 12, self.wait_add_data)
-        self.valid_buff_top = new_buff_top
-        self.wait_add_data = None
-        self.mutex.release()
-
-    def initializeGL(self):
-        self.vbo = glGenBuffers(1)
-
-
-    def paint(self):
-        self.setupGLState()
-        self.updateRenderBuffer()
-        glEnable(GL_BLEND)
-        glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA)
-        glBindBuffer(GL_ARRAY_BUFFER, self.vbo)
-        glEnableClientState(GL_VERTEX_ARRAY)
-        glVertexPointer(3, GL_FLOAT, 0, None)
-        glLineWidth(self.width)
-        glColor4f(*self.color)  # z is blue
-
-        glDrawArrays(GL_LINE_STRIP, 0, self.valid_buff_top)
-        glDisableClientState(GL_VERTEX_ARRAY)
-
-        glBindBuffer(GL_ARRAY_BUFFER, 0)
-        glUseProgram(0)

q3dviewer/utils.py

@@ -1,71 +0,0 @@
-import numpy as np
-import time
-
-
-def matrix_to_quaternion(matrix):
-    trace = matrix[0, 0] + matrix[1, 1] + matrix[2, 2]
-    if trace > 0:
-        s = 0.5 / np.sqrt(trace + 1.0)
-        w = 0.25 / s
-        x = (matrix[2, 1] - matrix[1, 2]) * s
-        y = (matrix[0, 2] - matrix[2, 0]) * s
-        z = (matrix[1, 0] - matrix[0, 1]) * s
-    else:
-        if matrix[0, 0] > matrix[1, 1] and matrix[0, 0] > matrix[2, 2]:
-            s = 2.0 * np.sqrt(1.0 + matrix[0, 0] - matrix[1, 1] - matrix[2, 2])
-            w = (matrix[2, 1] - matrix[1, 2]) / s
-            x = 0.25 * s
-            y = (matrix[0, 1] + matrix[1, 0]) / s
-            z = (matrix[0, 2] + matrix[2, 0]) / s
-        elif matrix[1, 1] > matrix[2, 2]:
-            s = 2.0 * np.sqrt(1.0 + matrix[1, 1] - matrix[0, 0] - matrix[2, 2])
-            w = (matrix[0, 2] - matrix[2, 0]) / s
-            x = (matrix[0, 1] + matrix[1, 0]) / s
-            y = 0.25 * s
-            z = (matrix[1, 2] + matrix[2, 1]) / s
-        else:
-            s = 2.0 * np.sqrt(1.0 + matrix[2, 2] - matrix[0, 0] - matrix[1, 1])
-            w = (matrix[1, 0] - matrix[0, 1]) / s
-            x = (matrix[0, 2] + matrix[2, 0]) / s
-            y = (matrix[1, 2] + matrix[2, 1]) / s
-            z = 0.25 * s
-    return np.array([w, x, y, z])
-
-
-def quaternion_to_matrix(quaternion):
-    _EPS = np.finfo(float).eps * 4.0
-    q = np.array(quaternion[:4], dtype=np.float64, copy=True)
-    nq = np.dot(q, q)
-    if nq < _EPS:
-        return np.identity(4)
-    q *= np.sqrt(2.0 / nq)
-    q = np.outer(q, q)
-    return np.array((
-        (1.0-q[1, 1]-q[2, 2], q[0, 1]-q[2, 3], q[0, 2]+q[1, 3], 0.0),
-        (q[0, 1]+q[2, 3], 1.0-q[0, 0]-q[2, 2], q[1, 2]-q[0, 3], 0.0),
-        (q[0, 2]-q[1, 3], q[1, 2]+q[0, 3], 1.0-q[0, 0]-q[1, 1], 0.0),
-        (0.0, 0.0,  0.0, 1.0)
-        ), dtype=np.float64)
-
-
-def make_transform(pose, rotation):
-    transform = np.matrix(np.identity(4, dtype=np.float64))
-    transform = quaternion_to_matrix(rotation)
-    transform[0:3, 3] = np.transpose(pose)
-    return transform
-
-
-class FPSMonitor():
-    def __init__(self):
-        self.stamp_record = []
-
-    def count(self):
-        cur_stamp = time.time()
-        self.stamp_record.append(cur_stamp)
-        while len(self.stamp_record) > 0:
-            if(cur_stamp - self.stamp_record[0] > 1.):
-                self.stamp_record.pop(0)
-            else:
-                break
-        return len(self.stamp_record)
-

q3dviewer-1.1.7.dist-info/RECORD

@@ -1,49 +0,0 @@
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