q3dviewer 1.1.7__py3-none-any.whl → 1.1.9__py3-none-any.whl

q3dviewer/tools/cloud_viewer.py

@@ -8,7 +8,9 @@ Distributed under MIT license. See LICENSE for more information.
 import numpy as np
 import q3dviewer as q3d
 from q3dviewer.Qt.QtWidgets import QVBoxLayout, QProgressBar, QDialog, QLabel
-from q3dviewer.Qt.QtCore import QThread, Signal
+from q3dviewer.Qt.QtCore import QThread, Signal, Qt
+from q3dviewer.Qt.QtGui import QKeyEvent
+from q3dviewer import GLWidget
 
 
 class ProgressDialog(QDialog):
@@ -57,9 +59,57 @@ class FileLoaderThread(QThread):
         self.finished.emit()
 
 
+class CustomGLWidget(GLWidget):
+    def __init__(self, viewer):
+        super().__init__()
+        self.viewer = viewer
+        self.selected_points = []
+
+    def mousePressEvent(self, event):
+        # ctrl + left click to add select point
+        # ctrl + right click to remove a point from selected points
+        if event.button() == Qt.LeftButton and event.modifiers() & Qt.ControlModifier:
+            x, y = event.x(), event.y()
+            p = self.get_point(x, y)
+            if p is not None:
+                self.selected_points.append(p)
+                self.update_marker()
+        elif event.button() == Qt.RightButton and event.modifiers() & Qt.ControlModifier:
+            if len(self.selected_points) > 0:
+                self.selected_points.pop()
+                self.update_marker()
+        super().mouseReleaseEvent(event)
+
+    def update_marker(self):
+        marks = []
+        for p in self.selected_points:
+            m = {'text': '',
+                 'position': p,
+                 'color': (0.0, 1.0, 0.0, 1.0),
+                 'font_size': 16,
+                 'point_size': 5.0,
+                 'line_width': 1.0}
+            marks.append(m)
+        
+        # calculate distances between consecutive points
+        self.viewer['marker'].set_data(data=marks, append=False)
+        if len(self.selected_points) >= 2:
+            total_dists = 0.0
+            for i in range(1, len(self.selected_points)):
+                p1 = self.selected_points[i - 1]
+                p2 = self.selected_points[i]
+                dist = np.linalg.norm(np.array(p2) - np.array(p1))
+                total_dists += dist
+            self.viewer['text'].set_data(text=f'Total Distance: {total_dists:.2f} meter')
+        else:
+            self.viewer['text'].set_data(text='')
+
+
 class CloudViewer(q3d.Viewer):
     def __init__(self, **kwargs):
-        super(CloudViewer, self).__init__(**kwargs)
+        gl_widget_class=lambda: CustomGLWidget(self)
+        super(CloudViewer, self).__init__(
+            **kwargs,  gl_widget_class=gl_widget_class)
         self.setAcceptDrops(True)
 
     def dragEnterEvent(self, event):
@@ -96,8 +146,28 @@ class CloudViewer(q3d.Viewer):
         center = np.nanmean(cloud['xyz'].astype(np.float64), axis=0)
         self.glwidget.set_cam_position(center=center)
 
+# print a quick help message
+def print_help():
+    # ANSI color codes
+    GREEN = '\033[92m'
+    BLUE = '\033[94m'
+    BOLD = '\033[1m'
+    END = '\033[0m'
+    
+    help_msg = f"""
+{BOLD}Cloud Viewer Help:{END}
+{GREEN}• Drag and drop cloud files into the viewer to load them.{END}
+{GREEN}• Measure distance between points:{END}
+    {BLUE}- Hold Ctrl and left-click to select points on the cloud.{END}
+    {BLUE}- Hold Ctrl and right-click to remove the last selected point.{END}
+    {BLUE}- The total distance between selected points will be displayed.{END}
+{GREEN}• Press 'M' to open the settings window.{END}
+    {BLUE}- Use the settings window to adjust item properties.{END}
+    """
+    print(help_msg)
 
 def main():
+    print_help()
     import argparse
     parser = argparse.ArgumentParser()
     parser.add_argument("--path", help="the cloud file path")
@@ -107,9 +177,15 @@ def main():
     cloud_item = q3d.CloudIOItem(size=1, alpha=0.1)
     axis_item = q3d.AxisItem(size=0.5, width=5)
     grid_item = q3d.GridItem(size=1000, spacing=20)
+    marker_item = q3d.Text3DItem()  # Changed from CloudItem to Text3DItem
+    text_item = q3d.Text2DItem(pos=(20, 40), text="", color='lime', size=16)
 
     viewer.add_items(
-        {'cloud': cloud_item, 'grid': grid_item, 'axis': axis_item})
+        {'marker': marker_item, 
+         'cloud': cloud_item, 
+         'grid': grid_item, 
+         'axis': axis_item, 
+         'text': text_item})
 
     if args.path:
         pcd_fn = args.path

q3dviewer/tools/example_viewer.py

@@ -1,47 +1,27 @@
 #!/usr/bin/env python3
 
-import numpy as np
-import q3dviewer as q3d
-from q3dviewer.Qt.QtCore import QTimer
-
-i = 0.0
-
-def update(viewer):
-    global i
-    i += 0.05
-    new = np.array([np.sin(i) * i, np.cos(i) * i, i])
-    viewer['traj'].set_data(new, append=True)
-    viewer.update()
-    return i
-
+import q3dviewer as q3d  # Import q3dviewer
 
 def main():
-    # add a qt application
+    # Create a Qt application
     app = q3d.QApplication([])
 
-    # create opengl items
+    # Create various 3D items
     axis_item = q3d.AxisItem(size=0.5, width=5)
     grid_item = q3d.GridItem(size=10, spacing=1)
-    traj_item = q3d.LineItem(width=2)
 
-    # create viewer
+    # Create a viewer
     viewer = q3d.Viewer(name='example')
-
-    # add all items to viewer
+    
+    # Add items to the viewer
     viewer.add_items({
         'grid': grid_item,
         'axis': axis_item,
-        'traj': traj_item})
-
-    # dynamic update by timer
-    timer = QTimer()
-    timer.timeout.connect(lambda: update(viewer))
-    timer.start(100)
+    })
 
-    # show viewer and start application
+    # Show the viewer & run the Qt application
     viewer.show()
     app.exec()
 
-
 if __name__ == '__main__':
     main()

q3dviewer/tools/film_maker.py

@@ -417,7 +417,7 @@ def main():
     args = parser.parse_args()
     app = q3d.QApplication(['Film Maker'])
     viewer = CMMViewer(name='Film Maker', update_interval=30)
-    cloud_item = q3d.CloudIOItem(size=0.1, point_type='SPHERE', alpha=0.5, depth_test=True)
+    cloud_item = q3d.CloudIOItem(size=1, point_type='SPHERE', alpha=0.5, depth_test=True)
     grid_item = q3d.GridItem(size=1000, spacing=20)
 
     viewer.add_items(

q3dviewer/tools/lidar_cam_calib.py

@@ -187,11 +187,11 @@ class LidarCamViewer(q3d.Viewer):
 def camera_info_cb(data):
     global remap_info, K
     if remap_info is None:  # Initialize only once
-        K = np.array(data.K).reshape(3, 3)
-        D = np.array(data.D)
+        K = np.array([2.4480877131144061e+02, 0., 4.7808179466584482e+02, 0., 2.4540886113128877e+02, 2.8080868163348435e+02, 0., 0., 1.]).reshape(3, 3)
+        D = np.array([0,0,0,0,0])
         rospy.loginfo("Camera intrinsic parameters set")
-        height = data.height
-        width = data.width
+        height = 540
+        width = 960
         mapx, mapy = cv2.initUndistortRectifyMap(
             K, D, None, K, (width, height), cv2.CV_32FC1)
         remap_info = [mapx, mapy]
@@ -287,14 +287,14 @@ def main():
     scan_item = q3d.CloudItem(size=2, alpha=1, color_mode='I')
     img_item = q3d.ImageItem(pos=np.array([0, 0]), size=np.array([800, 600]))
     viewer.add_items({'scan': scan_item, 'grid': grid_item, 'img': img_item})
+    camera_info_cb(None)
 
     rospy.init_node('lidar_cam_calib', anonymous=True)
 
     # Use topic names from arguments
-    rospy.Subscriber(args.lidar, PointCloud2, scan_cb, queue_size=1)
-    rospy.Subscriber(args.camera, Image, image_cb, queue_size=1)
-    rospy.Subscriber(args.camera_info, CameraInfo,
-                     camera_info_cb, queue_size=1)
+    rospy.Subscriber("cloud", PointCloud2, scan_cb, queue_size=1)
+    rospy.Subscriber("/usb_cam/image_raw", Image, image_cb, queue_size=1)
+    # rospy.Subscriber(args.camera_info, CameraInfo, camera_info_cb, queue_size=1)
 
     viewer.show()
     app.exec()

q3dviewer/utils/convert_ros_msg.py

@@ -4,18 +4,59 @@ Distributed under MIT license. See LICENSE for more information.
 """
 
 import numpy as np
-from pypcd4 import PointCloud
 from q3dviewer.utils.maths import make_transform
 
+def get_dtype(msg):
+    dtype_map = {
+        1: 'i1',   # INT8
+        2: 'u1',   # UINT8  
+        3: 'i2',   # INT16
+        4: 'u2',   # UINT16
+        5: 'i4',   # INT32
+        6: 'u4',   # UINT32
+        7: 'f4',   # FLOAT32
+        8: 'f8'    # FLOAT64
+    }
+    
+    point_step = msg.point_step
+    dtype_list = []
+    for field in msg.fields:
+        dtype_str = dtype_map.get(field.datatype, 'f4')
+        dtype_list.append((field.name, dtype_str, field.offset))
+    
+    dtype_list.sort(key=lambda x: x[2])
+    
+    structured_dtype = []
+    last_offset = 0
+    
+    for field_name, field_dtype, offset in dtype_list:
+        if offset > last_offset:
+            padding_size = offset - last_offset
+            if padding_size > 0:
+                structured_dtype.append((f'pad{last_offset}', f'u1', padding_size))
+        
+        structured_dtype.append((field_name, field_dtype))
+        last_offset = offset + np.dtype(field_dtype).itemsize
+    
+    if point_step > last_offset:
+        final_padding = point_step - last_offset
+        structured_dtype.append((f'pad{last_offset}', f'u1', final_padding))
+    return structured_dtype
+
 
 def convert_pointcloud2_msg(msg):
-    pc = PointCloud.from_msg(msg).pc_data
+    # Build dtype with proper offsets for PointCloud2 message
+    structured_dtype = get_dtype(msg)
+    pc = np.frombuffer(msg.data, dtype=structured_dtype)
+    # pc = PointCloud.from_msg(msg).pc_data
     data_type = [('xyz', '<f4', (3,)), ('irgb', '<u4')]
     rgb = np.zeros([pc.shape[0]], dtype=np.uint32)
     intensity = np.zeros([pc.shape[0]], dtype=np.uint32)
     fields = ['xyz']
     if 'intensity' in pc.dtype.names:
-        intensity = pc['intensity'].astype(np.uint32)
+        intensity = pc['intensity']
+        intensity = np.clip(intensity, 0, 255)
+        intensity = intensity.astype(np.uint32)
         fields.append('intensity')
     if 'rgb' in pc.dtype.names:
         rgb = pc['rgb'].view(np.uint32)
@@ -42,10 +83,12 @@ def convert_odometry_msg(msg):
     return transform, stamp
 
 
-def convert_image_msg(msg):
+def convert_image_msg(msg, bgr=False):
     image = np.frombuffer(msg.data, dtype=np.uint8).reshape(
         msg.height, msg.width, -1)
-    if (msg.encoding == 'bgr8'):
-        image = image[:, :, ::-1]  # convert bgr to rgb
+    # if bgr is True return BGR image, else return RGB image
+    if (bgr and msg.encoding == 'rgb8') or (not bgr and msg.encoding == 'bgr8'):
+        image = image[:, :, ::-1]
+
     stamp = msg.header.stamp.to_sec()
     return image, stamp

{q3dviewer-1.1.7.dist-info → q3dviewer-1.1.9.dist-info}/METADATA

@@ -1,24 +1,25 @@
 Metadata-Version: 2.1
 Name: q3dviewer
-Version: 1.1.7
+Version: 1.1.9
 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)
@@ -171,7 +172,7 @@ def main():
 
     # Create a viewer
     viewer = q3d.Viewer(name='example')
-    
+
     # Add items to the viewer
     viewer.add_items({
         'grid': grid_item,
@@ -195,6 +196,7 @@ if __name__ == '__main__':
 - **GridItem**: Displays grids.
 - **ImageItem**: Displays 2D images.
 - **Text2DItem**: Displays 2D text.
+- **Text3DItem**: Displays 3D test and mark.
 - **LineItem**: Displays lines or trajectories.
 
 ### Developing Custom Items
@@ -233,3 +235,4 @@ class YourItem(q3d.BaseItem):
 ```
 
 Enjoy using `q3dviewer`!
+

q3dviewer-1.1.9.dist-info/RECORD

@@ -0,0 +1,44 @@
+q3dviewer/__init__.py,sha256=cjyfUE5zK6xohDGDQIWfb0DKkWChVznBd7CrVLg7whQ,376
+q3dviewer/base_glwidget.py,sha256=iBvYqoFAqh09TDzugqDfu99_JqHL6IrvWOjm1XJJpsk,15395
+q3dviewer/base_item.py,sha256=63MarHyoWszPL40ox-vPoOAQ1N4ypekOjoRARdPik-E,1755
+q3dviewer/glwidget.py,sha256=EmrxPtVQ8RdPK5INKMlpKpVfX0KCfjSKRdGf4cSB1f0,5405
+q3dviewer/viewer.py,sha256=Vq3ucDlBcBBoiVVGmqG1sRjhLePl50heblx6wJpsc1A,2603
+q3dviewer/Qt/__init__.py,sha256=VJj7Ge6N_81__T9eHFl_YQpa1HyQrlLhMqC_9pUOYtc,2233
+q3dviewer/custom_items/__init__.py,sha256=cwcNn40MzYXVO9eSzpRknJdzZNKPf2kaEMZy5DCNYcE,567
+q3dviewer/custom_items/axis_item.py,sha256=-WM2urosqV847zpTpOtxdLjb7y9NJqFCH13qqodcCTg,2572
+q3dviewer/custom_items/cloud_io_item.py,sha256=Haz-SOUUCPDSHgmKyyyFfP7LXBSEiN4r8xmchQwCm-k,4721
+q3dviewer/custom_items/cloud_item.py,sha256=NkZ5rFM_hVxBPMZYml3oX2CI5d0ApJY1wet8I1eIssE,14024
+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
+q3dviewer/custom_items/image_item.py,sha256=k7HNTqdL2ckTbxMx7A7eKaP4aksZ85-pBjNdbpm6PXM,5355
+q3dviewer/custom_items/line_item.py,sha256=rel-lx8AgjDY7qyIecHxHQZzaswRn2ZTiOIjB_0Mrqo,4444
+q3dviewer/custom_items/text3d_item.py,sha256=DYBPXnCmMEzWDE1y523YsWSl91taXAdu0kdnhUcwE4A,5524
+q3dviewer/custom_items/text_item.py,sha256=toeGjBu7RtT8CMUuaDWnmXPnA1UKHhnCzUNeonGczSo,2703
+q3dviewer/shaders/cloud_frag.glsl,sha256=psKVt9qI6BW0bCqOk4lcKqUd6XgYGtdFigyN9OdYSNI,609
+q3dviewer/shaders/cloud_vert.glsl,sha256=gKI6EJrzX5ga2W2yjU6x7Wjz7Cu2Y-wrPl4g10RfTLM,2376
+q3dviewer/shaders/gau_frag.glsl,sha256=vWt5I3Ojrc2PCxRlBJGyJhujbveSicMA54T01Fk293A,975
+q3dviewer/shaders/gau_prep.glsl,sha256=0BiWhYCQGeX2iN-e7m3dy1xWXqWrErErRAzHlcmWHF0,7218
+q3dviewer/shaders/gau_vert.glsl,sha256=_rkm51zaWgPDJ-otJL-WX12fDvnPBOTooVfqo21Rexs,1666
+q3dviewer/shaders/sort_by_key.glsl,sha256=M5RK6uRDp40vVH6XtBIrdJTcYatqXyZwd6kCzEa2DZg,1097
+q3dviewer/tools/__init__.py,sha256=01wG7BGM6VX0QyFBKsqPmyf2e-vrmV_N3-mo-VQ1VBg,20
+q3dviewer/tools/cloud_viewer.py,sha256=UsKALGiFR2Ck___LSGNPIZ3PPUlECO20jVkcP5g6yyc,6807
+q3dviewer/tools/example_viewer.py,sha256=C867mLnCBjawS6LGgRsJ_c6-6wztfL9vOBQt85KbbdU,572
+q3dviewer/tools/film_maker.py,sha256=xLFgRhFWoMQ37qlvcu1lXWaTWXMNRYlRcZFfHW5JtmQ,16676
+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=4CDcZZiFZDeKo2Y2_lXF9tfbiF9dPsz0OjppQdxQsU4,11430
+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
+q3dviewer/utils/convert_ros_msg.py,sha256=lNbLIawJfwp3VzygdW3dUXkfSG8atg_CoZbQFmt8H70,3142
+q3dviewer/utils/gl_helper.py,sha256=dRY_kUqyPMr7NTcupUr6_VTvgnj53iE2C0Lk0-oFYsI,1435
+q3dviewer/utils/helpers.py,sha256=SqR4YTQZi13FKbkVUYgodXce1JJ_YmrHEIRkUmnIUas,3085
+q3dviewer/utils/maths.py,sha256=zHaPtvVZIuo8xepIXCMeSL9tpx8FahUrq0l4K1oXrBk,8834
+q3dviewer/utils/range_slider.py,sha256=9djTxuzmzH54DgSwAljRpLGjsrIJ0hTxhaxFjPxsk8g,4007
+q3dviewer-1.1.9.dist-info/LICENSE,sha256=81cMOyNfw8KLb1JnPYngGHJ5W83gSbZEBU9MEP3tl-E,1124
+q3dviewer-1.1.9.dist-info/METADATA,sha256=k7pCVA3O73KUcjQEWcO08VM0Vl50gcBopuYVlyu1nU4,8024
+q3dviewer-1.1.9.dist-info/WHEEL,sha256=tZoeGjtWxWRfdplE7E3d45VPlLNQnvbKiYnx7gwAy8A,92
+q3dviewer-1.1.9.dist-info/entry_points.txt,sha256=EOjker7XYaBk70ffvNB_knPcfA33Bnlg21ZjEeM1EyI,362
+q3dviewer-1.1.9.dist-info/top_level.txt,sha256=HFFDCbGu28txcGe2HPc46A7EPaguBa_b5oH7bufmxHM,10
+q3dviewer-1.1.9.dist-info/RECORD,,

{q3dviewer-1.1.7.dist-info → q3dviewer-1.1.9.dist-info}/WHEEL

@@ -1,5 +1,5 @@
 Wheel-Version: 1.0
-Generator: setuptools (75.3.2)
+Generator: bdist_wheel (0.45.1)
 Root-Is-Purelib: true
 Tag: py3-none-any
 

{q3dviewer-1.1.7.dist-info → q3dviewer-1.1.9.dist-info}/entry_points.txt

@@ -6,3 +6,4 @@ 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/basic_window.py

@@ -1,228 +0,0 @@
-#!/usr/bin/env python3
-
-import numpy as np
-import pyqtgraph.opengl as gl
-from pyqtgraph.Qt import QtCore
-from PyQt5.QtWidgets import QWidget, QComboBox, QVBoxLayout, QHBoxLayout, QSizePolicy,\
-      QSpacerItem, QMainWindow
-from OpenGL.GL import *
-from PyQt5.QtGui import QKeyEvent, QVector3D
-from PyQt5.QtWidgets import QApplication, QWidget
-import numpy as np
-import signal
-import sys
-from PyQt5.QtWidgets import QLabel, QLineEdit, QDoubleSpinBox, QSpinBox
-
-
-class SettingWindow(QWidget):
-    def __init__(self):
-        super().__init__()
-        self.combo_items = QComboBox()
-        self.combo_items.currentIndexChanged.connect(self.onComboboxSelection)
-        main_layout = QVBoxLayout()
-        self.stretch = QSpacerItem(
-            10, 10, QSizePolicy.Minimum, QSizePolicy.Expanding)
-        main_layout.addWidget(self.combo_items)
-        self.layout = QVBoxLayout()
-        self.layout.addItem(self.stretch)
-        main_layout.addLayout(self.layout)
-        self.setLayout(main_layout)
-        self.setWindowTitle("Setting Window")
-        self.setGeometry(200, 200, 300, 200)
-        self.items = {}
-
-    def addSetting(self, name, item):
-        self.items.update({name: item})
-        self.combo_items.addItem("%s(%s)" % (name, item.__class__.__name__))
-
-    def clearSetting(self):
-        while self.layout.count():
-            child = self.layout.takeAt(0)
-            if child.widget():
-                child.widget().deleteLater()
-
-    def onComboboxSelection(self, index):
-        self.layout.removeItem(self.stretch)
-        # remove all setting of previous widget
-        self.clearSetting()
-
-        key = list(self.items.keys())
-        try:
-            item = self.items[key[index]]
-            item.addSetting(self.layout)
-            self.layout.addItem(self.stretch)
-        except AttributeError:
-            print("%s: No setting." % (item.__class__.__name__))
-
-
-class ViewWidget(gl.GLViewWidget):
-    def __init__(self):
-        self.followed_name = 'none'
-        self.named_items = {}
-        self.color = '#000000'
-        self.followable_item_name = ['none']
-        self.setting_window = SettingWindow()
-        super(ViewWidget, self).__init__()
-
-    def onFollowableSelection(self, index):
-        self.followed_name = self.followable_item_name[index]
-
-    def update(self):
-        if self.followed_name != 'none':
-            pos = self.named_items[self.followed_name].T[:3, 3]
-            self.opts['center'] = QVector3D(pos[0], pos[1], pos[2])
-        super().update()
-
-    def addSetting(self, layout):
-        label1 = QLabel("Set background color:")
-        label1.setToolTip("using '#xxxxxx', i.e. #FF4500")
-        box1 = QLineEdit()
-        box1.setToolTip("'using '#xxxxxx', i.e. #FF4500")
-        box1.setText(str(self.color))
-        box1.textChanged.connect(self.setBKColor)
-        layout.addWidget(label1)
-        layout.addWidget(box1)
-        label2 = QLabel("Set Focus:")
-        combo2 = QComboBox()
-        for name in self.followable_item_name:
-            combo2.addItem(name)
-        combo2.currentIndexChanged.connect(self.onFollowableSelection)
-        layout.addWidget(label2)
-        layout.addWidget(combo2)
-
-    def setBKColor(self, color):
-        if (type(color) != str):
-            return
-        if color.startswith("#"):
-            try:
-                self.setBackgroundColor(color)
-                self.color = color
-            except ValueError:
-                return
-
-    def addItem(self, name, item):
-        self.named_items.update({name: item})
-        if (item.__class__.__name__ == 'GLAxisItem'):
-            self.followable_item_name.append(name)
-        self.setting_window.addSetting(name, item)
-        super().addItem(item)
-
-    def mouseReleaseEvent(self, ev):
-        if hasattr(self, 'mousePos'):
-            delattr(self, 'mousePos')
-
-    def mouseMoveEvent(self, ev):
-        lpos = ev.localPos()
-        if not hasattr(self, 'mousePos'):
-            self.mousePos = lpos
-        diff = lpos - self.mousePos
-        self.mousePos = lpos
-        if ev.buttons() == QtCore.Qt.MouseButton.RightButton:
-            self.orbit(-diff.x(), diff.y())
-        elif ev.buttons() == QtCore.Qt.MouseButton.LeftButton:
-            pitch_abs = np.abs(self.opts['elevation'])
-            camera_mode = 'view-upright'
-            if(pitch_abs <= 45.0 or pitch_abs == 90):
-                camera_mode = 'view'
-            self.pan(diff.x(), diff.y(), 0, relative=camera_mode)
-
-    def keyPressEvent(self, ev: QKeyEvent):
-        step = 10
-        zoom_delta = 20
-        speed = 2
-        self.projectionMatrix().data()
-
-        pitch_abs = np.abs(self.opts['elevation'])
-        camera_mode = 'view-upright'
-        if(pitch_abs <= 45.0 or pitch_abs == 90):
-            camera_mode = 'view'
-
-        if ev.key() == QtCore.Qt.Key_M:  # setting meun
-            print("Open setting windows")
-            self.openSettingWindow()
-        elif ev.key() == QtCore.Qt.Key_R:
-            print("Clear viewer")
-            for item in self.named_items.values():
-                try:
-                    item.clear()
-                except:
-                    pass
-        elif ev.key() == QtCore.Qt.Key_Up:
-            if ev.modifiers() & QtCore.Qt.KeyboardModifier.ControlModifier:
-                self.pan(0, +step, 0, relative=camera_mode)
-            else:
-                self.orbit(azim=0, elev=-speed)
-        elif ev.key() == QtCore.Qt.Key_Down:
-            if ev.modifiers() & QtCore.Qt.KeyboardModifier.ControlModifier:
-                self.pan(0, -step, 0, relative=camera_mode)
-            else:
-                self.orbit(azim=0, elev=speed)
-        elif ev.key() == QtCore.Qt.Key_Left:
-            if ev.modifiers() & QtCore.Qt.KeyboardModifier.ControlModifier:
-                self.pan(+step, 0, 0, relative=camera_mode)
-            else:
-                self.orbit(azim=speed, elev=0)
-
-        elif ev.key() == QtCore.Qt.Key_Right:
-            if ev.modifiers() & QtCore.Qt.KeyboardModifier.ControlModifier:
-                self.pan(-step, 0, 0, relative=camera_mode)
-            else:
-                self.orbit(azim=-speed, elev=0)
-
-        elif ev.key() == QtCore.Qt.Key_Z:
-            self.opts['distance'] *= 0.999**(+zoom_delta)
-        elif ev.key() == QtCore.Qt.Key_X:
-            self.opts['distance'] *= 0.999**(-zoom_delta)
-        else:
-            super().keyPressEvent(ev)
-
-    def openSettingWindow(self):
-        if self.setting_window.isVisible():
-            self.setting_window.raise_()
-
-        else:
-            self.setting_window.show()
-
-
-class Viewer(QMainWindow):
-    def __init__(self, name='Viewer', win_size=[1920, 1080], vw=ViewWidget):
-        signal.signal(signal.SIGINT, signal.SIG_DFL)
-        super(Viewer, self).__init__()
-        self.vw = vw
-        self.setGeometry(0, 0, win_size[0], win_size[1])
-        self.initUI()
-        self.setWindowTitle(name)
-
-    def initUI(self):
-        centerWidget = QWidget()
-        self.setCentralWidget(centerWidget)
-        layout = QVBoxLayout()
-        centerWidget.setLayout(layout)
-        self.viewerWidget = self.vw()
-        layout.addWidget(self.viewerWidget, 1)
-        timer = QtCore.QTimer(self)
-        timer.setInterval(20)  # period, in milliseconds
-        timer.timeout.connect(self.update)
-        self.viewerWidget.setCameraPosition(distance=40)
-        timer.start()
-
-    def addItems(self, named_items: dict):
-        for name, item in named_items.items():
-            self.viewerWidget.addItem(name, item)
-
-    def __getitem__(self, name: str):
-        if name in self.viewerWidget.named_items:
-            return self.viewerWidget.named_items[name]
-        else:
-            return None
-
-    def update(self):
-        # force update by timer
-        self.viewerWidget.update()
-
-    def closeEvent(self, _):
-        sys.exit(0)
-
-    def show(self):
-        self.viewerWidget.setting_window.addSetting("main win", self.viewerWidget)
-        super().show()