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

q3dviewer/cloud_viewer.py

@@ -1,74 +0,0 @@
-#!/usr/bin/env python3
-
-import numpy as np
-from q3dviewer.custom_items import *
-from q3dviewer.basic_window import *
-from pypcd4 import PointCloud
-
-class CloudViewer(Viewer):
-    def __init__(self):
-        super(CloudViewer, self).__init__(name="Cloud Viewer")
-        self.setAcceptDrops(True)
-
-    def dragEnterEvent(self, event):
-        if event.mimeData().hasUrls():
-            event.accept()
-        else:
-            event.ignore()
-
-    def dropEvent(self, event):
-        for url in event.mimeData().urls():
-            file_path = url.toLocalFile()
-            self.openCloudFile(file_path)
-
-    def openCloudFile(self, file):
-        cloud_item = self['cloud']
-        if cloud_item is None:
-            print("Can't find clouditem.")
-            return
-        if file.endswith('.pcd'):
-            pc = PointCloud.from_path(file).pc_data
-            if 'rgb' in pc.dtype.names:
-                color = pc["rgb"].astype(np.uint32)
-                cloud_item.setColorMode('RGB')
-            elif 'intensity' in pc.dtype.names:
-                color = pc["intensity"].astype(np.uint32)
-                cloud_item.setColorMode('I')
-            else:
-                color = pc['z'].astype(np.uint32)
-                cloud_item.setColorMode('#FFFFFF')
-            cloud = np.rec.fromarrays(
-                [np.stack([pc["x"], pc["y"], pc["z"]], axis=1), color],
-                dtype=cloud_item.data_type)
-        elif file.endswith('.npy'):
-            pc = np.load(file)
-            cloud = np.rec.fromarrays(
-                [np.stack([pc[:, 0], pc[:, 1], pc[:, 2]], axis=1), pc[:, 3].astype(np.uint32)],
-                dtype=cloud_item.data_type)
-        cloud_item.setData(data=cloud)
-
-
-def main():
-    import argparse
-    parser = argparse.ArgumentParser()
-    parser.add_argument("--pcd", help="the pcd path")
-    args = parser.parse_args()
-    app = QApplication([])
-    viewer = CloudViewer()
-    cloud_item = CloudIOItem(size=1, alpha=0.1)
-    axis_item = GLAxisItem(size=0.5, width=5)
-    gird_item = GridItem(size=1000, spacing=20)
-    # viewer.viewerWidget.setBackgroundColor(255, 255, 255, 255)
-
-    viewer.addItems({'cloud': cloud_item, 'grid': gird_item, 'axis': axis_item})
-
-    if args.pcd:
-        pcd_fn = args.pcd
-        viewer.openCloudFile(pcd_fn)
-
-    viewer.show()
-    app.exec_()
-
-
-if __name__ == '__main__':
-    main()

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/gau_io.py

@@ -1,168 +0,0 @@
-import numpy as np
-from plyfile import PlyData
-
-
-def gsdata_type(sh_dim):
-    return [('pw', '<f4', (3,)),
-            ('rot', '<f4', (4,)),
-            ('scale', '<f4', (3,)),
-            ('alpha', '<f4'),
-            ('sh', '<f4', (sh_dim))]
-
-
-def matrix_to_quaternion(matrices):
-    m00, m01, m02 = matrices[:, 0, 0], matrices[:, 0, 1], matrices[:, 0, 2]
-    m10, m11, m12 = matrices[:, 1, 0], matrices[:, 1, 1], matrices[:, 1, 2]
-    m20, m21, m22 = matrices[:, 2, 0], matrices[:, 2, 1], matrices[:, 2, 2]
-    t = 1 + m00 + m11 + m22
-    s = np.ones_like(m00)
-    w = np.ones_like(m00)
-    x = np.ones_like(m00)
-    y = np.ones_like(m00)
-    z = np.ones_like(m00)
-
-    t_positive = t > 0.0000001
-    s[t_positive] = 0.5 / np.sqrt(t[t_positive])
-    w[t_positive] = 0.25 / s[t_positive]
-    x[t_positive] = (m21[t_positive] - m12[t_positive]) * s[t_positive]
-    y[t_positive] = (m02[t_positive] - m20[t_positive]) * s[t_positive]
-    z[t_positive] = (m10[t_positive] - m01[t_positive]) * s[t_positive]
-
-    c1 = np.logical_and(m00 > m11, m00 > m22)
-    cond1 = np.logical_and(np.logical_not(t_positive), np.logical_and(m00 > m11, m00 > m22))
-
-    s[cond1] = 2.0 * np.sqrt(1.0 + m00[cond1] - m11[cond1] - m22[cond1])
-    w[cond1] = (m21[cond1] - m12[cond1]) / s[cond1]
-    x[cond1] = 0.25 * s[cond1]
-    y[cond1] = (m01[cond1] + m10[cond1]) / s[cond1]
-    z[cond1] = (m02[cond1] + m20[cond1]) / s[cond1]
-
-    c2 = np.logical_and(np.logical_not(c1), m11 > m22)
-    cond2 = np.logical_and(np.logical_not(t_positive), c2)
-    s[cond2] = 2.0 * np.sqrt(1.0 + m11[cond2] - m00[cond2] - m22[cond2])
-    w[cond2] = (m02[cond2] - m20[cond2]) / s[cond2]
-    x[cond2] = (m01[cond2] + m10[cond2]) / s[cond2]
-    y[cond2] = 0.25 * s[cond2]
-    z[cond2] = (m12[cond2] + m21[cond2]) / s[cond2]
-
-    c3 = np.logical_and(np.logical_not(c1), np.logical_not(c2))
-    cond3 = np.logical_and(np.logical_not(t_positive), c3)
-    s[cond3] = 2.0 * np.sqrt(1.0 + m22[cond3] - m00[cond3] - m11[cond3])
-    w[cond3] = (m10[cond3] - m01[cond3]) / s[cond3]
-    x[cond3] = (m02[cond3] + m20[cond3]) / s[cond3]
-    y[cond3] = (m12[cond3] + m21[cond3]) / s[cond3]
-    z[cond3] = 0.25 * s[cond3]
-    return np.array([w, x, y, z]).T
-
-
-def load_ply(path, T=None):
-    plydata = PlyData.read(path)
-    pws = np.stack((np.asarray(plydata.elements[0]["x"]),
-                    np.asarray(plydata.elements[0]["y"]),
-                    np.asarray(plydata.elements[0]["z"])),  axis=1)
-
-    alphas = np.asarray(plydata.elements[0]["opacity"])
-    alphas = 1/(1 + np.exp(-alphas))
-
-    scales = np.stack((np.asarray(plydata.elements[0]["scale_0"]),
-                       np.asarray(plydata.elements[0]["scale_1"]),
-                       np.asarray(plydata.elements[0]["scale_2"])),  axis=1)
-
-    rots = np.stack((np.asarray(plydata.elements[0]["rot_0"]),
-                     np.asarray(plydata.elements[0]["rot_1"]),
-                     np.asarray(plydata.elements[0]["rot_2"]),
-                     np.asarray(plydata.elements[0]["rot_3"])),  axis=1)
-
-    rots /= np.linalg.norm(rots, axis=1)[:, np.newaxis]
-
-    sh_dim = len(plydata.elements[0][0])-14
-    shs = np.zeros([pws.shape[0], sh_dim])
-    shs[:, 0] = np.asarray(plydata.elements[0]["f_dc_0"])
-    shs[:, 1] = np.asarray(plydata.elements[0]["f_dc_1"])
-    shs[:, 2] = np.asarray(plydata.elements[0]["f_dc_2"])
-
-    sh_rest_dim = sh_dim - 3
-    for i in range(sh_rest_dim):
-        name = "f_rest_%d" % i
-        shs[:, 3 + i] = np.asarray(plydata.elements[0][name])
-
-    shs[:, 3:] = shs[:, 3:].reshape(-1, 3, sh_rest_dim//3).transpose([0, 2, 1]).reshape(-1, sh_rest_dim)
-
-    pws = pws.astype(np.float32)
-    rots = rots.astype(np.float32)
-    scales = np.exp(scales)
-    scales = scales.astype(np.float32)
-    alphas = alphas.astype(np.float32)
-    shs = shs.astype(np.float32)
-
-    dtypes = gsdata_type(sh_dim)
-
-    gs = np.rec.fromarrays(
-        [pws, rots, scales, alphas, shs], dtype=dtypes)
-
-    return gs
-
-
-def rotate_gaussian(T, gs):
-    # Transform to world
-    pws = (T @ gs['pw'].T).T
-    w = gs['rot'][:, 0]
-    x = gs['rot'][:, 1]
-    y = gs['rot'][:, 2]
-    z = gs['rot'][:, 3]
-    R = np.array([
-        [1.0 - 2*(y**2 + z**2), 2*(x*y - z*w), 2*(x * z + y * w)],
-        [2*(x*y + z*w), 1.0 - 2*(x**2 + z**2), 2*(y*z - x*w)],
-        [2*(x*z - y*w), 2*(y*z + x*w), 1.0 - 2*(x**2 + y**2)]
-    ]).transpose(2, 0, 1)
-    R_new = T @ R
-    rots = matrix_to_quaternion(R_new)
-    gs['pw'] = pws
-    gs['rot'] = rots
-    return gs
-
-
-def load_gs(fn):
-    if fn.endswith('.ply'):
-        return load_ply(fn)
-    elif fn.endswith('.npy'):
-        return np.load(fn)
-    else:
-        print("%s is not a supported file." % fn)
-        exit(0)
-
-
-def save_gs(fn, gs):
-    np.save(fn, gs)
-
-
-def get_example_gs():
-    gs_data = np.array([[0.,  0.,  0.,  # xyz
-                         1.,  0.,  0., 0.,  # rot
-                         0.05,  0.05,  0.05,  # size
-                         1.,
-                         1.772484,  -1.772484,  1.772484],
-                        [1.,  0.,  0.,
-                         1.,  0.,  0., 0.,
-                         0.2,  0.05,  0.05,
-                         1.,
-                         1.772484,  -1.772484, -1.772484],
-                        [0.,  1.,  0.,
-                         1.,  0.,  0., 0.,
-                         0.05,  0.2,  0.05,
-                         1.,
-                         -1.772484, 1.772484, -1.772484],
-                        [0.,  0.,  1.,
-                         1.,  0.,  0., 0.,
-                         0.05,  0.05,  0.2,
-                         1.,
-                         -1.772484, -1.772484,  1.772484]
-                        ], dtype=np.float32)
-    dtypes = gsdata_type(3)
-    gs = np.frombuffer(gs_data.tobytes(), dtype=dtypes)
-    return gs
-
-
-if __name__ == "__main__":
-    gs = load_gs("/home/liu/workspace/EasyGaussianSplatting/data/final.npy")
-    print(gs.shape)

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

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