q3dviewer 1.2.0__tar.gz → 1.2.1__tar.gz

{q3dviewer-1.2.0 → q3dviewer-1.2.1}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: q3dviewer
-Version: 1.2.0
+Version: 1.2.1
 Summary: A library designed for quickly deploying a 3D viewer.
 Home-page: https://github.com/scomup/q3dviewer
 Author: Liu Yang

{q3dviewer-1.2.0 → q3dviewer-1.2.1}/q3dviewer/custom_items/__init__.py

@@ -8,3 +8,4 @@ from q3dviewer.custom_items.text_item import Text2DItem
 from q3dviewer.custom_items.image_item import ImageItem
 from q3dviewer.custom_items.line_item import LineItem
 from q3dviewer.custom_items.text3d_item import Text3DItem
+from q3dviewer.custom_items.mesh_item import MeshItem

{q3dviewer-1.2.0 → q3dviewer-1.2.1}/q3dviewer/custom_items/cloud_item.py

@@ -42,8 +42,7 @@ class CloudItem(BaseItem):
     def __init__(self, size, alpha, 
                  color_mode='I', 
                  color='white', 
-                 point_type='PIXEL', 
-                 depth_test=False):
+                 point_type='PIXEL'):
         super().__init__()
         self.STRIDE = 16  # stride of cloud array
         self.valid_buff_top = 0

q3dviewer-1.2.1/q3dviewer/custom_items/mesh_item.py

@@ -0,0 +1,342 @@
+#!/usr/bin/env python3
+
+"""
+Copyright 2024 Panasonic Advanced Technology Development Co.,Ltd. (Liu Yang)
+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
+from q3dviewer.Qt.QtWidgets import QLabel, QCheckBox, QDoubleSpinBox, QSlider, QHBoxLayout, QLineEdit
+import matplotlib.colors as mcolors
+import os
+from q3dviewer.utils import set_uniform, text_to_rgba
+
+
+
+class MeshItem(BaseItem):
+    def __init__(self, color='lightblue', wireframe=False, enable_lighting=True):
+        super(MeshItem, self).__init__()
+        self.color = color
+        self.flat_rgb = text_to_rgba(color, flat=True)
+        self.wireframe = wireframe
+        self.enable_lighting = enable_lighting
+        
+        # Mesh data
+        self.triangles = None
+        self.normals = None
+        
+        # OpenGL objects
+        self.vao = None
+        self.vbo_vertices = None
+        self.vbo_normals = None
+        # self.vbo_colors = None
+        self.program = None
+        
+        # Rendering parameters
+        self.line_width = 1.0
+        self.light_pos = [1.0, 1.0, 1.0]
+        self.light_color = [1.0, 1.0, 1.0]
+        
+        # Phong lighting material properties
+        self.ambient_strength = 0.1
+        self.diffuse_strength = 1.2
+        self.specular_strength = 0.1
+        self.shininess = 32.0
+        # Alpha (opacity)
+        self.alpha = 1.0
+        
+        # Buffer initialization flag
+        self.need_update_buffer = True
+        self.need_update_setting = True
+        self.path = os.path.dirname(__file__)
+    
+        
+    def add_setting(self, layout):
+        """Add UI controls for mesh visualization"""
+        # Wireframe toggle
+        self.wireframe_box = QCheckBox("Wireframe Mode")
+        self.wireframe_box.setChecked(self.wireframe)
+        self.wireframe_box.toggled.connect(self.update_wireframe)
+        layout.addWidget(self.wireframe_box)
+        
+        # Enable lighting toggle
+        self.lighting_box = QCheckBox("Enable Lighting")
+        self.lighting_box.setChecked(self.enable_lighting)
+        self.lighting_box.toggled.connect(self.update_enable_lighting)
+        layout.addWidget(self.lighting_box)
+    
+        # Line width control
+        line_width_label = QLabel("Line Width:")
+        layout.addWidget(line_width_label)
+        self.line_width_box = QDoubleSpinBox()
+        self.line_width_box.setRange(0.5, 5.0)
+        self.line_width_box.setSingleStep(0.5)
+        self.line_width_box.setValue(self.line_width)
+        self.line_width_box.valueChanged.connect(self.update_line_width)
+        layout.addWidget(self.line_width_box)
+        
+        # Alpha control
+        alpha_label = QLabel("Alpha:")
+        layout.addWidget(alpha_label)
+        alpha_box = QDoubleSpinBox()
+        alpha_box.setRange(0.0, 1.0)
+        alpha_box.setSingleStep(0.05)
+        alpha_box.setValue(self.alpha)
+        alpha_box.valueChanged.connect(self.update_alpha)
+        layout.addWidget(alpha_box)
+        
+
+        label_rgb = QLabel("Color:")
+        label_rgb.setToolTip("Use hex color, i.e. #FF4500, or named color, i.e. 'red'")
+        layout.addWidget(label_rgb)
+        self.edit_rgb = QLineEdit()
+        self.edit_rgb.setToolTip("Use hex color, i.e. #FF4500, or named color, i.e. 'red'")
+        self.edit_rgb.setText(self.color)
+        self.edit_rgb.textChanged.connect(self._on_color)
+        layout.addWidget(self.edit_rgb)
+
+
+        # Material property controls for Phong lighting
+        if self.enable_lighting:
+            # Ambient strength control (slider 0-100 mapped to 0.0-1.0)
+            ambient_layout = QHBoxLayout()
+            ambient_label = QLabel("Ambient Strength:")
+            ambient_layout.addWidget(ambient_label)
+            self.ambient_slider = QSlider()
+            self.ambient_slider.setOrientation(1)  # Qt.Horizontal
+            self.ambient_slider.setRange(0, 100)
+            self.ambient_slider.setValue(int(self.ambient_strength * 100))
+            self.ambient_slider.valueChanged.connect(lambda v: self.update_ambient_strength(v / 100.0))
+            ambient_layout.addWidget(self.ambient_slider)
+            layout.addLayout(ambient_layout)
+
+            # Diffuse strength control (slider 0-200 mapped to 0.0-2.0)
+            diffuse_layout = QHBoxLayout()
+            diffuse_label = QLabel("Diffuse Strength:")
+            diffuse_layout.addWidget(diffuse_label)
+            self.diffuse_slider = QSlider()
+            self.diffuse_slider.setOrientation(1)
+            self.diffuse_slider.setRange(0, 200)
+            self.diffuse_slider.setValue(int(self.diffuse_strength * 100))
+            self.diffuse_slider.valueChanged.connect(lambda v: self.update_diffuse_strength(v / 100.0))
+            diffuse_layout.addWidget(self.diffuse_slider)
+            layout.addLayout(diffuse_layout)
+
+            # Specular strength control (slider 0-200 mapped to 0.0-2.0)
+            specular_layout = QHBoxLayout()
+            specular_label = QLabel("Specular Strength:")
+            specular_layout.addWidget(specular_label)
+            self.specular_slider = QSlider()
+            self.specular_slider.setOrientation(1)
+            self.specular_slider.setRange(0, 200)
+            self.specular_slider.setValue(int(self.specular_strength * 100))
+            self.specular_slider.valueChanged.connect(lambda v: self.update_specular_strength(v / 100.0))
+            specular_layout.addWidget(self.specular_slider)
+            layout.addLayout(specular_layout)
+
+            # Shininess control (slider 1-256 mapped to 1-256)
+            shininess_layout = QHBoxLayout()
+            shininess_label = QLabel("Shininess:")
+            shininess_layout.addWidget(shininess_label)
+            self.shininess_slider = QSlider()
+            self.shininess_slider.setOrientation(1)
+            self.shininess_slider.setRange(1, 256)
+            self.shininess_slider.setValue(int(self.shininess))
+            self.shininess_slider.valueChanged.connect(lambda v: self.update_shininess(float(v)))
+            shininess_layout.addWidget(self.shininess_slider)
+            layout.addLayout(shininess_layout)
+
+    def _on_color(self, color):
+        try:
+            self.color = color
+            self.flat_rgb = text_to_rgba(color, flat=True)
+            self.need_update_setting = True
+        except ValueError:
+            pass
+
+
+    def update_wireframe(self, value):
+        self.wireframe = value
+        
+    def update_enable_lighting(self, value):
+        self.enable_lighting = value
+        self.need_update_setting = True
+        
+    def update_line_width(self, value):
+        self.line_width = value
+        self.need_update_setting = True
+        
+    def update_ambient_strength(self, value):
+        self.ambient_strength = value
+        self.need_update_setting = True
+        
+    def update_diffuse_strength(self, value):
+        self.diffuse_strength = value
+        self.need_update_setting = True
+        
+    def update_specular_strength(self, value):
+        self.specular_strength = value
+        self.need_update_setting = True
+        
+    def update_shininess(self, value):
+        self.shininess = value
+        self.need_update_setting = True
+
+    def update_alpha(self, value):
+        """Update mesh alpha (opacity)"""
+        self.alpha = float(value)
+        self.need_update_setting = True
+            
+    def set_data(self, verts, faces):
+        """
+        verts: np.ndarray of shape (N, 3)
+        faces: np.ndarray of shape (M, 3) with uint32 indices
+        """
+        verts = np.asarray(verts, dtype=np.float32)
+        faces = np.asarray(faces, dtype=np.uint32)
+        triangles = verts[faces.flatten()]
+            
+        self.triangles = np.asarray(triangles, dtype=np.float32)
+        self.normals = self.calculate_normals()
+        self.need_update_buffer = True
+        
+    def calculate_normals(self):
+        if self.triangles is None or len(self.triangles) == 0:
+            return None
+            
+        # Ensure we have complete triangles
+        num_vertices = len(self.triangles)
+        num_triangles = num_vertices // 3
+        if num_triangles == 0:
+            return None
+            
+        # Reshape vertices into triangles (N, 3, 3) where N is number of triangles
+        vertices_reshaped = self.triangles[:num_triangles * 3].reshape(-1, 3, 3)
+        
+        v0 = vertices_reshaped[:, 0, :]
+        v1 = vertices_reshaped[:, 1, :]
+        v2 = vertices_reshaped[:, 2, :]
+        
+        # Calculate edges for all triangles at once
+        edge1 = v1 - v0
+        edge2 = v2 - v0
+        
+        face_normals = np.cross(edge1, edge2)
+        
+        norms = np.linalg.norm(face_normals, axis=1, keepdims=True)
+        norms[norms < 1e-6] = 1.0
+        face_normals = face_normals / norms
+        
+        normals_per_vertex = np.repeat(face_normals[:, np.newaxis, :], 3, axis=1)
+        normals = normals_per_vertex.reshape(-1, 3)        
+        return normals.astype(np.float32)
+            
+    def initialize_gl(self):
+        """OpenGL initialization"""
+        vertex_shader = open(self.path + '/../shaders/mesh_vert.glsl', 'r').read()
+        fragment_shader = open(self.path + '/../shaders/mesh_frag.glsl', 'r').read()
+
+        program = shaders.compileProgram(
+            shaders.compileShader(vertex_shader, GL_VERTEX_SHADER),
+            shaders.compileShader(fragment_shader, GL_FRAGMENT_SHADER),
+        )
+        self.program = program
+
+    def update_render_buffer(self):
+        """Initialize OpenGL buffers"""
+        if not self.need_update_buffer:
+            return
+            
+        # Generate VAO and VBOs
+        if self.vao is None:
+            self.vao = glGenVertexArrays(1)
+            self.vbo_vertices = glGenBuffers(1)
+            self.vbo_normals = glGenBuffers(1)
+            # self.vbo_colors = glGenBuffers(1)
+        
+        glBindVertexArray(self.vao)
+        
+        # Vertex buffer
+        glBindBuffer(GL_ARRAY_BUFFER, self.vbo_vertices)
+        glBufferData(GL_ARRAY_BUFFER, self.triangles.nbytes, self.triangles, GL_STATIC_DRAW)
+        glEnableVertexAttribArray(0)
+        glVertexAttribPointer(0, 3, GL_FLOAT, GL_FALSE, 0, None)
+        
+        # Normal buffer
+        if self.normals is not None:
+            glBindBuffer(GL_ARRAY_BUFFER, self.vbo_normals)
+            glBufferData(GL_ARRAY_BUFFER, self.normals.nbytes, self.normals, GL_STATIC_DRAW)
+            glEnableVertexAttribArray(1)
+            glVertexAttribPointer(1, 3, GL_FLOAT, GL_FALSE, 0, None)
+        
+        # Color buffer
+        # if self.flat_rgbs is not None:
+        #     glBindBuffer(GL_ARRAY_BUFFER, self.vbo_colors)
+        #     glBufferData(GL_ARRAY_BUFFER, self.flat_rgbs.nbytes, self.flat_rgbs, GL_STATIC_DRAW)
+        #     glEnableVertexAttribArray(2)
+        #     glVertexAttribPointer(2, 1, GL_FLOAT, GL_FALSE, 0, None)
+        # 
+        glBindVertexArray(0)
+        self.need_update_buffer = False
+        
+    def update_setting(self):
+        if (self.need_update_setting is False):
+            return
+        set_uniform(self.program, int(self.enable_lighting), 'if_light')
+        set_uniform(self.program, 1, 'two_sided')
+        set_uniform(self.program, np.array(self.light_color), 'light_color')
+        set_uniform(self.program, float(self.ambient_strength), 'ambient_strength')
+        set_uniform(self.program, float(self.diffuse_strength), 'diffuse_strength')
+        set_uniform(self.program, float(self.specular_strength), 'specular_strength')
+        set_uniform(self.program, float(self.shininess), 'shininess')
+        set_uniform(self.program, float(self.alpha), 'alpha')
+        set_uniform(self.program, int(self.flat_rgb), 'flat_rgb')
+        self.need_update_setting = False
+
+    def paint(self):
+        """Render the mesh using modern OpenGL with shaders"""
+        if self.triangles is None or len(self.triangles) == 0:
+            return
+        glUseProgram(self.program)
+        self.update_render_buffer()
+        self.update_setting()
+        view_matrix = self.glwidget().view_matrix
+        set_uniform(self.program, view_matrix, 'view')
+        project_matrix = self.glwidget().projection_matrix
+        set_uniform(self.program, project_matrix, 'projection')
+        view_pos = self.glwidget().center
+        set_uniform(self.program, np.array(view_pos), 'view_pos')
+            
+        
+        # Enable blending and depth testing
+        glEnable(GL_BLEND)
+        glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA)
+        glEnable(GL_DEPTH_TEST)
+        glDisable(GL_CULL_FACE)  # two-sided rendering
+
+        # Set line width
+        glLineWidth(self.line_width)
+        
+        # Bind VAO and render
+        glBindVertexArray(self.vao)
+        
+        if len(self.triangles) > 0:
+            # Render faces
+            if self.wireframe:
+                glPolygonMode(GL_FRONT_AND_BACK, GL_LINE)
+            else:
+                glPolygonMode(GL_FRONT_AND_BACK, GL_FILL)
+                
+            # Draw triangles
+            glDrawArrays(GL_TRIANGLES, 0, len(self.triangles))
+            glPolygonMode(GL_FRONT_AND_BACK, GL_FILL)
+                
+        glBindVertexArray(0)
+        glDisable(GL_DEPTH_TEST)
+        glDisable(GL_BLEND)
+        glUseProgram(0)
+        

{q3dviewer-1.2.0 → q3dviewer-1.2.1}/q3dviewer/tools/cloud_viewer.py

@@ -49,13 +49,21 @@ class FileLoaderThread(QThread):
 
     def run(self):
         cloud_item = self.viewer['cloud']
+        mesh_item = self.viewer['mesh']
         for i, url in enumerate(self.files):
+            # if the file is a mesh file, use mesh_item to load
+            file_path = url.toLocalFile()
             file_path = url.toLocalFile()
             self.viewer.progress_dialog.set_file_name(file_path)
-            cloud = cloud_item.load(file_path, append=(i > 0))
-            center = np.nanmean(cloud['xyz'].astype(np.float64), axis=0)
-            self.viewer.glwidget.set_cam_position(center=center)
-            self.progress.emit(int((i + 1) / len(self.files) * 100))
+            if url.toLocalFile().lower().endswith(('.stl')):
+                from q3dviewer.utils.cloud_io import load_stl
+                verts, faces = load_stl(file_path)
+                mesh_item.set_data(verts=verts, faces=faces)
+            else:
+                cloud = cloud_item.load(file_path, append=(i > 0))
+                center = np.nanmean(cloud['xyz'].astype(np.float64), axis=0)
+                self.viewer.glwidget.set_cam_position(center=center)
+                self.progress.emit(int((i + 1) / len(self.files) * 100))
         self.finished.emit()
 
 
@@ -157,6 +165,8 @@ def print_help():
     help_msg = f"""
 {BOLD}Cloud Viewer Help:{END}
 {GREEN}• Drag and drop cloud files into the viewer to load them.{END}
+    {BLUE}- support .pcd, .ply, .las, .e57, for point clouds.{END}
+    {BLUE}- support .stl for mesh files.{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}
@@ -179,13 +189,15 @@ def main():
     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)
+    mesh_item = q3d.MeshItem()  # Added MeshIOItem for mesh support
 
     viewer.add_items(
         {'marker': marker_item, 
          'cloud': cloud_item, 
          'grid': grid_item, 
          'axis': axis_item, 
-         'text': text_item})
+         'text': text_item,
+         'mesh': mesh_item})
 
     if args.path:
         pcd_fn = args.path

{q3dviewer-1.2.0 → q3dviewer-1.2.1}/q3dviewer/utils/cloud_io.py

@@ -6,6 +6,27 @@ Distributed under MIT license. See LICENSE for more information.
 import numpy as np
 
 
+def load_stl(file_path):
+    from stl import mesh as stlmesh
+    m = stlmesh.Mesh.from_file(file_path)
+    verts = m.vectors.reshape(-1, 3).astype(np.float32)
+    faces = np.arange(len(verts), dtype=np.uint32).reshape(-1, 3)
+    return verts, faces
+
+
+def save_stl(verts, faces, save_path):
+    """Save the generated mesh as an STL file."""
+    from stl import mesh as stlmesh
+    from stl import Mode
+    verts = np.asarray(verts, dtype=np.float32)
+    faces = np.asarray(faces, dtype=np.uint32)
+    # Create the mesh
+    m = stlmesh.Mesh(np.zeros(faces.shape[0], dtype=stlmesh.Mesh.dtype))
+    m.vectors[:] = verts[faces].astype(np.float32)
+    # Save to file
+    m.save(save_path, mode=Mode.BINARY)
+
+
 def save_ply(cloud, save_path):
     import meshio
     xyz = cloud['xyz']

{q3dviewer-1.2.0 → q3dviewer-1.2.1}/q3dviewer.egg-info/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: q3dviewer
-Version: 1.2.0
+Version: 1.2.1
 Summary: A library designed for quickly deploying a 3D viewer.
 Home-page: https://github.com/scomup/q3dviewer
 Author: Liu Yang

{q3dviewer-1.2.0 → q3dviewer-1.2.1}/q3dviewer.egg-info/SOURCES.txt

@@ -21,6 +21,7 @@ q3dviewer/custom_items/gaussian_item.py
 q3dviewer/custom_items/grid_item.py
 q3dviewer/custom_items/image_item.py
 q3dviewer/custom_items/line_item.py
+q3dviewer/custom_items/mesh_item.py
 q3dviewer/custom_items/text3d_item.py
 q3dviewer/custom_items/text_item.py
 q3dviewer/tools/__init__.py

{q3dviewer-1.2.0 → q3dviewer-1.2.1}/q3dviewer.egg-info/requires.txt

@@ -5,6 +5,7 @@ laspy
 matplotlib
 meshio
 numpy
+numpy-stl
 pye57
 pypcd4
 pyside6

{q3dviewer-1.2.0 → q3dviewer-1.2.1}/setup.py

@@ -2,7 +2,7 @@ from setuptools import setup, find_packages
 
 setup(
     name='q3dviewer',
-    version='1.2.0',
+    version='1.2.1',
     author="Liu Yang",
     description="A library designed for quickly deploying a 3D viewer.",
     long_description=open("README.md").read(),
@@ -29,6 +29,7 @@ setup(
         'imageio',
         'imageio[ffmpeg]',
         'matplotlib',
+        'numpy-stl',
     ],
     entry_points={
         'console_scripts': [