q3dviewer 1.2.2__tar.gz → 1.2.4__tar.gz

{q3dviewer-1.2.2 → q3dviewer-1.2.4}/PKG-INFO

@@ -1,10 +1,11 @@
 Metadata-Version: 2.1
 Name: q3dviewer
-Version: 1.2.2
+Version: 1.2.4
 Summary: A library designed for quickly deploying a 3D viewer.
 Home-page: https://github.com/scomup/q3dviewer
 Author: Liu Yang
-License: UNKNOWN
+Author-email: liu.yang@jp.panasonic.com
+License: MIT
 Description: 
         ![q3dviewer Logo](imgs/logo.png)
         
@@ -58,22 +59,34 @@ Description:
         ```
         
         **Basic Operations**
-        * Load files: Drag and drop point cloud files onto the window (multiple files are OK).
-        * `M` key: Display the visualization settings screen for point clouds, background color, etc.
-        * `Left mouse button` & `W, A, S, D` keys: Move the viewpoint on the horizontal plane.
-        * `Z, X` keys: Move in the direction the screen is facing.
-        * `Right mouse button` & `Arrow` keys: Rotate the viewpoint while keeping the screen center unchanged.
-        * `Shift` + `Right mouse button` & `Arrow` keys: Rotate the viewpoint while keeping the camera position unchanged.
+        
+        📁 **Load Files** - Drag and drop files into the viewer
+        * Point clouds: .pcd, .ply, .las, .e57
+        * Mesh files: .stl
+        
+        📏 **Measure Distance** - Interactive point measurement
+        * `Ctrl + Left Click`: Add measurement point
+        * `Ctrl + Right Click`: Remove last point
+        * Total distance displayed automatically
+        
+        🎥 **Camera Controls** - Navigate the 3D scene
+        * `Double Click`: Set camera center to point
+        * `Right Drag`: Rotate view
+        * `Left Drag`: Pan view
+        * `Mouse Wheel`: Zoom in/out
+        
+        ⚙️ **Settings** - Press `M` to open settings window
+        * Adjust visualization properties
         
         For example, you can download and view point clouds of Tokyo in LAS format from the following link:
         
         [Tokyo Point Clouds](https://www.geospatial.jp/ckan/dataset/tokyopc-23ku-2024/resource/7807d6d1-29f3-4b36-b0c8-f7aa0ea2cff3)
         
-        ![Cloud Viewer Screenshot](https://qiita-image-store.s3.ap-northeast-1.amazonaws.com/0/149168/03c981c6-1aec-e5b9-4536-e07e1e56ff29.png)
+        ![Cloud Viewer Screenshot](imgs/tokyo.png)
         
-        Press `M` on your keyboard to display a menu on the screen, where you can modify visualization settings for each item. For example, you can adjust various settings such as shape, size, color, and transparency for `CloudItem`.
+        **Mesh Support** - Starting from version 1.2.4, mesh files (.stl) are now supported.
         
-        ![Cloud Viewer Settings](https://qiita-image-store.s3.ap-northeast-1.amazonaws.com/0/149168/deeb996a-e419-58f4-6bc2-535099b1b73a.png)
+        ![Screenshot from 2026-02-04 18-32-04.png](imgs/mesh.png)
         
         ### 2. ROS Viewer
         

{q3dviewer-1.2.2 → q3dviewer-1.2.4}/README.md

@@ -51,22 +51,34 @@ python3 -m q3dviewer.tools.cloud_viewer
 ```
 
 **Basic Operations**
-* Load files: Drag and drop point cloud files onto the window (multiple files are OK).
-* `M` key: Display the visualization settings screen for point clouds, background color, etc.
-* `Left mouse button` & `W, A, S, D` keys: Move the viewpoint on the horizontal plane.
-* `Z, X` keys: Move in the direction the screen is facing.
-* `Right mouse button` & `Arrow` keys: Rotate the viewpoint while keeping the screen center unchanged.
-* `Shift` + `Right mouse button` & `Arrow` keys: Rotate the viewpoint while keeping the camera position unchanged.
+
+📁 **Load Files** - Drag and drop files into the viewer
+* Point clouds: .pcd, .ply, .las, .e57
+* Mesh files: .stl
+
+📏 **Measure Distance** - Interactive point measurement
+* `Ctrl + Left Click`: Add measurement point
+* `Ctrl + Right Click`: Remove last point
+* Total distance displayed automatically
+
+🎥 **Camera Controls** - Navigate the 3D scene
+* `Double Click`: Set camera center to point
+* `Right Drag`: Rotate view
+* `Left Drag`: Pan view
+* `Mouse Wheel`: Zoom in/out
+
+⚙️ **Settings** - Press `M` to open settings window
+* Adjust visualization properties
 
 For example, you can download and view point clouds of Tokyo in LAS format from the following link:
 
 [Tokyo Point Clouds](https://www.geospatial.jp/ckan/dataset/tokyopc-23ku-2024/resource/7807d6d1-29f3-4b36-b0c8-f7aa0ea2cff3)
 
-![Cloud Viewer Screenshot](https://qiita-image-store.s3.ap-northeast-1.amazonaws.com/0/149168/03c981c6-1aec-e5b9-4536-e07e1e56ff29.png)
+![Cloud Viewer Screenshot](imgs/tokyo.png)
 
-Press `M` on your keyboard to display a menu on the screen, where you can modify visualization settings for each item. For example, you can adjust various settings such as shape, size, color, and transparency for `CloudItem`.
+**Mesh Support** - Starting from version 1.2.4, mesh files (.stl) are now supported.
 
-![Cloud Viewer Settings](https://qiita-image-store.s3.ap-northeast-1.amazonaws.com/0/149168/deeb996a-e419-58f4-6bc2-535099b1b73a.png)
+![Screenshot from 2026-02-04 18-32-04.png](imgs/mesh.png)
 
 ### 2. ROS Viewer
 

q3dviewer-1.2.4/q3dviewer/__init__.py

@@ -0,0 +1,5 @@
+from q3dviewer.custom_items import *
+from q3dviewer.glwidget import *
+from q3dviewer.viewer import *
+from q3dviewer.base_item import *
+from q3dviewer.base_glwidget import *

{q3dviewer-1.2.2 → q3dviewer-1.2.4}/q3dviewer/custom_items/__init__.py

@@ -8,4 +8,6 @@ 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.static_mesh_item import StaticMeshItem
 from q3dviewer.custom_items.mesh_item import MeshItem
+

q3dviewer-1.2.4/q3dviewer/custom_items/mesh_item.py

@@ -0,0 +1,487 @@
+#!/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 os
+from q3dviewer.utils import set_uniform, text_to_rgba
+import time
+
+
+class MeshItem(BaseItem):
+    """
+    A OpenGL mesh item for rendering 3D triangular meshes.
+    Attributes:
+        color (str or tuple): Accepts any valid matplotlib color (e.g., 'red', '#FF4500', (1.0, 0.5, 0.0)).
+        wireframe (bool): If True, renders the mesh in wireframe mode.
+    """
+    def __init__(self, color='lightblue', wireframe=False):
+        super(MeshItem, self).__init__()
+        self.wireframe = wireframe
+        self.color = color
+        self.flat_rgb = text_to_rgba(color, flat=True)
+        
+        # Incremental buffer management
+        self.FACE_CAPACITY = 1000000    # Initial capacity for faces
+        
+        # Faces buffer: N x 13 numpy array
+        # Each row: [v0.x, v0.y, v0.z, v1.x, v1.y, v1.z, v2.x, v2.y, v2.z, v3.x, v3.y, v3.z, good]
+        self.faces = np.zeros((self.FACE_CAPACITY, 13), dtype=np.float32)
+        
+        # valid_f_top: pointer to end of valid faces
+        self.valid_f_top = 0
+        
+        # key2index: mapping from face_key to face buffer index
+        self.key2index = {}  # {face_key: face_index}
+        
+        # OpenGL objects
+        self.vao = None
+        self.vbo = None
+        self.program = None
+        self._gpu_face_capacity = 0    # Track GPU buffer capacity
+        
+        # Fixed rendering parameters (not adjustable via UI)
+        self.enable_lighting = True
+        self.line_width = 1.0
+        self.light_pos = [1.0, 1.0, 1.0]
+        self.light_color = [1.0, 1.0, 1.0]
+        self.ambient_strength = 0.1
+        self.diffuse_strength = 1.2
+        self.specular_strength = 0.1
+        self.shininess = 32.0
+        self.alpha = 1.0
+        
+        # Settings flag
+        self.need_update_setting = True
+        self.need_update_buffer = True
+        self.path = os.path.dirname(__file__)
+    
+        
+    def add_setting(self, layout):
+        """Add UI controls for mesh visualization"""
+        # Only keep wireframe toggle - all other parameters are fixed
+        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)
+
+        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, data):
+        """
+        Args:
+            data: One of the following formats:
+                  - Nx3 numpy array (N must be divisible by 3): vertex list -> static
+                  - Nx9 numpy array: triangle list -> static
+                  - Structured array with dtype [('key', int64), ('vertices', float32, (12,)), ('good', uint32)] -> incremental
+        """
+        if not isinstance(data, np.ndarray):
+            raise ValueError("Data must be a numpy array")
+        
+        want_dtype = np.dtype([
+            ('key', np.int64),
+            ('vertices', np.float32, (12,)),
+            ('good', np.uint32)
+        ])
+        
+        # Structured array format -> use incremental path (has keys for updates)
+        if data.dtype == want_dtype:
+            self.set_incremental_data(data)
+            return
+        
+        # Nx3 or Nx9 format -> use static path (more efficient, no key overhead)
+        if data.ndim == 2 and data.shape[1] in [3, 9]:
+            self.set_static_data(data)
+            return
+        
+        raise ValueError("Data must be Nx3, Nx9, or structured array format")
+
+    def set_static_data(self, data):
+        """
+        Efficiently set static mesh data without key2index overhead.
+        For static meshes that don't need incremental updates.
+        
+        Args:
+            data: numpy array in one of these formats:
+                  - Nx3: vertex list (N must be divisible by 3)
+                  - Nx9: triangle list
+        """
+        if not isinstance(data, np.ndarray):
+            raise ValueError("Data must be a numpy array")
+        
+        if data.ndim != 2:
+            raise ValueError(f"Data must be 2D array, got {data.ndim}D")
+        self.clear_mesh()
+        # Handle Nx3 format
+        if data.shape[1] == 3:
+            if data.shape[0] % 3 != 0:
+                raise ValueError(f"Nx3 format requires N divisible by 3, got N={data.shape[0]}")
+            
+            num_faces = data.shape[0] // 3
+            faces = np.zeros((num_faces, 13), dtype=np.float32)
+            
+            # Reshape to (num_faces, 9) for efficient copying
+            tmp = data.reshape(num_faces, 9)
+            faces[:, 0:3]  = tmp[:, 0:3]   # v0
+            faces[:, 3:6]  = tmp[:, 3:6]   # v1
+            faces[:, 6:9]  = tmp[:, 6:9]   # v2
+            faces[:, 9:12] = tmp[:, 6:9]   # v3 = v2 (degenerate)
+            faces[:, 12] = 1.0             # good=1.0
+            
+        # Handle Nx9 format
+        elif data.shape[1] == 9:
+            num_faces = data.shape[0]
+            faces = np.zeros((num_faces, 13), dtype=np.float32)
+            
+            faces[:, 0:9] = data           # Copy all 9 vertices
+            faces[:, 9:12] = data[:, 6:9]  # v3 = v2 (degenerate)
+            faces[:, 12] = 1.0             # good=1.0
+            
+        else:
+            raise ValueError(f"Data shape must be Nx3 or Nx9, got Nx{data.shape[1]}")
+        
+        # Replace faces buffer (static data, no key management)
+        self.clear_mesh()
+        self.faces = faces
+        self.valid_f_top = num_faces
+        self.need_update_buffer = True
+
+
+    def set_incremental_data(self, fs):
+        """
+        Incrementally update mesh with new face data.
+        Args:
+            fs: Structured numpy array with dtype:
+                [('key', np.int64), ('vertices', np.float32, (12,)), ('good', np.uint32)]
+                - key: unique identifier for the face
+                - vertices: 12 floats representing 4 vertices (v0, v1, v2, v3)
+                - good: 0 or 1, whether to render this face
+        Updates:
+            - faces: updates existing faces or appends new ones
+            - key2index: tracks face_key -> face_index mapping
+        """
+        if fs is None or len(fs) == 0:
+            return
+        
+        if not isinstance(fs, np.ndarray) or fs.dtype.names is None:
+            raise ValueError("fs must be a structured numpy array with fields: key, vertices, good")
+
+        # Ensure enough capacity in faces buffer
+        while self.valid_f_top + len(fs) > len(self.faces):
+            self._expand_face_buffer()
+
+        # Prepare face data: convert structured array to Nx13 format
+        n_faces = len(fs)
+        face_data = np.zeros((n_faces, 13), dtype=np.float32)
+        
+        # Copy vertices (12 floats -> positions 0:12)
+        face_data[:, :12] = fs['vertices']
+        
+        # Copy good flag (position 12)
+        face_data[:, 12] = fs['good'].astype(np.float32)
+        
+        # Extract keys
+        keys = fs['key']
+        
+        # Optimization: Separate updates from new insertions
+        update_mask = np.array([key in self.key2index for key in keys], dtype=bool)
+        new_mask = ~update_mask
+        
+        # Batch update existing faces
+        if np.any(update_mask):
+            update_keys = keys[update_mask]
+            update_indices = np.array([self.key2index[key] for key in update_keys], dtype=np.int32)
+            self.faces[update_indices] = face_data[update_mask]
+        
+        # Batch insert new faces
+        if np.any(new_mask):
+            new_keys = keys[new_mask]
+            new_face_data = face_data[new_mask]
+            n_new = len(new_keys)
+            
+            # Insert data
+            self.faces[self.valid_f_top: self.valid_f_top + n_new] = new_face_data
+            
+            # Update key2index mapping for new faces
+            for i, face_key in enumerate(new_keys):
+                self.key2index[face_key] = self.valid_f_top + i
+            self.valid_f_top += n_new
+            self.need_update_buffer = True
+    
+    def _expand_face_buffer(self):
+        """Expand the faces buffer when capacity is reached"""
+        new_capacity = len(self.faces) + self.FACE_CAPACITY
+        new_buffer = np.zeros((new_capacity, 13), dtype=np.float32)
+        new_buffer[:len(self.faces)] = self.faces
+        self.faces = new_buffer
+    
+    def clear_mesh(self):
+        """Clear all mesh data and reset buffers"""
+        self.valid_f_top = 0
+        self.key2index.clear()
+        if hasattr(self, 'indices_array'):
+            self.indices_array = np.array([], dtype=np.uint32)
+
+    def initialize_gl(self):
+        """OpenGL initialization"""
+        # Use instanced mesh shaders with geometry shader for GPU-side triangle generation
+        vert_shader = open(self.path + '/../shaders/mesh_vert.glsl', 'r').read()
+        geom_shader = open(self.path + '/../shaders/mesh_geom.glsl', 'r').read()
+        frag_shader = open(self.path + '/../shaders/mesh_frag.glsl', 'r').read()
+        try:
+            program = shaders.compileProgram(
+                shaders.compileShader(vert_shader, GL_VERTEX_SHADER),
+                shaders.compileShader(geom_shader, GL_GEOMETRY_SHADER),
+                shaders.compileShader(frag_shader, GL_FRAGMENT_SHADER),
+            )
+            self.program = program
+        except Exception as e:
+            raise
+
+    def update_render_buffer(self):
+        """
+        Update GPU buffer with face data (no separate vertex buffer).
+        Each face contains embedded vertex positions (13 floats).
+        Geometry shader generates triangles on GPU from face vertices.
+        Dynamically resizes GPU buffer when Python buffer expands.
+        """
+        if self.valid_f_top == 0:
+            return
+        
+        # Initialize buffers on first call
+        if self.vao is None:
+            self.vao = glGenVertexArrays(1)
+            self.vbo = glGenBuffers(1)
+            self._gpu_face_capacity = 0
+        
+        # Check if we need to reallocate VBO for faces
+        if self._gpu_face_capacity < len(self.faces):
+            glBindVertexArray(self.vao)
+            glBindBuffer(GL_ARRAY_BUFFER, self.vbo)
+            glBufferData(GL_ARRAY_BUFFER,
+                        self.faces.nbytes,
+                        None,
+                        GL_DYNAMIC_DRAW)
+            
+            # Setup face attributes (per-instance)
+            # Face data: [v0.x, v0.y, v0.z, v1.x, v1.y, v1.z, v2.x, v2.y, v2.z, v3.x, v3.y, v3.z, good]
+            # 13 floats = 52 bytes stride
+            
+            # v0 (location 1) - vec3
+            glEnableVertexAttribArray(1)
+            glVertexAttribPointer(1, 3, GL_FLOAT, GL_FALSE, 52, ctypes.c_void_p(0))
+            glVertexAttribDivisor(1, 1)
+            
+            # v1 (location 2) - vec3
+            glEnableVertexAttribArray(2)
+            glVertexAttribPointer(2, 3, GL_FLOAT, GL_FALSE, 52, ctypes.c_void_p(12))
+            glVertexAttribDivisor(2, 1)
+            
+            # v2 (location 3) - vec3
+            glEnableVertexAttribArray(3)
+            glVertexAttribPointer(3, 3, GL_FLOAT, GL_FALSE, 52, ctypes.c_void_p(24))
+            glVertexAttribDivisor(3, 1)
+            
+            # v3 (location 4) - vec3
+            glEnableVertexAttribArray(4)
+            glVertexAttribPointer(4, 3, GL_FLOAT, GL_FALSE, 52, ctypes.c_void_p(36))
+            glVertexAttribDivisor(4, 1)
+            
+            # good flag (location 5) - float
+            glEnableVertexAttribArray(5)
+            glVertexAttribPointer(5, 1, GL_FLOAT, GL_FALSE, 52, ctypes.c_void_p(48))
+            glVertexAttribDivisor(5, 1)
+            
+            glBindVertexArray(0)
+            glBindBuffer(GL_ARRAY_BUFFER, 0)
+            self._gpu_face_capacity = len(self.faces)
+        
+        # Upload faces to VBO
+        if self.need_update_buffer:
+            glBindBuffer(GL_ARRAY_BUFFER, self.vbo)
+            glBufferSubData(GL_ARRAY_BUFFER,
+                           0,
+                           self.valid_f_top * 13 * 4,  # 13 floats * 4 bytes per face
+                           self.faces[:self.valid_f_top])
+            glBindBuffer(GL_ARRAY_BUFFER, 0)
+            self.need_update_buffer = False
+            glBindBuffer(GL_ARRAY_BUFFER, 0)
+        
+    def update_setting(self):
+        """Set fixed rendering parameters (called once during initialization)"""
+        if not self.need_update_setting:
+            return
+        # Set fixed uniforms for instanced shaders
+        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, dtype=np.float32), '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 instanced rendering with geometry shader.
+        Each face instance is rendered as a point, geometry shader generates 2 triangles.
+        GPU filters faces based on good flag.
+        """
+        if self.valid_f_top == 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 (vertex positions are now in VBO attributes)
+        glBindVertexArray(self.vao)
+                
+        if self.wireframe:
+            glPolygonMode(GL_FRONT_AND_BACK, GL_LINE)
+        else:
+            glPolygonMode(GL_FRONT_AND_BACK, GL_FILL)
+        
+        # Draw using instanced rendering
+        # Input: POINTS (one per face instance)
+        # Geometry shader generates 2 triangles (6 vertices) per point
+        glDrawArraysInstanced(GL_POINTS, 0, 1, self.valid_f_top)
+            
+        glPolygonMode(GL_FRONT_AND_BACK, GL_FILL)
+        glBindVertexArray(0)
+        glDisable(GL_DEPTH_TEST)
+        glDisable(GL_BLEND)
+        glUseProgram(0)
+