Renamed Transform -> SRTTransform to better reflect its function.
Added SRTTransform3D
This commit is contained in:
Luke Campagnola
parent
6129df2019
commit
7c87b1d04a
@ -4,7 +4,7 @@ from .Point import Point
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import numpy as np
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import pyqtgraph as pg
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class Transform(QtGui.QTransform):
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class SRTTransform(QtGui.QTransform):
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"""Transform that can always be represented as a combination of 3 matrices: scale * rotate * translate
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This transform has no shear; angles are always preserved.
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"""
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@ -16,7 +16,7 @@ class Transform(QtGui.QTransform):
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return
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elif isinstance(init, dict):
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self.restoreState(init)
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elif isinstance(init, Transform):
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elif isinstance(init, SRTTransform):
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self._state = {
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'pos': Point(init._state['pos']),
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'scale': Point(init._state['scale']),
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@ -28,7 +28,7 @@ class Transform(QtGui.QTransform):
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elif isinstance(init, QtGui.QMatrix4x4):
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self.setFromMatrix4x4(init)
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else:
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raise Exception("Cannot create Transform from input type: %s" % str(type(init)))
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raise Exception("Cannot create SRTTransform from input type: %s" % str(type(init)))
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def getScale(self):
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@ -73,9 +73,10 @@ class Transform(QtGui.QTransform):
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self.update()
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def setFromMatrix4x4(self, m):
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m = pg.Transform3D(m)
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m = pg.SRTTransform3D(m)
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angle, axis = m.getRotation()
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if angle != 0 and (axis[0] != 0 or axis[1] != 0 or axis[2] != 1):
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print angle, axis
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raise Exception("Can only convert 4x4 matrix to 3x3 if rotation is around Z-axis.")
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self._state = {
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'pos': Point(m.getTranslation()),
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@ -128,10 +129,10 @@ class Transform(QtGui.QTransform):
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def __div__(self, t):
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"""A / B == B^-1 * A"""
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dt = t.inverted()[0] * self
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return Transform(dt)
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return SRTTransform(dt)
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def __mul__(self, t):
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return Transform(QtGui.QTransform.__mul__(self, t))
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return SRTTransform(QtGui.QTransform.__mul__(self, t))
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def saveState(self):
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p = self._state['pos']
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@ -203,12 +204,12 @@ if __name__ == '__main__':
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s.addItem(l1)
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s.addItem(l2)
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tr1 = Transform()
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tr2 = Transform()
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tr1 = SRTTransform()
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tr2 = SRTTransform()
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tr3 = QtGui.QTransform()
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tr3.translate(20, 0)
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tr3.rotate(45)
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print("QTransform -> Transform:", Transform(tr3))
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print("QTransform -> Transform:", SRTTransform(tr3))
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print("tr1:", tr1)
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@ -221,7 +222,7 @@ if __name__ == '__main__':
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print("tr2 * tr1 = ", tr2*tr1)
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tr4 = Transform()
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tr4 = SRTTransform()
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tr4.scale(-1, 1)
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tr4.rotate(30)
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print("tr1 * tr4 = ", tr1*tr4)
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302
SRTTransform3D.py
Normal file
302
SRTTransform3D.py
Normal file
@ -0,0 +1,302 @@
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# -*- coding: utf-8 -*-
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from Qt import QtCore, QtGui
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from Vector import Vector
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from SRTTransform import SRTTransform
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import pyqtgraph as pg
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import numpy as np
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import scipy.linalg
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class SRTTransform3D(QtGui.QMatrix4x4):
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"""4x4 Transform matrix that can always be represented as a combination of 3 matrices: scale * rotate * translate
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This transform has no shear; angles are always preserved.
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"""
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def __init__(self, init=None):
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QtGui.QMatrix4x4.__init__(self)
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self.reset()
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if init is None:
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return
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if init.__class__ is QtGui.QTransform:
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init = SRTTransform(init)
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if isinstance(init, dict):
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self.restoreState(init)
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elif isinstance(init, SRTTransform3D):
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self._state = {
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'pos': Vector(init._state['pos']),
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'scale': Vector(init._state['scale']),
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'angle': init._state['angle'],
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'axis': Vector(init._state['axis']),
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}
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self.update()
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elif isinstance(init, SRTTransform):
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self._state = {
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'pos': Vector(init._state['pos']),
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'scale': Vector(init._state['scale']),
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'angle': init._state['angle'],
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'axis': Vector(0, 0, 1),
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}
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self.update()
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elif isinstance(init, QtGui.QMatrix4x4):
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self.setFromMatrix(init)
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else:
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raise Exception("Cannot build SRTTransform3D from argument type:", type(init))
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def getScale(self):
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return pg.Vector(self._state['scale'])
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def getRotation(self):
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"""Return (angle, axis) of rotation"""
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return self._state['angle'], pg.Vector(self._state['axis'])
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def getTranslation(self):
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return pg.Vector(self._state['pos'])
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def reset(self):
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self._state = {
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'pos': Vector(0,0,0),
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'scale': Vector(1,1,1),
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'angle': 0.0, ## in degrees
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'axis': (0, 0, 1)
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}
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self.update()
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def translate(self, *args):
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"""Adjust the translation of this transform"""
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t = Vector(*args)
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self.setTranslate(self._state['pos']+t)
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def setTranslate(self, *args):
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"""Set the translation of this transform"""
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self._state['pos'] = Vector(*args)
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self.update()
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def scale(self, *args):
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"""adjust the scale of this transform"""
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## try to prevent accidentally setting 0 scale on z axis
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if len(args) == 1 and hasattr(args[0], '__len__'):
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args = args[0]
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if len(args) == 2:
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args = args + (1,)
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s = Vector(*args)
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self.setScale(self._state['scale'] * s)
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def setScale(self, *args):
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"""Set the scale of this transform"""
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if len(args) == 1 and hasattr(args[0], '__len__'):
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args = args[0]
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if len(args) == 2:
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args = args + (1,)
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self._state['scale'] = Vector(*args)
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self.update()
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def rotate(self, angle, axis=(0,0,1)):
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"""Adjust the rotation of this transform"""
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origAxis = self._state['axis']
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if axis[0] == origAxis[0] and axis[1] == origAxis[1] and axis[2] == origAxis[2]:
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self.setRotate(self._state['angle'] + angle)
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else:
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m = QtGui.QMatrix4x4()
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m.translate(*self._state['pos'])
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m.rotate(self._state['angle'], *self._state['axis'])
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m.rotate(angle, *axis)
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m.scale(*self._state['scale'])
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self.setFromMatrix(m)
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def setRotate(self, angle, axis=(0,0,1)):
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"""Set the transformation rotation to angle (in degrees)"""
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self._state['angle'] = angle
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self._state['axis'] = Vector(axis)
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self.update()
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def setFromMatrix(self, m):
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"""
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Set this transform mased on the elements of *m*
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The input matrix must be affine AND have no shear,
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otherwise the conversion will most likely fail.
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"""
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for i in range(4):
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self.setRow(i, m.row(i))
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m = self.matrix().reshape(4,4)
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## translation is 4th column
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self._state['pos'] = m[:3,3]
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## scale is vector-length of first three columns
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scale = (m[:3,:3]**2).sum(axis=0)**0.5
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## see whether there is an inversion
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z = np.cross(m[0, :3], m[1, :3])
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if np.dot(z, m[2, :3]) < 0:
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scale[1] *= -1 ## doesn't really matter which axis we invert
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self._state['scale'] = scale
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## rotation axis is the eigenvector with eigenvalue=1
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r = m[:3, :3] / scale[:, np.newaxis]
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try:
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evals, evecs = scipy.linalg.eig(r)
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except:
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print "Rotation matrix:", r
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print "Scale:", scale
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print "Original matrix:", m
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raise
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eigIndex = np.argwhere(np.abs(evals-1) < 1e-7)
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if len(eigIndex) < 1:
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print "eigenvalues:", evals
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print "eigenvectors:", evecs
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print "index:", eigIndex, evals-1
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raise Exception("Could not determine rotation axis.")
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axis = evecs[eigIndex[0,0]].real
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axis /= ((axis**2).sum())**0.5
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self._state['axis'] = axis
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## trace(r) == 2 cos(angle) + 1, so:
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self._state['angle'] = np.arccos((r.trace()-1)*0.5) * 180 / np.pi
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if self._state['angle'] == 0:
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self._state['axis'] = (0,0,1)
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def as2D(self):
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"""Return a QTransform representing the x,y portion of this transform (if possible)"""
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return pg.SRTTransform(self)
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#def __div__(self, t):
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#"""A / B == B^-1 * A"""
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#dt = t.inverted()[0] * self
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#return SRTTransform(dt)
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#def __mul__(self, t):
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#return SRTTransform(QtGui.QTransform.__mul__(self, t))
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def saveState(self):
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p = self._state['pos']
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s = self._state['scale']
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ax = self._state['axis']
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#if s[0] == 0:
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#raise Exception('Invalid scale: %s' % str(s))
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return {
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'pos': (p[0], p[1], p[2]),
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'scale': (s[0], s[1], s[2]),
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'angle': self._state['angle'],
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'axis': (ax[0], ax[1], ax[2])
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}
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def restoreState(self, state):
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self._state['pos'] = Vector(state.get('pos', (0.,0.,0.)))
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scale = state.get('scale', (1.,1.,1.))
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scale = scale + (1.,) * (3-len(scale))
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self._state['scale'] = Vector(scale)
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self._state['angle'] = state.get('angle', 0.)
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self._state['axis'] = state.get('axis', (0, 0, 1))
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self.update()
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def update(self):
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QtGui.QMatrix4x4.setToIdentity(self)
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## modifications to the transform are multiplied on the right, so we need to reverse order here.
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QtGui.QMatrix4x4.translate(self, *self._state['pos'])
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QtGui.QMatrix4x4.rotate(self, self._state['angle'], *self._state['axis'])
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QtGui.QMatrix4x4.scale(self, *self._state['scale'])
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def __repr__(self):
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return str(self.saveState())
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def matrix(self, nd=3):
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if nd == 3:
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return np.array(self.copyDataTo())
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elif nd == 2:
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m = np.array(self.copyDataTo())
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m[2] = m[3]
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m[:,2] = n[:,3]
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return m[:3,:3]
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else:
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raise Exception("Argument 'nd' must be 2 or 3")
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if __name__ == '__main__':
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import widgets
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import GraphicsView
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from functions import *
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app = QtGui.QApplication([])
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win = QtGui.QMainWindow()
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win.show()
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cw = GraphicsView.GraphicsView()
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#cw.enableMouse()
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win.setCentralWidget(cw)
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s = QtGui.QGraphicsScene()
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cw.setScene(s)
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win.resize(600,600)
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cw.enableMouse()
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cw.setRange(QtCore.QRectF(-100., -100., 200., 200.))
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class Item(QtGui.QGraphicsItem):
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def __init__(self):
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QtGui.QGraphicsItem.__init__(self)
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self.b = QtGui.QGraphicsRectItem(20, 20, 20, 20, self)
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self.b.setPen(QtGui.QPen(mkPen('y')))
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self.t1 = QtGui.QGraphicsTextItem(self)
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self.t1.setHtml('<span style="color: #F00">R</span>')
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self.t1.translate(20, 20)
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self.l1 = QtGui.QGraphicsLineItem(10, 0, -10, 0, self)
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self.l2 = QtGui.QGraphicsLineItem(0, 10, 0, -10, self)
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self.l1.setPen(QtGui.QPen(mkPen('y')))
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self.l2.setPen(QtGui.QPen(mkPen('y')))
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def boundingRect(self):
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return QtCore.QRectF()
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def paint(self, *args):
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pass
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#s.addItem(b)
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#s.addItem(t1)
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item = Item()
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s.addItem(item)
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l1 = QtGui.QGraphicsLineItem(10, 0, -10, 0)
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l2 = QtGui.QGraphicsLineItem(0, 10, 0, -10)
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l1.setPen(QtGui.QPen(mkPen('r')))
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l2.setPen(QtGui.QPen(mkPen('r')))
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s.addItem(l1)
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s.addItem(l2)
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tr1 = SRTTransform()
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tr2 = SRTTransform()
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tr3 = QtGui.QTransform()
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tr3.translate(20, 0)
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tr3.rotate(45)
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print "QTransform -> Transform:", SRTTransform(tr3)
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print "tr1:", tr1
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tr2.translate(20, 0)
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tr2.rotate(45)
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print "tr2:", tr2
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dt = tr2/tr1
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print "tr2 / tr1 = ", dt
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print "tr2 * tr1 = ", tr2*tr1
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tr4 = SRTTransform()
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tr4.scale(-1, 1)
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tr4.rotate(30)
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print "tr1 * tr4 = ", tr1*tr4
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w1 = widgets.TestROI((19,19), (22, 22), invertible=True)
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#w2 = widgets.TestROI((0,0), (150, 150))
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w1.setZValue(10)
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s.addItem(w1)
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#s.addItem(w2)
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w1Base = w1.getState()
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#w2Base = w2.getState()
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def update():
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tr1 = w1.getGlobalTransform(w1Base)
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#tr2 = w2.getGlobalTransform(w2Base)
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item.setTransform(tr1)
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#def update2():
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#tr1 = w1.getGlobalTransform(w1Base)
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#tr2 = w2.getGlobalTransform(w2Base)
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#t1.setTransform(tr1)
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#w1.setState(w1Base)
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#w1.applyGlobalTransform(tr2)
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w1.sigRegionChanged.connect(update)
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#w2.sigRegionChanged.connect(update2)
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@ -19,12 +19,12 @@ if sys.version_info[0] < 2 or (sys.version_info[0] == 2 and sys.version_info[1]
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from . import python2_3
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## in general openGL is poorly supported in Qt.
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## in general openGL is poorly supported with Qt+GraphicsView.
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## we only enable it where the performance benefit is critical.
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## Note this only applies to 2D graphics; 3D graphics always use OpenGL.
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if 'linux' in sys.platform: ## linux has numerous bugs in opengl implementation
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useOpenGL = False
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elif 'darwin' in sys.platform: ## openGL greatly speeds up display on mac
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elif 'darwin' in sys.platform: ## openGL can have a major impact on mac, but also has serious bugs
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useOpenGL = True
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else:
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useOpenGL = False ## on windows there's a more even performance / bugginess tradeoff.
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@ -111,8 +111,8 @@ from .imageview import *
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from .WidgetGroup import *
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from .Point import Point
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from .Vector import Vector
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from .Transform import Transform
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from .Transform3D import Transform3D
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from .SRTTransform import SRTTransform
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from .SRTTransform3D import SRTTransform3D
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from .functions import *
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from .graphicsWindows import *
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from .SignalProxy import *
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@ -92,7 +92,7 @@ class CanvasItem(QtCore.QObject):
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if 'transform' in self.opts:
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self.baseTransform = self.opts['transform']
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else:
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self.baseTransform = pg.Transform()
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self.baseTransform = pg.SRTTransform()
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if 'pos' in self.opts and self.opts['pos'] is not None:
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self.baseTransform.translate(self.opts['pos'])
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if 'angle' in self.opts and self.opts['angle'] is not None:
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@ -120,8 +120,8 @@ class CanvasItem(QtCore.QObject):
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self.itemScale = QtGui.QGraphicsScale()
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self._graphicsItem.setTransformations([self.itemRotation, self.itemScale])
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self.tempTransform = pg.Transform() ## holds the additional transform that happens during a move - gets added to the userTransform when move is done.
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self.userTransform = pg.Transform() ## stores the total transform of the object
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self.tempTransform = pg.SRTTransform() ## holds the additional transform that happens during a move - gets added to the userTransform when move is done.
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self.userTransform = pg.SRTTransform() ## stores the total transform of the object
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self.resetUserTransform()
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## now happens inside resetUserTransform -> selectBoxToItem
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@ -196,7 +196,7 @@ class CanvasItem(QtCore.QObject):
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#flip = self.transformGui.mirrorImageCheck.isChecked()
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#tr = self.userTransform.saveState()
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inv = pg.Transform()
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inv = pg.SRTTransform()
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inv.scale(-1, 1)
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self.userTransform = self.userTransform * inv
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self.updateTransform()
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@ -226,7 +226,7 @@ class CanvasItem(QtCore.QObject):
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if not self.isMovable():
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return
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self.rotate(180.)
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# inv = pg.Transform()
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# inv = pg.SRTTransform()
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# inv.scale(-1, -1)
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# self.userTransform = self.userTransform * inv #flip lr/ud
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# s=self.updateTransform()
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@ -311,7 +311,7 @@ class CanvasItem(QtCore.QObject):
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|
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def resetTemporaryTransform(self):
|
||||
self.tempTransform = pg.Transform() ## don't use Transform.reset()--this transform might be used elsewhere.
|
||||
self.tempTransform = pg.SRTTransform() ## don't use Transform.reset()--this transform might be used elsewhere.
|
||||
self.updateTransform()
|
||||
|
||||
def transform(self):
|
||||
@ -363,7 +363,7 @@ class CanvasItem(QtCore.QObject):
|
||||
try:
|
||||
#self.userTranslate = pg.Point(tr['trans'])
|
||||
#self.userRotate = tr['rot']
|
||||
self.userTransform = pg.Transform(tr)
|
||||
self.userTransform = pg.SRTTransform(tr)
|
||||
self.updateTransform()
|
||||
|
||||
self.selectBoxFromUser() ## move select box to match
|
||||
@ -372,7 +372,7 @@ class CanvasItem(QtCore.QObject):
|
||||
except:
|
||||
#self.userTranslate = pg.Point([0,0])
|
||||
#self.userRotate = 0
|
||||
self.userTransform = pg.Transform()
|
||||
self.userTransform = pg.SRTTransform()
|
||||
debug.printExc("Failed to load transform:")
|
||||
#print "set transform", self, self.userTranslate
|
||||
|
||||
|
||||
@ -3,7 +3,7 @@ from ..Node import Node
|
||||
from pyqtgraph.Qt import QtGui, QtCore
|
||||
import numpy as np
|
||||
from .common import *
|
||||
from pyqtgraph.Transform import Transform
|
||||
from pyqtgraph.SRTTransform import SRTTransform
|
||||
from pyqtgraph.Point import Point
|
||||
from pyqtgraph.widgets.TreeWidget import TreeWidget
|
||||
from pyqtgraph.graphicsItems.LinearRegionItem import LinearRegionItem
|
||||
|
||||
@ -355,7 +355,6 @@ class ImageItem(GraphicsObject):
|
||||
self.drawAt(ev.pos(), ev)
|
||||
|
||||
def raiseContextMenu(self, ev):
|
||||
## only raise menu if this terminal is removable
|
||||
menu = self.getMenu()
|
||||
if menu is None:
|
||||
return False
|
||||
@ -443,4 +442,8 @@ class ImageItem(GraphicsObject):
|
||||
self.drawMask = mask
|
||||
|
||||
def removeClicked(self):
|
||||
self.sigRemoveRequested.emit(self)
|
||||
## Send remove event only after we have exited the menu event handler
|
||||
self.removeTimer = QtCore.QTimer()
|
||||
self.removeTimer.timeout.connect(lambda: self.sigRemoveRequested.emit(self))
|
||||
self.removeTimer.start(0)
|
||||
|
||||
|
||||
@ -19,7 +19,7 @@ import numpy as np
|
||||
from numpy.linalg import norm
|
||||
import scipy.ndimage as ndimage
|
||||
from pyqtgraph.Point import *
|
||||
from pyqtgraph.Transform import Transform
|
||||
from pyqtgraph.SRTTransform import SRTTransform
|
||||
from math import cos, sin
|
||||
import pyqtgraph.functions as fn
|
||||
from .GraphicsObject import GraphicsObject
|
||||
@ -45,8 +45,9 @@ class ROI(GraphicsObject):
|
||||
sigRegionChanged = QtCore.Signal(object)
|
||||
sigHoverEvent = QtCore.Signal(object)
|
||||
sigClicked = QtCore.Signal(object, object)
|
||||
sigRemoveRequested = QtCore.Signal(object)
|
||||
|
||||
def __init__(self, pos, size=Point(1, 1), angle=0.0, invertible=False, maxBounds=None, snapSize=1.0, scaleSnap=False, translateSnap=False, rotateSnap=False, parent=None, pen=None, movable=True):
|
||||
def __init__(self, pos, size=Point(1, 1), angle=0.0, invertible=False, maxBounds=None, snapSize=1.0, scaleSnap=False, translateSnap=False, rotateSnap=False, parent=None, pen=None, movable=True, removable=False):
|
||||
#QObjectWorkaround.__init__(self)
|
||||
GraphicsObject.__init__(self, parent)
|
||||
self.setAcceptedMouseButtons(QtCore.Qt.NoButton)
|
||||
@ -55,6 +56,8 @@ class ROI(GraphicsObject):
|
||||
self.aspectLocked = False
|
||||
self.translatable = movable
|
||||
self.rotateAllowed = True
|
||||
self.removable = removable
|
||||
self.menu = None
|
||||
|
||||
self.freeHandleMoved = False ## keep track of whether free handles have moved since last change signal was emitted.
|
||||
self.mouseHovering = False
|
||||
@ -387,13 +390,19 @@ class ROI(GraphicsObject):
|
||||
if not ev.isExit():
|
||||
if self.translatable and ev.acceptDrags(QtCore.Qt.LeftButton):
|
||||
hover=True
|
||||
|
||||
for btn in [QtCore.Qt.LeftButton, QtCore.Qt.RightButton, QtCore.Qt.MidButton]:
|
||||
if int(self.acceptedMouseButtons() & btn) > 0 and ev.acceptClicks(btn):
|
||||
hover=True
|
||||
|
||||
if self.contextMenuEnabled():
|
||||
ev.acceptClicks(QtCore.Qt.RightButton)
|
||||
|
||||
if hover:
|
||||
self.setMouseHover(True)
|
||||
self.sigHoverEvent.emit(self)
|
||||
ev.acceptClicks(QtCore.Qt.LeftButton) ## If the ROI is hilighted, we should accept all clicks to avoid confusion.
|
||||
ev.acceptClicks(QtCore.Qt.RightButton)
|
||||
ev.acceptClicks(QtCore.Qt.MidButton)
|
||||
else:
|
||||
self.setMouseHover(False)
|
||||
|
||||
@ -407,8 +416,36 @@ class ROI(GraphicsObject):
|
||||
else:
|
||||
self.currentPen = self.pen
|
||||
self.update()
|
||||
|
||||
def contextMenuEnabled(self):
|
||||
return self.removable
|
||||
|
||||
def raiseContextMenu(self, ev):
|
||||
if not self.contextMenuEnabled():
|
||||
return
|
||||
menu = self.getMenu()
|
||||
menu = self.scene().addParentContextMenus(self, menu, ev)
|
||||
pos = ev.screenPos()
|
||||
menu.popup(QtCore.QPoint(pos.x(), pos.y()))
|
||||
|
||||
def getMenu(self):
|
||||
if self.menu is None:
|
||||
self.menu = QtGui.QMenu()
|
||||
self.menu.setTitle("ROI")
|
||||
remAct = QtGui.QAction("Remove ROI", self.menu)
|
||||
remAct.triggered.connect(self.removeClicked)
|
||||
self.menu.addAction(remAct)
|
||||
self.menu.remAct = remAct
|
||||
return self.menu
|
||||
|
||||
def removeClicked(self):
|
||||
## Send remove event only after we have exited the menu event handler
|
||||
self.removeTimer = QtCore.QTimer()
|
||||
self.removeTimer.timeout.connect(lambda: self.sigRemoveRequested.emit(self))
|
||||
self.removeTimer.start(0)
|
||||
|
||||
|
||||
|
||||
|
||||
def mouseDragEvent(self, ev):
|
||||
if ev.isStart():
|
||||
#p = ev.pos()
|
||||
@ -442,6 +479,9 @@ class ROI(GraphicsObject):
|
||||
if ev.button() == QtCore.Qt.RightButton and self.isMoving:
|
||||
ev.accept()
|
||||
self.cancelMove()
|
||||
if ev.button() == QtCore.Qt.RightButton and self.contextMenuEnabled():
|
||||
self.raiseContextMenu(ev)
|
||||
ev.accept()
|
||||
elif int(ev.button() & self.acceptedMouseButtons()) > 0:
|
||||
ev.accept()
|
||||
self.sigClicked.emit(self, ev)
|
||||
@ -933,8 +973,8 @@ class ROI(GraphicsObject):
|
||||
|
||||
|
||||
|
||||
t1 = Transform(relativeTo)
|
||||
t2 = Transform(st)
|
||||
t1 = SRTTransform(relativeTo)
|
||||
t2 = SRTTransform(st)
|
||||
return t2/t1
|
||||
|
||||
|
||||
@ -962,7 +1002,7 @@ class ROI(GraphicsObject):
|
||||
st = self.getState()
|
||||
|
||||
st['scale'] = st['size']
|
||||
st = Transform(st)
|
||||
st = SRTTransform(st)
|
||||
st = (st * tr).saveState()
|
||||
st['size'] = st['scale']
|
||||
self.setState(st)
|
||||
|
||||
Loading…
Reference in New Issue
Block a user