from pyqtgraph.Qt import QtCore, QtGui, QtOpenGL from OpenGL.GL import * import numpy as np from pyqtgraph import Vector ##Vector = QtGui.QVector3D class GLViewWidget(QtOpenGL.QGLWidget): """ Basic widget for displaying 3D data - Rotation/scale controls - Axis/grid display - Export options """ def __init__(self, parent=None): QtOpenGL.QGLWidget.__init__(self, parent) self.setFocusPolicy(QtCore.Qt.ClickFocus) self.opts = { 'center': Vector(0,0,0), ## will always appear at the center of the widget 'distance': 10.0, ## distance of camera from center 'fov': 60, ## horizontal field of view in degrees 'elevation': 30, ## camera's angle of elevation in degrees 'azimuth': 45, ## camera's azimuthal angle in degrees ## (rotation around z-axis 0 points along x-axis) } self.items = [] self.noRepeatKeys = [QtCore.Qt.Key_Right, QtCore.Qt.Key_Left, QtCore.Qt.Key_Up, QtCore.Qt.Key_Down, QtCore.Qt.Key_PageUp, QtCore.Qt.Key_PageDown] self.keysPressed = {} self.keyTimer = QtCore.QTimer() self.keyTimer.timeout.connect(self.evalKeyState) self.makeCurrent() def addItem(self, item): self.items.append(item) if hasattr(item, 'initializeGL'): self.makeCurrent() try: item.initializeGL() except: self.checkOpenGLVersion('Error while adding item %s to GLViewWidget.' % str(item)) item._setView(self) #print "set view", item, self, item.view() self.update() def removeItem(self, item): self.items.remove(item) item._setView(None) self.update() def initializeGL(self): glClearColor(0.0, 0.0, 0.0, 0.0) self.resizeGL(self.width(), self.height()) def resizeGL(self, w, h): glViewport(0, 0, w, h) #self.update() def setProjection(self): ## Create the projection matrix glMatrixMode(GL_PROJECTION) glLoadIdentity() w = self.width() h = self.height() dist = self.opts['distance'] fov = self.opts['fov'] nearClip = dist * 0.001 farClip = dist * 1000. r = nearClip * np.tan(fov * 0.5 * np.pi / 180.) t = r * h / w glFrustum( -r, r, -t, t, nearClip, farClip) def setModelview(self): glMatrixMode(GL_MODELVIEW) glLoadIdentity() glTranslatef( 0.0, 0.0, -self.opts['distance']) glRotatef(self.opts['elevation']-90, 1, 0, 0) glRotatef(self.opts['azimuth']+90, 0, 0, -1) center = self.opts['center'] glTranslatef(-center.x(), -center.y(), -center.z()) def paintGL(self): self.setProjection() self.setModelview() glClear( GL_DEPTH_BUFFER_BIT | GL_COLOR_BUFFER_BIT ) self.drawItemTree() def drawItemTree(self, item=None): if item is None: items = [x for x in self.items if x.parentItem() is None] else: items = item.childItems() items.append(item) items.sort(lambda a,b: cmp(a.depthValue(), b.depthValue())) for i in items: if not i.visible(): continue if i is item: try: glPushAttrib(GL_ALL_ATTRIB_BITS) i.paint() except: import pyqtgraph.debug pyqtgraph.debug.printExc() msg = "Error while drawing item %s." % str(item) ver = glGetString(GL_VERSION) if ver is not None: ver = ver.split()[0] if int(ver.split('.')[0]) < 2: print(msg + " The original exception is printed above; however, pyqtgraph requires OpenGL version 2.0 or greater for many of its 3D features and your OpenGL version is %s. Installing updated display drivers may resolve this issue." % ver) else: print(msg) finally: glPopAttrib() else: glMatrixMode(GL_MODELVIEW) glPushMatrix() try: tr = i.transform() a = np.array(tr.copyDataTo()).reshape((4,4)) glMultMatrixf(a.transpose()) self.drawItemTree(i) finally: glMatrixMode(GL_MODELVIEW) glPopMatrix() def cameraPosition(self): """Return current position of camera based on center, dist, elevation, and azimuth""" center = self.opts['center'] dist = self.opts['distance'] elev = self.opts['elevation'] * np.pi/180. azim = self.opts['azimuth'] * np.pi/180. pos = Vector( center.x() + dist * np.cos(elev) * np.cos(azim), center.y() + dist * np.cos(elev) * np.sin(azim), center.z() + dist * np.sin(elev) ) return pos def orbit(self, azim, elev): """Orbits the camera around the center position. *azim* and *elev* are given in degrees.""" self.opts['azimuth'] += azim self.opts['elevation'] = np.clip(self.opts['elevation'] + elev, -90, 90) self.update() def pan(self, dx, dy, dz, relative=False): """ Moves the center (look-at) position while holding the camera in place. If relative=True, then the coordinates are interpreted such that x if in the global xy plane and points to the right side of the view, y is in the global xy plane and orthogonal to x, and z points in the global z direction. Distances are scaled roughly such that a value of 1.0 moves by one pixel on screen. """ if not relative: self.opts['center'] += QtGui.QVector3D(dx, dy, dz) else: cPos = self.cameraPosition() cVec = self.opts['center'] - cPos dist = cVec.length() ## distance from camera to center xDist = dist * 2. * np.tan(0.5 * self.opts['fov'] * np.pi / 180.) ## approx. width of view at distance of center point xScale = xDist / self.width() zVec = QtGui.QVector3D(0,0,1) xVec = QtGui.QVector3D.crossProduct(zVec, cVec).normalized() yVec = QtGui.QVector3D.crossProduct(xVec, zVec).normalized() self.opts['center'] = self.opts['center'] + xVec * xScale * dx + yVec * xScale * dy + zVec * xScale * dz self.update() def pixelSize(self, pos): """ Return the approximate size of a screen pixel at the location pos Pos may be a Vector or an (N,3) array of locations """ cam = self.cameraPosition() if isinstance(pos, np.ndarray) and pos.ndim == 2: cam = np.array(cam).reshape(1,3) dist = ((pos-cam)**2).sum(axis=1)**0.5 else: dist = (pos-cam).length() xDist = dist * 2. * np.tan(0.5 * self.opts['fov'] * np.pi / 180.) return xDist / self.width() def mousePressEvent(self, ev): self.mousePos = ev.pos() def mouseMoveEvent(self, ev): diff = ev.pos() - self.mousePos self.mousePos = ev.pos() if ev.buttons() == QtCore.Qt.LeftButton: self.orbit(-diff.x(), diff.y()) #print self.opts['azimuth'], self.opts['elevation'] elif ev.buttons() == QtCore.Qt.MidButton: if (ev.modifiers() & QtCore.Qt.ControlModifier): self.pan(diff.x(), 0, diff.y(), relative=True) else: self.pan(diff.x(), diff.y(), 0, relative=True) def mouseReleaseEvent(self, ev): pass def wheelEvent(self, ev): if (ev.modifiers() & QtCore.Qt.ControlModifier): self.opts['fov'] *= 0.999**ev.delta() else: self.opts['distance'] *= 0.999**ev.delta() self.update() def keyPressEvent(self, ev): if ev.key() in self.noRepeatKeys: ev.accept() if ev.isAutoRepeat(): return self.keysPressed[ev.key()] = 1 self.evalKeyState() def keyReleaseEvent(self, ev): if ev.key() in self.noRepeatKeys: ev.accept() if ev.isAutoRepeat(): return try: del self.keysPressed[ev.key()] except: self.keysPressed = {} self.evalKeyState() def evalKeyState(self): speed = 2.0 if len(self.keysPressed) > 0: for key in self.keysPressed: if key == QtCore.Qt.Key_Right: self.orbit(azim=-speed, elev=0) elif key == QtCore.Qt.Key_Left: self.orbit(azim=speed, elev=0) elif key == QtCore.Qt.Key_Up: self.orbit(azim=0, elev=-speed) elif key == QtCore.Qt.Key_Down: self.orbit(azim=0, elev=speed) elif key == QtCore.Qt.Key_PageUp: pass elif key == QtCore.Qt.Key_PageDown: pass self.keyTimer.start(16) else: self.keyTimer.stop() def checkOpenGLVersion(self, msg): ## Only to be called from within exception handler. ver = glGetString(GL_VERSION).split()[0] if int(ver.split('.')[0]) < 2: import pyqtgraph.debug pyqtgraph.debug.printExc() raise Exception(msg + " The original exception is printed above; however, pyqtgraph requires OpenGL version 2.0 or greater for many of its 3D features and your OpenGL version is %s. Installing updated display drivers may resolve this issue." % ver) else: raise