437 lines
17 KiB
Python
437 lines
17 KiB
Python
from pyqtgraph.Qt import QtCore, QtGui, QtOpenGL
|
|
from OpenGL.GL import *
|
|
import OpenGL.GL.framebufferobjects as glfbo
|
|
import numpy as np
|
|
from pyqtgraph import Vector
|
|
import pyqtgraph.functions as fn
|
|
|
|
##Vector = QtGui.QVector3D
|
|
|
|
class GLViewWidget(QtOpenGL.QGLWidget):
|
|
"""
|
|
Basic widget for displaying 3D data
|
|
- Rotation/scale controls
|
|
- Axis/grid display
|
|
- Export options
|
|
|
|
"""
|
|
|
|
ShareWidget = None
|
|
|
|
def __init__(self, parent=None):
|
|
if GLViewWidget.ShareWidget is None:
|
|
## create a dummy widget to allow sharing objects (textures, shaders, etc) between views
|
|
GLViewWidget.ShareWidget = QtOpenGL.QGLWidget()
|
|
|
|
QtOpenGL.QGLWidget.__init__(self, parent, GLViewWidget.ShareWidget)
|
|
|
|
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)
|
|
'viewport': None, ## glViewport params; None == whole widget
|
|
}
|
|
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 getViewport(self):
|
|
vp = self.opts['viewport']
|
|
if vp is None:
|
|
return (0, 0, self.width(), self.height())
|
|
else:
|
|
return vp
|
|
|
|
def resizeGL(self, w, h):
|
|
pass
|
|
#glViewport(*self.getViewport())
|
|
#self.update()
|
|
|
|
def setProjection(self, region=None):
|
|
m = self.projectionMatrix(region)
|
|
glMatrixMode(GL_PROJECTION)
|
|
glLoadIdentity()
|
|
a = np.array(m.copyDataTo()).reshape((4,4))
|
|
glMultMatrixf(a.transpose())
|
|
|
|
def projectionMatrix(self, region=None):
|
|
# Xw = (Xnd + 1) * width/2 + X
|
|
if region is None:
|
|
region = (0, 0, self.width(), self.height())
|
|
|
|
x0, y0, w, h = self.getViewport()
|
|
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
|
|
|
|
# convert screen coordinates (region) to normalized device coordinates
|
|
# Xnd = (Xw - X0) * 2/width - 1
|
|
## Note that X0 and width in these equations must be the values used in viewport
|
|
left = r * ((region[0]-x0) * (2.0/w) - 1)
|
|
right = r * ((region[0]+region[2]-x0) * (2.0/w) - 1)
|
|
bottom = t * ((region[1]-y0) * (2.0/h) - 1)
|
|
top = t * ((region[1]+region[3]-y0) * (2.0/h) - 1)
|
|
|
|
tr = QtGui.QMatrix4x4()
|
|
tr.frustum(left, right, bottom, top, nearClip, farClip)
|
|
return tr
|
|
|
|
def setModelview(self):
|
|
glMatrixMode(GL_MODELVIEW)
|
|
glLoadIdentity()
|
|
m = self.viewMatrix()
|
|
a = np.array(m.copyDataTo()).reshape((4,4))
|
|
glMultMatrixf(a.transpose())
|
|
|
|
def viewMatrix(self):
|
|
tr = QtGui.QMatrix4x4()
|
|
tr.translate( 0.0, 0.0, -self.opts['distance'])
|
|
tr.rotate(self.opts['elevation']-90, 1, 0, 0)
|
|
tr.rotate(self.opts['azimuth']+90, 0, 0, -1)
|
|
center = self.opts['center']
|
|
tr.translate(-center.x(), -center.y(), -center.z())
|
|
return tr
|
|
|
|
def itemsAt(self, region=None):
|
|
#buf = np.zeros(100000, dtype=np.uint)
|
|
buf = glSelectBuffer(100000)
|
|
try:
|
|
glRenderMode(GL_SELECT)
|
|
glInitNames()
|
|
glPushName(0)
|
|
self._itemNames = {}
|
|
self.paintGL(region=region, useItemNames=True)
|
|
|
|
finally:
|
|
hits = glRenderMode(GL_RENDER)
|
|
|
|
items = [(h.near, h.names[0]) for h in hits]
|
|
items.sort(key=lambda i: i[0])
|
|
|
|
return [self._itemNames[i[1]] for i in items]
|
|
|
|
def paintGL(self, region=None, viewport=None, useItemNames=False):
|
|
"""
|
|
viewport specifies the arguments to glViewport. If None, then we use self.opts['viewport']
|
|
region specifies the sub-region of self.opts['viewport'] that should be rendered.
|
|
Note that we may use viewport != self.opts['viewport'] when exporting.
|
|
"""
|
|
if viewport is None:
|
|
glViewport(*self.getViewport())
|
|
else:
|
|
glViewport(*viewport)
|
|
self.setProjection(region=region)
|
|
self.setModelview()
|
|
glClear( GL_DEPTH_BUFFER_BIT | GL_COLOR_BUFFER_BIT )
|
|
self.drawItemTree(useItemNames=useItemNames)
|
|
|
|
def drawItemTree(self, item=None, useItemNames=False):
|
|
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(key=lambda a: a.depthValue())
|
|
for i in items:
|
|
if not i.visible():
|
|
continue
|
|
if i is item:
|
|
try:
|
|
glPushAttrib(GL_ALL_ATTRIB_BITS)
|
|
if useItemNames:
|
|
glLoadName(id(i))
|
|
self._itemNames[id(i)] = i
|
|
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(b'.')[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, useItemNames=useItemNames)
|
|
finally:
|
|
glMatrixMode(GL_MODELVIEW)
|
|
glPopMatrix()
|
|
|
|
def setCameraPosition(self, pos=None, distance=None, elevation=None, azimuth=None):
|
|
if distance is not None:
|
|
self.opts['distance'] = distance
|
|
if elevation is not None:
|
|
self.opts['elevation'] = elevation
|
|
if azimuth is not None:
|
|
self.opts['azimuth'] = azimuth
|
|
self.update()
|
|
|
|
|
|
|
|
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'] += elev
|
|
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):
|
|
cam = np.array(cam).reshape((1,)*(pos.ndim-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
|
|
|
|
|
|
|
|
def readQImage(self):
|
|
"""
|
|
Read the current buffer pixels out as a QImage.
|
|
"""
|
|
w = self.width()
|
|
h = self.height()
|
|
self.repaint()
|
|
pixels = np.empty((h, w, 4), dtype=np.ubyte)
|
|
pixels[:] = 128
|
|
pixels[...,0] = 50
|
|
pixels[...,3] = 255
|
|
|
|
glReadPixels(0, 0, w, h, GL_RGBA, GL_UNSIGNED_BYTE, pixels)
|
|
|
|
# swap B,R channels for Qt
|
|
tmp = pixels[...,0].copy()
|
|
pixels[...,0] = pixels[...,2]
|
|
pixels[...,2] = tmp
|
|
pixels = pixels[::-1] # flip vertical
|
|
|
|
img = fn.makeQImage(pixels, transpose=False)
|
|
return img
|
|
|
|
|
|
def renderToArray(self, size, format=GL_BGRA, type=GL_UNSIGNED_BYTE, textureSize=1024, padding=256):
|
|
w,h = map(int, size)
|
|
|
|
self.makeCurrent()
|
|
tex = None
|
|
fb = None
|
|
try:
|
|
output = np.empty((w, h, 4), dtype=np.ubyte)
|
|
fb = glfbo.glGenFramebuffers(1)
|
|
glfbo.glBindFramebuffer(glfbo.GL_FRAMEBUFFER, fb )
|
|
|
|
glEnable(GL_TEXTURE_2D)
|
|
tex = glGenTextures(1)
|
|
glBindTexture(GL_TEXTURE_2D, tex)
|
|
texwidth = textureSize
|
|
data = np.zeros((texwidth,texwidth,4), dtype=np.ubyte)
|
|
|
|
## Test texture dimensions first
|
|
glTexImage2D(GL_PROXY_TEXTURE_2D, 0, GL_RGBA, texwidth, texwidth, 0, GL_RGBA, GL_UNSIGNED_BYTE, None)
|
|
if glGetTexLevelParameteriv(GL_PROXY_TEXTURE_2D, 0, GL_TEXTURE_WIDTH) == 0:
|
|
raise Exception("OpenGL failed to create 2D texture (%dx%d); too large for this hardware." % shape[:2])
|
|
## create teture
|
|
glTexImage2D(GL_TEXTURE_2D, 0, GL_RGBA, texwidth, texwidth, 0, GL_RGBA, GL_UNSIGNED_BYTE, data.transpose((1,0,2)))
|
|
|
|
self.opts['viewport'] = (0, 0, w, h) # viewport is the complete image; this ensures that paintGL(region=...)
|
|
# is interpreted correctly.
|
|
p2 = 2 * padding
|
|
for x in range(-padding, w-padding, texwidth-p2):
|
|
for y in range(-padding, h-padding, texwidth-p2):
|
|
x2 = min(x+texwidth, w+padding)
|
|
y2 = min(y+texwidth, h+padding)
|
|
w2 = x2-x
|
|
h2 = y2-y
|
|
|
|
## render to texture
|
|
glfbo.glFramebufferTexture2D(glfbo.GL_FRAMEBUFFER, glfbo.GL_COLOR_ATTACHMENT0, GL_TEXTURE_2D, tex, 0)
|
|
|
|
self.paintGL(region=(x, h-y-h2, w2, h2), viewport=(0, 0, w2, h2)) # only render sub-region
|
|
|
|
## read texture back to array
|
|
data = glGetTexImage(GL_TEXTURE_2D, 0, format, type)
|
|
data = np.fromstring(data, dtype=np.ubyte).reshape(texwidth,texwidth,4).transpose(1,0,2)[:, ::-1]
|
|
output[x+padding:x2-padding, y+padding:y2-padding] = data[padding:w2-padding, -(h2-padding):-padding]
|
|
|
|
finally:
|
|
self.opts['viewport'] = None
|
|
glfbo.glBindFramebuffer(glfbo.GL_FRAMEBUFFER, 0)
|
|
glBindTexture(GL_TEXTURE_2D, 0)
|
|
if tex is not None:
|
|
glDeleteTextures([tex])
|
|
if fb is not None:
|
|
glfbo.glDeleteFramebuffers([fb])
|
|
|
|
return output
|
|
|
|
|
|
|