def __init__(self):
self.app = pg.mkQApp()
self.view = gl.GLViewWidget()
coord = gl.GLAxisItem()
glLineWidth(3)
coord.setSize(3,3,3)
self.view.addItem(coord)
def __init__(self,
data_shape=1024,
color=(1.0, 0.0, 0.0, 1.0),
start_angle=-3 * np.pi / 4.,
stop_angle=3 * np.pi / 4.,
widget=None):
if not widget:
self.app = QtGui.QApplication([])
self.widget = gl.GLViewWidget()
self.widget.opts['distance'] = 40
self.widget.show()
else:
self.widget = widget
self.axis = gl.GLAxisItem()
self.axis.translate(0, 0, 1)
self.widget.addItem(self.axis)
self.gz = gl.GLGridItem()
self.widget.addItem(self.gz)
radius = np.ones((data_shape)) * 5
self.start_angle = start_angle
self.stop_angle = stop_angle
self.angle = np.linspace(self.start_angle, self.stop_angle, data_shape)
x = np.sin(self.angle) * radius
y = np.cos(self.angle) * radius
z = np.ones((data_shape))
pts = np.vstack([x, y, z]).transpose()
# self.line_plot = gl.GLLinePlotItem(pos=pts, color=np.array(color * data_shape).reshape((data_shape, 3)))
self.line_plot = gl.GLScatterPlotItem(
pos=pts,
color=np.array(color * data_shape).reshape((data_shape, 4)),
size=3.0)
self.widget.addItem(self.line_plot)
def __init__(self, defaultNumberOfData, parent=None, **kargs):
super().__init__()
self.numberOfData = defaultNumberOfData
self.widthOfData = 500
self.offset = 0
# pg.GraphicsWindow.__init__(self, **kargs)
gl.GLViewWidget.__init__(self, **kargs)
self.setParent(parent)
self.setWindowTitle('Radar-Plot')
self.addSurfaceGraph()
self.show()
self.setWindowTitle('PAS Surfaceplot')
self.setGeometry(100, 100, 1500, 800) # distance && resolution
self.setCameraPosition(distance=1000)
## Create axis
# axis = pg.AxisItem('left', pen=None, linkView=None, parent=None, maxTickLength=-5, showValues=True)
# axis.show()
# axis = pg.AxisItem('left', pen = None)
# xAxis.paint()
# Axis.setSize(self.valueNumber, self.valueNumber, self.valueNumber)
# axis.setStyle(showValues = True)
# axis.show()
# --------------------
axis = gl.GLAxisItem()
axis.setSize(x=1000, y=1000, z=1000, size=None)
# xAxis.paint()
# axis.setSize(self.valueNumber, self.valueNumber, self.valueNumber)
self.addItem(axis)
def __init__(self, title='null'):
"""
:param title:
"""
self.glview = gl.GLViewWidget()
coord = gl.GLAxisItem()
coord.setSize(1, 1, 1)
# self.glview.addItem(coord)
self.glview.setMinimumSize(QtCore.QSize(600, 500))
self.glview.pan(1, 0, 0)
self.glview.setCameraPosition(azimuth=180)
self.glview.setCameraPosition(elevation=0)
self.glview.setCameraPosition(distance=5)
self.items = []
self.view = QtGui.QWidget()
self.view.window().setWindowTitle(title)
hlayout = QtGui.QHBoxLayout()
snap_btn = QtGui.QPushButton('&Snap')
def take_snap():
qimg = self.glview.readQImage()
qimg.save('1.jpg')
snap_btn.clicked.connect(take_snap)
hlayout.addWidget(snap_btn)
hlayout.addStretch()
layout = QtGui.QVBoxLayout()
layout.addLayout(hlayout)
layout.addWidget(self.glview)
self.view.setLayout(layout)
def __init__(self, parent=None):
super().__init__(parent)
self.computation=Computation()
self.axes=gl.GLAxisItem(size=None, antialias=True, glOptions='translucent')
self.addItem(self.axes)
self.BrittleStar=BrittleStar()
self.brittlestar_tail=BrittleStar_Tail()
self.addItem(self.BrittleStar)
self.addItem(self.brittlestar_tail)
self.xygrid = gl.GLGridItem()
self.xygrid.setSize(5,5,0)
self.xygrid.setSpacing(1,1,0)
self.xygrid.translate(0, 0, 0)
self.addItem(self.xygrid)
self.timer=QtCore.QTimer()
self.timer.setInterval(100) #in ms
self.timer.timeout.connect(self.refresh_anim)
self.initial_pos=np.array([0,0,0])
self.prev_pos=self.initial_pos
self.initial_angle=np.array([0,0,0])
self.prev_angle=self.initial_angle
def surface3d(xs, ys, zs, colors, start=0, end=-1, step=1):
w = gl.GLViewWidget()
nx, ny, nz = [], [], []
for i, x in enumerate(xs):
sampled_x = x[start:end:step]
sampled_y = ys[i][start:end:step] - ys[i][0]
z = np.ones(len(sampled_x)) * zs[i]
nx.append(sampled_x)
ny.append(sampled_y)
nz.append(z)
verts = [np.array([nx[0], ny[0], nz[0]]).transpose()]
faces = []
for i in range(1, len(nx)):
nverts = np.array([nx[i], ny[i], nz[i]]).transpose()
nfaces = []
#TODO
plt = plot_line(sampled_x, sampled_y, z, color=colors[i])
w.addItem(plt)
#add_grids(w)
ax = gl.GLAxisItem()
w.addItem(ax)
##w.pan(0,0,0)
return w
def set_new_axis(self, parent_object):
"""Adds axis to given object"""
axis = gl.GLAxisItem(antialias=True, glOptions='opaque')
axis.updateGLOptions({'glLineWidth': (3, )})
axis.setParentItem(parent_object)
self.view3D.addItem(axis)
return axis
def __init__(self, x=0, y=0, z=0, scale=0.1, widget=None):
"""
If there is no widget given a new window is created and its id is accessible via self.widget.
:param x: optional, float
:param y: optional, float
:param z: optional, float
:param widget: optional, gl.GLViewWidget
:return: None
"""
if not widget:
self.app = QtGui.QApplication([])
self.widget = gl.GLViewWidget()
self.widget.opts['distance'] = 40
self.widget.show()
else:
self.app = False
self.widget = widget
self.scale = scale
self.x = x
self.y = y
self.z = z
self.rot0 = 0
self.rot1 = 0
self.rot2 = 0
self.axis = gl.GLAxisItem()
tr = pg.Transform3D()
tr.scale(self.scale)
tr.rotate(self.rot0, 1, 0, 0)
tr.rotate(self.rot1, 0, 1, 0)
tr.rotate(self.rot2, 0, 0, 1)
self.axis.setTransform(tr)
self.axis.translate(self.x, self.y, self.z)
self.widget.addItem(self.axis)
def __init__(self, layout):
self.w = gl.GLViewWidget()
self.w.opts['distance'] = 1.0
# self.w.show()
# self.w.setWindowTitle('pyqtgraph example: GLLinePlotItem')
gx = gl.GLGridItem()
gx.rotate(90, 0, 0.1, 0)
gx.translate(-10, 0, 0)
self.w.addItem(gx)
gy = gl.GLGridItem()
gy.rotate(90, 0.1, 0, 0)
gy.translate(0, -10, 0)
self.w.addItem(gy)
gz = gl.GLGridItem()
gz.translate(0, 0, -10)
self.w.addItem(gz)
axis = gl.GLAxisItem()
axis.setSize(0.2, 0.2, 0.2)
self.w.addItem(axis)
self.x_text = gl.GLTextItem(pos=(0.2,0,0), text="x", font=QtGui.QFont('Helvetica', 7))
self.w.addItem(self.x_text)
self.y_text = gl.GLTextItem(pos=(0,0.2,0), text="y", font=QtGui.QFont('Helvetica', 7))
self.w.addItem(self.y_text)
self.z_text = gl.GLTextItem(pos=(0,0,0.2), text="z", font=QtGui.QFont('Helvetica', 7))
self.w.addItem(self.z_text)
self.hfov = 90.0
self.vfov = 60.0
self.cam_rotmat = Rotation.from_rotvec([0., 0., 0.])
self.cam_t = np.array([0., 0., 0.])
self.max_depth = 0.01 # 相机深度
self.imlt = [-0.01, -0.005, 0.01]
self.imrt = [0.01, -0.005, 0.01]
self.imlb = [-0.01, 0.005, 0.01]
self.imrb = [0.01, 0.005, 0.01]
self.oc = [0.0, 0.0, 0.0]
self.cal_cam_fov()
self.lines = []
pos = np.empty((TIME_LENGTH, 3))
size = np.empty((TIME_LENGTH))
color = np.empty((TIME_LENGTH, 4))
self.fix_points = None
self.points = None
self.currentSTL = None
self.showSTL('./res/helmat.stl')
self.head_last_rot = Rotation.from_quat([0,0,0,1])
self.head_last_trans = np.array([0., 0., 0.])
for i in range(TIME_LENGTH):
pos[i] = (0, 0, 0)
size[i] = 0.005
color[i] = (i * 1.0 / TIME_LENGTH, 0.0, 0.0, 1.0)
self.history = gl.GLScatterPlotItem(pos=pos, size=size, color=color, pxMode=False)
self.w.addItem(self.history)
for i in range(8):
self.lines.append(gl.GLLinePlotItem(antialias=True))
self.w.addItem(self.lines[i])
layout.addWidget(self.w)
def __init__(self, mesh_path, *args, **kwargs):
super(PlaneWidget, self).__init__(*args, **kwargs)
self.setCameraPosition(distance=40)
g = gl.GLGridItem()
g.scale(2, 2, 1)
g.translate(0, 0, -2)
self.addItem(g)
self.plane_axis = gl.GLAxisItem()
self.plane_axis.setSize(x=1000, y=500, z=500)
self.addItem(self.plane_axis)
verts = self._get_mesh_points(mesh_path)
faces = np.array([(
i,
i + 1,
i + 2,
) for i in range(0, len(verts), 3)])
colors = np.array([(
0.0,
1.0,
0.0,
1.0,
) for i in range(0, len(verts), 3)])
self.mesh = gl.GLMeshItem(vertexes=verts,
faces=faces,
faceColors=colors,
smooth=False,
shader='shaded')
self.addItem(self.mesh)
self._update_mesh(Record(None))
def __init__(self, *args, data=None, **kwargs):
"""
Set up the :class: `GLViewWidget <pyqtgraph.opengl.GLViewWidget>`
as this widget's central widget.
"""
super().__init__(*args, **kwargs)
# Initialize instance variables
self.data = TracedVariable(None, name='data')
self.cmap = load_cmap(DEFAULT_CMAP)
self.lut = self.cmap.getLookupTable()
self.gloptions = 'translucent'
# Create a GLViewWidget and put it into the layout of this view
self.layout = QtGui.QGridLayout()
self.setLayout(self.layout)
self.glview = gl.GLViewWidget()
# Add the scalebar
self._initialize_sub_widgets()
# Put all widgets in place
self.align()
# Add some coordinate axes to the view
self.coordinate_axes = gl.GLAxisItem()
self.glview.addItem(self.coordinate_axes)
self.set_coordinate_axes(True)
# Try to set the default data
if data is not None:
self.set_data(data)
def do_render(self, projected):
projected = self.rescale(projected)
x, y, z, _ = projected.shape
print(x, y, z)
d = float(max(x, y, z) * 2)
if self.plot is None:
self.plot = gl.GLVolumeItem(projected, smooth=False)
self.addItem(self.plot)
self.axis = gl.GLAxisItem(glOptions="opaque")
self.addItem(self.axis)
self.opts['distance'] = self.distance = d
else:
# Latest version has .setData but is not in PyPi
self.plot.data = projected
self.plot.initializeGL()
ratio = d / self.distance
self.opts['distance'] *= ratio
self.distance = d
self.plot.resetTransform()
self.plot.translate(-x / 2, -y / 2, -z / 2)
self.axis.setSize(x, y, z)
self.axis.resetTransform()
self.axis.translate(-x / 2, -y / 2, -z / 2)
def __init__(self,
pos=None,
color=(100, 100, 200),
data_shape=1000,
widget=None):
if not widget:
self.app = QtGui.QApplication([])
self.widget = gl.GLViewWidget()
self.widget.opts['distance'] = 40
self.widget.show()
else:
self.widget = widget
self.axis = gl.GLAxisItem()
self.widget.addItem(self.axis)
self.box_item_list = []
if pos is None:
x = (np.random.rand((data_shape)) - 0.5) * 20
y = (np.random.rand((data_shape)) - 0.5) * 20
z = (np.random.rand((data_shape)) - 0.5) * 20
pos = np.vstack([x, y, z]).transpose()
self.add_new_box(pos)
surface_plot = gl.GLSurfacePlotItem()
colors = np.array((((0.5, 0.5, 0.5, 0.25), (0.5, 0.5, 1, 0.25)),
((1, 0.5, 0.5, 0.25), (0.5, 1, 0.5, 0.25))))
surface_plot.setData(x=np.array((-10, 10)),
y=np.array((-10, 10)),
z=np.array(((0, 0), (0, 0))),
colors=colors)
self.widget.addItem(surface_plot)
def processFace(self, edgePair):
"""
Using ransac, calculates the normals for the currently selected edge pairs and displays a vectors
corresponding the orientatoin of the face.
"""
self.currentEdgePair = edgePair
# if self.grabberElement is not None:
# self.removeItem(self.grabberElement)
self.grabberElement = GrabberElement(self.context)
self.addItem(self.grabberElement, group=RenderGroup.Variable)
self.grabberElement.show()
length = 10
position = edgePair.getCenterPoint3D()
eigenVectors = edgePair.getOrientation()
# make eigen vector into 4x4 matrix for transform3d
eigenVectors = np.insert(eigenVectors, 3, 0, axis=0)
eigenVectors = np.insert(eigenVectors, 3, 0, axis=1)
eigenVectors = eigenVectors.T
eigenVectors = eigenVectors.flatten()
# set eigen[3][3] to 1
eigenVectors[15] = 1
transformation = Transform3D(eigenVectors)
self.grabberElement.applyTransform(transformation, local=False)
self.grabberElement.translate(position[0], position[1], position[2], local=False)
self.grabberElement.applyTransform(self.pointCloudView.transform(), local=False)
self.grabberElement.update()
axisItem = gl.GLAxisItem(size=QVector3D(length, length, length))
axisItem.applyTransform(self.grabberElement.transform(), local=False)
self.addItem(axisItem, RenderGroup.Variable)
self.grabberElement.setOpenGrabber(edgePair.getDistanceBetweenEdgePair())
return
def serial_data_qtplot(q2):
kelowna_mag_raw = 367.5
gain = 0.667
app = QtGui.QApplication([])
w = gl.GLViewWidget()
w.opts['distance'] = 3000 # This is the initial zoom of the plot
w.show()
w.setWindowTitle('Sample magnetometer plots')
# Define grids properties
g = gl.GLGridItem()
g.scale(500, 500, 500)
w.addItem(g)
# Define axes properties
ax = gl.GLAxisItem()
ax.setSize(1000, 1000, 1000)
w.addItem(ax)
md = gl.MeshData.sphere(rows=20, cols=20, radius=kelowna_mag_raw / gain)
m4 = gl.GLMeshItem(meshdata=md,
smooth=False,
drawFaces=False,
drawEdges=True,
edgeColor=(1, 1, 1, 0.2))
m4.translate(0, 10, 0)
w.addItem(m4)
# Maximum depth of queue. Increase this number to plot more data
max_index = 10000
index = 0
p = np.zeros((max_index, 3))
# White (1,1,1), Red(255,0,0), Blue(0,0,255), Green(0,128,0)
sp = gl.GLScatterPlotItem(pos=p,
color=(0, 0, 255, 0.6),
size=50.0,
pxMode=False)
w.addItem(sp)
wait = 0
while True:
if not q2.empty():
wait = 0
pos = q2.get()
p[index] = (pos[0][0], pos[0][1], pos[0][2]
) # the calibrated readings from IMU1
index += 1
if index > max_index - 1:
index = 0
print "index reset"
sp.setData(pos=p)
app.processEvents()
# If queue is empty,wait for data in queue. Exit if nothing
else:
if (wait > 20):
break
else:
time.sleep(0.5)
wait += 1
print "No more data to plot, Exiting"
sys.exit(app.exec_())
def plotDetectedPointsGraph(data):
if not hasattr(plotDetectedPointsGraph,"sp"):
plotDetectedPointsGraph.sp = [None, None] # keep 2 copies
plotDetectedPointsGraph.spIndex = 0;
global widgetDetectedPoints
if widgetDetectedPoints == None:
widgetDetectedPoints = gl.GLViewWidget()
widgetDetectedPoints.opts['distance'] = 20 # distance of camera from center
widgetDetectedPoints.opts['fov'] = 60 # horizontal field of view in degrees
widgetDetectedPoints.opts['azimuth'] = -75 # camera's azimuthal angle in degrees, 仰俯角
widgetDetectedPoints.opts['elevation'] = 30 # camera's angle of elevation in degrees, 方位角
widgetDetectedPoints.setGeometry(100, 100, 800, 800)
widgetDetectedPoints.show()
widgetDetectedPoints.setWindowTitle('Detected Points')
gridX = gl.GLGridItem()
gridX.rotate(0, 0, 1, 0)
gridX.translate(0, 0, 0)
widgetDetectedPoints.addItem(gridX)
# center dot
pos = np.array([0.0, 0.0, 0.0])
size = np.array([0.2])
color = np.array([1.0, 0.0, 0.0, 0.5])
center = gl.GLScatterPlotItem(pos=pos, size=size, color=color, pxMode=False)
widgetDetectedPoints.addItem(center)
# axis
axis = gl.GLAxisItem(antialias=True, glOptions='translucent')
axis.setSize(x=10, y=10, z=10)
widgetDetectedPoints.addItem(axis)
if data["type"] == MMWDEMO_OUTPUT_MSG_DETECTED_POINTS and len(data["x"]) > 0:
x = data["x"]
y = data["y"]
z = data["z"]
v = data["velocity"]
s = data["snr"]
n = data["noise"]
pos = np.empty((len(data["x"]), 3))
size = np.empty(len(data["x"]))
color = np.empty((len(data["x"]), 4))
for i in range(len(x)):
pos[i] = (x[i], y[i], z[i])
size[i] = s[i] / 2000
if v[i]>= 0:
color[i] = (0.0, v[i], 0.0, 1.0) #color (r,g,b,a)
else:
color[i] = (-v[i], 0.0, 0.0, 1.0) #color (r,g,b,a)
sp1 = gl.GLScatterPlotItem(pos=pos, size=size, color=color, pxMode=False)
#sp1.translate(0, 0, 0)
if plotDetectedPointsGraph.sp[plotDetectedPointsGraph.spIndex] != None:
sp2 = plotDetectedPointsGraph.sp[plotDetectedPointsGraph.spIndex]
widgetDetectedPoints.removeItem(sp2)
plotDetectedPointsGraph.sp[plotDetectedPointsGraph.spIndex] = sp1
widgetDetectedPoints.addItem(sp1)
plotDetectedPointsGraph.spIndex = (plotDetectedPointsGraph.spIndex + 1) % len(plotDetectedPointsGraph.sp)
def make_opengl_fig(title='OpenGL Figure'):
app = QtGui.QApplication([])
w = gl.GLViewWidget()
w.show()
w.setWindowTitle(title)
g = gl.GLAxisItem()
w.addItem(g)
return w, app
def __init__(self, parent=None):
QtWidgets.QDockWidget.__init__(self)
self.plane_widget = PlaneWidget(mesh_path=MESH_PATH, parent=self)
self.setFixedSize(1666, 1000)
self.setWidget(self.plane_widget)
self.isc_coord = gl.GLAxisItem()
self.isc_coord.setSize(25, 25, 25)
self.show()
def updateMeta(self, meta):
_len_x = meta.max_x() - meta.min_x()
_len_y = meta.max_y() - meta.min_y()
_len_z = meta.max_z() - meta.min_z()
self.setCenter((0, 0, 0))
for _item in self._background_items:
self.removeItem(_item)
self._background_items = []
# This section prepares the 3D environment:
# Add an axis orientation item:
self._axis = gl.GLAxisItem()
# self._axis.setSize(x=_len_x, y=_len_y, z=_len_z)
self._axis.setSize(x=_len_x, y=0.25 * _len_y, z=0.25 * _len_z)
self.addItem(self._axis)
# Add a set of grids along x, y, z:
self._xy_grid = gl.GLGridItem()
# Set the grid size to the number of voxels in x and y:
self._xy_grid.setSize(x=meta.n_voxels_x(), y=meta.n_voxels_y(), z=0.0)
# Scale the grid to the correct size:
self._xy_grid.scale(x=meta.size_voxel_x(),
y=meta.size_voxel_y(),
z=1.0)
self._xy_grid.translate(_len_x * 0.5, _len_y * 0.5, 0.0)
self._yz_grid = gl.GLGridItem()
self._yz_grid.setSize(x=meta.n_voxels_z(), y=meta.n_voxels_y())
self._yz_grid.scale(x=meta.size_voxel_z(),
y=meta.size_voxel_y(),
z=1.0)
self._yz_grid.rotate(-90, 0, 1, 0)
self._yz_grid.translate(0, _len_y * 0.5, _len_z * 0.5)
self._xz_grid = gl.GLGridItem()
self._xz_grid.setSize(x=meta.n_voxels_x(), y=meta.n_voxels_z())
self._xz_grid.scale(x=meta.size_voxel_x(),
y=meta.size_voxel_z(),
z=1.0)
self._xz_grid.rotate(90, 1, 0, 0)
self._xz_grid.translate(_len_x * 0.5, 0, _len_z * 0.5)
self.addItem(self._xy_grid)
self.addItem(self._yz_grid)
self.addItem(self._xz_grid)
self._background_items.append(self._axis)
self._background_items.append(self._xy_grid)
self._background_items.append(self._yz_grid)
self._background_items.append(self._xz_grid)
# Move the center of the camera to the center of the view:
self.pan(_len_x * 0.5, _len_y * 0.5, _len_z * 0.5)
def __init__(self, parent=None):
super().__init__(parent=parent)
self._named_items = {}
self.noRepeatKeys.append(QtCore.Qt.Key_W)
self.noRepeatKeys.append(QtCore.Qt.Key_S)
self.noRepeatKeys.append(QtCore.Qt.Key_A)
self.noRepeatKeys.append(QtCore.Qt.Key_D)
self.w_gl_axis = gl.GLAxisItem(
size=None, antialias=True, glOptions='translucent')
self.addItem(self.w_gl_axis)
def main():
global lidarscatter, lid, frame_prev, frame_prev_len, ucount, flag
IP = '192.168.1.71' # IP of recving computer
PORT_DATA = 2368
PORT_POS = 8308
#q_data = Queue(maxsize=0)
#t_data = Thread(target = pull_data, args=(IP,PORT_DATA, q_data,))
#t_parse = Thread(target = data_packet_parse, args=(q_data, q_frames,))
#t_write = Thread(target = write_to_file, args=(FILE_NAME, q_frames,))
#t_data.daemon = True
#t_parse.daemon = True
#t_write.daemon = True
#t_data.start()
#t_parse.start()
#t_write.start()
frame_prev = empty(shape=(0, 7), dtype=float)
frame_prev_len = shape(frame_prev)[0]
ucount = 0
flag = False
lid = LIDAR(IP, PORT_DATA)
app = QtGui.QApplication([])
w = gl.GLViewWidget()
w.opts['distance'] = 20
layout = QtGui.QGridLayout()
w.setLayout(layout)
w.show()
w.setWindowTitle('GE-OSU Matrice 600 VLP16 Custom Lidar Scan')
g = gl.GLGridItem()
g.setSpacing(0.5, 0.5, 0.5)
w.addItem(g)
axes = gl.GLAxisItem(glOptions='opaque')
w.addItem(axes)
pos1 = zeros(shape=(10000, 3))
lidarscatter = gl.GLScatterPlotItem(pos=pos1,
color=(0.2, 0.4, 0.5, 0.4),
size=2,
pxMode=True)
w.addItem(lidarscatter)
t = QtCore.QTimer()
t.timeout.connect(update)
t.start(0)
if (sys.flags.interactive != 1) or not hasattr(QtCore, 'PYQT_VERSION'):
QtGui.QApplication.instance().exec_()
def show_3d_model(self):
self.openGLWidget.setCameraPosition(distance=50, azimuth=-80)
self.openGLWidget.show()
# self.graphicsView.show()
self.openGLWidget.setWindowTitle('pyqtgraph example: GLVolumeItem')
# #b = gl.GLBoxItem()
# #w.addItem(b)
self.g = gl.GLGridItem()
self.g.scale(2, 2, 1)
# self.g.setSpacing(x=100, y=100, z=100, spacing=QVector3D(2, 2, 1000))
self.openGLWidget.addItem(self.g)
ax = gl.GLAxisItem()
ax.setSize(x=25, y=25, z=25)
self.openGLWidget.addItem(ax)
yi = np.array([self.y[0]] * 100)
xz = np.array(
list(
itertools.islice(self.graph_data.x_data,
len(self.graph_data.x_data) - 100,
len(self.graph_data.x_data))))
pts = np.vstack([self.x, yi, xz]).transpose()
self.pltx = gl.GLLinePlotItem(pos=pts, width=2, antialias=True)
self.openGLWidget.addItem(self.pltx)
yi = np.array([self.y[1]] * 100)
yz = np.array(
list(
itertools.islice(self.graph_data.y_data,
len(self.graph_data.y_data) - 100,
len(self.graph_data.y_data))))
pts = np.vstack([self.x, yi, yz]).transpose()
self.plty = gl.GLLinePlotItem(pos=pts, width=2, antialias=True)
self.openGLWidget.addItem(self.plty)
yi = np.array([self.y[2]] * 100)
zz = np.array(
list(
itertools.islice(self.graph_data.z_data,
len(self.graph_data.z_data) - 100,
len(self.graph_data.z_data))))
pts = np.vstack([self.x, yi, zz]).transpose()
self.pltz = gl.GLLinePlotItem(pos=pts, width=2, antialias=True)
self.openGLWidget.addItem(self.pltz)
vector_a = np.array([[0, 0, 0],
[
self.graph_data.x_data[-1],
self.graph_data.y_data[-1],
self.graph_data.z_data[-1]
]])
self.plta = gl.GLLinePlotItem(pos=vector_a,
color=pg.glColor((50, 50 * 1.3)),
width=10,
antialias=True)
self.openGLWidget.addItem(self.plta)
def __init__(self, parent=None):
super(MyMainWindow, self).__init__(parent)
self.setupUi(self)
#self.c=Qwt5.QwtPlotCurve()
#self.c.attach(self.plt)
self.timer = QtCore.QTimer()
self.timer.start(5.0)
self.timer.timeout.connect(update)
self.qtgraph.setLabel('left', 'Voltage', units='V')
self.qtgraph.setLabel('bottom', 'Current', units='A')
self.c1 = self.qtgraph.plot()
self.c1.setPen((200, 200, 100))
## Add a grid to the 3D view
g = gl.GLGridItem()
g.scale(2, 2, 1)
g.setDepthValue(
10) # draw grid after surfaces since they may be translucent
self.pyqt3d.addItem(g)
## Animated example
## compute surface vertex data
cols = 90
rows = 100
self.x = np.linspace(-8, 8, cols + 1).reshape(cols + 1, 1)
self.y = np.linspace(-8, 8, rows + 1).reshape(1, rows + 1)
d = (self.x**2 + self.y**2) * 0.1
d2 = d**0.5 + 0.1
## precompute height values for all frames
phi = np.arange(0, np.pi * 2, np.pi / 20.)
self.z = np.sin(d[np.newaxis, ...] +
phi.reshape(phi.shape[0], 1, 1)) / d2[np.newaxis, ...]
## create a surface plot, tell it to use the 'heightColor' shader
## since this does not require normal vectors to render (thus we
## can set computeNormals=False to save time when the mesh updates)
self.p4 = gl.GLSurfacePlotItem(x=self.x[:, 0],
y=self.y[0, :],
shader='heightColor',
computeNormals=False,
smooth=True)
self.p4.shader()['colorMap'] = np.array(
[0.2, 2, 0.5, 0.2, 1, 1, 0.2, 0, 2])
#self.p4.translate(10, 10, 0)
self.pyqt3d.addItem(self.p4)
#self.v = gl.GLVolumeItem(d2)
#self.v.translate(-50,-50,-100)
#self.pyqt3d.addItem(self.v)
ax = gl.GLAxisItem()
self.pyqt3d.addItem(ax)
def setup_ui(self):
self.gird = OpenGL.GLGridItem()
self.addItem(self.gird)
self.axis = OpenGL.GLAxisItem()
self.addItem(self.axis)
self.mesh = OpenGL.GLMeshItem()
self.addItem(self.mesh)
self.scene = OpenGL.GLMeshItem()
self.addItem(self.scene)
def __init__(self, dataEngine, dataFormat, parent = None):
DataView.__init__(self, dataEngine, dataFormat, parent)
self.updateCount = 0
self.setMinimumHeight(200)
self.setSizePolicy(QtGui.QSizePolicy.Preferred, QtGui.QSizePolicy.Preferred)
l = QtGui.QVBoxLayout(self)
self.glWidget = MyGLViewWidget(self)
l.addWidget(self.glWidget)
hlayout = QtGui.QHBoxLayout()
hlayout.addWidget(QtGui.QLabel('Depth Threshold:'))
self.spanSlider = QxtSpanSlider()
self.spanSlider.floatLowerPositionChanged.connect(self.updateLowerLevel)
self.spanSlider.floatUpperPositionChanged.connect(self.updateUpperLevel)
hlayout.addWidget(self.spanSlider)
l.addLayout(hlayout)
self.glWidget.opts['distance'] = 20
self.gridItem = gl.GLGridItem(size = QtGui.QVector3D(10,10,1))
self.glWidget.addItem(self.gridItem)
self.axisItem = gl.GLAxisItem()
self.axisItem.setSize(3,3,3)
self.glWidget.addItem(self.axisItem)
pos = np.array([[0., 0., 0.]])
color = np.array([[0., 0., 0., 0.]])
self.scatterItem = gl.GLScatterPlotItem(pxMode = True, size = 2, pos = pos, color = color)
self.glWidget.addItem(self.scatterItem)
self.glWidget.resetCamera()
self.glWidget.export.connect(self.exportImage)
DataView.communicator.setCurrentPoint2D.connect(self.setCenter, QtCore.Qt.QueuedConnection)
DataView.communicator.thresholdsChanged.connect(self.setThresholds, QtCore.Qt.QueuedConnection)
self.currentPCF = None
self.dataEngine.getDepthCameraController().started.connect(self.streamStarted)
self.setSpanKeyModifier(QtCore.Qt.ControlModifier)
def __init__(self):
self.app = QtGui.QApplication(sys.argv)
jsonpickle.ext.numpy.register_handlers()
mw = QtGui.QMainWindow()
ui = Ui_MainWindow()
ui.setupUi(mw)
#Obtain DesktopWidget to gain screen sizes
dw = QtGui.QDesktopWidget()
screen = dw.availableGeometry()
#Resize main window to 90% of the screen width/height
mw.resize(screen.size() * 0.9)
#Recenter main window
frame = mw.frameGeometry()
frame.moveCenter(screen.center())
mw.move(frame.topLeft())
pw = gl.GLViewWidget(ui.centralwidget)
ui.gridLayout.replaceWidget(ui.plotWidget, pw)
ui.plotWidget.hide()
ui.plotWidget = pw
self.ui = ui
self.mw = mw
self.pw = pw
self.tree = None
self.paths = None
self.seedAmt = None
self.state = -1
mw.setWindowTitle("Hierarchical Visualizer")
pw.setSizePolicy(QtGui.QSizePolicy.Expanding,
QtGui.QSizePolicy.Expanding)
axis = gl.GLAxisItem()
xText = glt.GLTextItem(GLViewWidget=self.pw, X=1, Y=0, Z=0, text="X")
yText = glt.GLTextItem(GLViewWidget=self.pw, X=0, Y=1, Z=0, text="Y")
zText = glt.GLTextItem(GLViewWidget=self.pw, X=0, Y=0, Z=1, text="Z")
self.pw.addItem(axis)
self.pw.addItem(xText)
self.pw.addItem(yText)
self.pw.addItem(zText)
self.connectSlots()
def add_board(self):
verts = np.array([
[5, -3, 2], # front-right-top
[5, 3, 2], # front-left-top
[-5, -3, 2], # back-right-top
[-5, 3, 2], # back-left-top
[5, -3, -1], # front-right-bottom
[5, 3, -1], # front-left-bottom
[-5, -3, -1], # back-right-bottom
[-5, 3, -1], # back-left-bottom
])
faces = np.array([
[0, 1, 2], # top
[1, 2, 3], # top
[4, 5, 6], # bottom
[5, 6, 7], # bottom
[0, 2, 4], # right
[2, 4, 6], # right
[1, 3, 5], # left
[3, 5, 7], # left
[0, 1, 4], # front
[1, 4, 5], # front
[2, 3, 6], # back
[3, 6, 7], # back
])
colors = np.array([
[1, 1, 1, 1], # top
[1, 1, 1, 1], # top
[1, 1, 0, 1], # bottom
[1, 1, 0, 1], # bottom
[1, 0, 0, 1], # right
[1, 0, 0, 1], # right
[0, 1, 0, 1], # left
[0, 1, 0, 1], # left
[0, 0, 1, 1], # front
[0, 0, 1, 1], # front
[0, 1, 1, 1], # back
[0, 1, 1, 1], # back
])
self.board = gl.GLMeshItem(vertexes=verts,
faces=faces,
faceColors=colors,
smooth=False,
drawEdges=False)
self.addItem(self.board)
self.axis = gl.GLAxisItem()
self.axis.setSize(x=10, y=10, z=10)
self.addItem(self.axis)
def __init__(self,
emitters=None,
middles=None,
detectors=None,
radius=6,
index_refraction=.2):
super(Main3DView, self).__init__()
self.addItem(gl.GLAxisItem())
self.index_refraction = index_refraction
self.sphere_radius = radius
# Draw sphere first so it goes under everything else
self.addItem(Sphere(Point(0, 0, 0), self.sphere_radius))
def plot3d(xs, ys, zs, colors, start=0, end=-1, step=1):
w = gl.GLViewWidget()
for i, x in enumerate(xs):
sampled_x = x[start:end:step]
sampled_y = ys[i][start:end:step] - ys[i][0]
z = np.ones(len(sampled_x)) * zs[i]
plt = plot_line(sampled_x, sampled_y, z, color=colors[i])
w.addItem(plt)
#add_grids(w)
ax = gl.GLAxisItem()
w.addItem(ax)
##w.pan(0,0,0)
return w
def __init__(self, mesh_path, *args, **kwargs):
super(PlaneWidget, self).__init__(*args, **kwargs)
self.setCameraPosition(distance=15)
self.setBackgroundColor([120, 120, 120, 0])
g = gl.GLGridItem()
g.scale(2, 2, 1)
g.setSize(350, 350, 350)
self.addItem(g)
isc_coord = gl.GLAxisItem()
isc_coord.setSize(350, 350, 350)
isc_coord.translate(0, 0, 0.5)
self.addItem(isc_coord)
self.plane_axis = gl.GLAxisItem()
self.plane_axis.setSize(x=300, y=300, z=300)
self.addItem(self.plane_axis)
verts = self._get_mesh_points(mesh_path)
faces = np.array([(i, i+1, i+2,) for i in range(0, len(verts), 3)])
colors = np.array([(0.0, 1.0, 0.0, 1.0,) for i in range(0, len(verts), 3)])
self.mesh = gl.GLMeshItem(vertexes=verts, faces=faces, faceColors=colors, smooth=False, shader='shaded')
self.addItem(self.mesh)
