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from pyqtgraph.Qt import QtCore, QtGui, QtOpenGL
from OpenGL.GL import *
import numpy as np
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.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()
def removeItem(self, item):
self.items.remove(item)
item._setView(None)
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)
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.
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']
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:
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).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)
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
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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
"""
cam = self.cameraPosition()
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()
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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