from math import cos, radians, sin, tan import importlib import warnings from OpenGL import GL import numpy as np from .. import Vector from .. import functions as fn from .. import getConfigOption from ..Qt import QtCore, QtGui, QtWidgets, QT_LIB if QT_LIB in ["PyQt5", "PySide2"]: QtOpenGL = QtGui else: QtOpenGL = importlib.import_module(f"{QT_LIB}.QtOpenGL") class GLViewMixin: def __init__(self, *args, rotationMethod='euler', **kwargs): """ Mixin class providing functionality for GLViewWidget ================ ============================================================== **Arguments:** rotationMethod (str): Mechanism to drive the rotation method, options are 'euler' and 'quaternion'. Defaults to 'euler'. ================ ============================================================== """ super().__init__(*args, **kwargs) if rotationMethod not in ["euler", "quaternion"]: raise ValueError("Rotation method should be either 'euler' or 'quaternion'") self.opts = { 'rotationMethod': rotationMethod } self.reset() self.items = [] self.noRepeatKeys = [QtCore.Qt.Key.Key_Right, QtCore.Qt.Key.Key_Left, QtCore.Qt.Key.Key_Up, QtCore.Qt.Key.Key_Down, QtCore.Qt.Key.Key_PageUp, QtCore.Qt.Key.Key_PageDown] self.keysPressed = {} self.keyTimer = QtCore.QTimer() self.keyTimer.timeout.connect(self.evalKeyState) self._modelViewStack = [] self._projectionStack = [] self.default_vao = QtOpenGL.QOpenGLVertexArrayObject(self) def deviceWidth(self): dpr = self.devicePixelRatioF() return int(self.width() * dpr) def deviceHeight(self): dpr = self.devicePixelRatioF() return int(self.height() * dpr) def reset(self): """ Initialize the widget state or reset the current state to the original state. """ self.opts['center'] = Vector(0,0,0) ## will always appear at the center of the widget self.opts['distance'] = 10.0 ## distance of camera from center self.opts['fov'] = 60 ## horizontal field of view in degrees if self.opts['rotationMethod'] == 'quaternion': self.opts['rotation'] = QtGui.QQuaternion(1,0,0,0) ## camera rotation (quaternion:wxyz) else: self.opts['elevation'] = 30 ## camera's angle of elevation in degrees self.opts['azimuth'] = 45 ## camera's azimuthal angle in degrees ## (rotation around z-axis 0 points along x-axis) self.setBackgroundColor(getConfigOption('background')) def addItem(self, item): self.items.append(item) if self.isValid(): item.initialize() item._setView(self) self.update() def removeItem(self, item): """ Remove the item from the scene. """ self.items.remove(item) item._setView(None) self.update() def clear(self): """ Remove all items from the scene. """ for item in self.items: item._setView(None) self.items = [] self.update() def initializeGL(self): """ Initialize items that were not initialized during addItem(). """ ctx = self.context() fmt = ctx.format() if ctx.isOpenGLES(): warnings.warn( f"pyqtgraph.opengl is primarily tested against OpenGL Desktop" f" but OpenGL {fmt.version()} ES detected", RuntimeWarning, stacklevel=2 ) elif fmt.version() < (2, 1): verString = GL.glGetString(GL.GL_VERSION) raise RuntimeError( "pyqtgraph.opengl: Requires >= OpenGL 2.1; Found %s" % verString ) # Core profile requires a non-default VAO if fmt.profile() == QtGui.QSurfaceFormat.OpenGLContextProfile.CoreProfile: if not self.default_vao.isCreated(): self.default_vao.create() self.default_vao.bind() for item in self.items: if not item.isInitialized(): item.initialize() def setBackgroundColor(self, *args, **kwds): """ Set the background color of the widget. Accepts the same arguments as :func:`~pyqtgraph.mkColor`. """ self.opts['bgcolor'] = fn.mkColor(*args, **kwds).getRgbF() self.update() def getViewport(self): return (0, 0, self.width(), self.height()) def setProjection(self, region, viewport): m = self.projectionMatrix(region, viewport) self._projectionStack.clear() self._projectionStack.append(m) def projectionMatrix(self, region, viewport): x0, y0, w, h = viewport dist = self.opts['distance'] fov = self.opts['fov'] nearClip = dist * 0.001 farClip = dist * 1000. r = nearClip * tan(0.5 * radians(fov)) t = r * h / w ## 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): m = self.viewMatrix() self._modelViewStack.clear() self._modelViewStack.append(m) def viewMatrix(self): tr = QtGui.QMatrix4x4() tr.translate( 0.0, 0.0, -self.opts['distance']) if self.opts['rotationMethod'] == 'quaternion': tr.rotate(self.opts['rotation']) else: # default rotation method 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 currentModelView(self): return self._modelViewStack[-1] def currentProjection(self): return self._projectionStack[-1] def itemsAt(self, region=None): """ Return a list of the items displayed in the region (x, y, w, h) relative to the widget. """ region = (region[0], self.height()-(region[1]+region[3]), region[2], region[3]) viewport = self.getViewport() #buf = np.zeros(100000, dtype=np.uint) buf = GL.glSelectBuffer(100000) try: GL.glRenderMode(GL.GL_SELECT) GL.glInitNames() GL.glPushName(0) self._itemNames = {} self.paint(region=region, viewport=viewport, useItemNames=True) finally: hits = GL.glRenderMode(GL.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): # when called by Qt, glViewport has already been called # with device pixel ratio taken of region = self.getViewport() self.paint(region=region, viewport=region) def paint(self, *, region, viewport, useItemNames=False): """ It is caller's responsibility to call glViewport prior to calling this method. region specifies the sub-region of viewport that should be rendered. """ self.setProjection(region, viewport) self.setModelview() bgcolor = self.opts['bgcolor'] GL.glClearColor(*bgcolor) GL.glClear( GL.GL_DEPTH_BUFFER_BIT | GL.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: if useItemNames: GL.glLoadName(i._id) self._itemNames[i._id] = i # The GLGraphicsItem(s) making use of QPainter end # up indirectly unbinding the default VAO, so we # rebind it before each GLGraphicsItem. if self.default_vao.isCreated(): self.default_vao.bind() i.paint() except: from .. import debug debug.printExc() print("Error while drawing item %s." % str(item)) else: self._modelViewStack.append(self.currentModelView() * i.transform()) try: self.drawItemTree(i, useItemNames=useItemNames) finally: self._modelViewStack.pop() def setCameraPosition(self, pos=None, distance=None, elevation=None, azimuth=None, rotation=None): if rotation is not None: # Alternatively, we could define that rotation overrides elevation and azimuth if elevation is not None: raise ValueError("cannot set both rotation and elevation") if azimuth is not None: raise ValueError("cannot set both rotation and azimuth") if pos is not None: self.opts['center'] = pos if distance is not None: self.opts['distance'] = distance if self.opts['rotationMethod'] == "quaternion": # note that "quaternion" mode modifies only opts['rotation'] if elevation is not None or azimuth is not None: eu = self.opts['rotation'].toEulerAngles() if azimuth is not None: eu.setZ(-azimuth-90) if elevation is not None: eu.setX(elevation-90) self.opts['rotation'] = QtGui.QQuaternion.fromEulerAngles(eu) if rotation is not None: self.opts['rotation'] = rotation else: # note that "euler" mode modifies only opts['elevation'] and opts['azimuth'] if elevation is not None: self.opts['elevation'] = elevation if azimuth is not None: self.opts['azimuth'] = azimuth if rotation is not None: eu = rotation.toEulerAngles() self.opts['elevation'] = eu.x() + 90 self.opts['azimuth'] = -eu.z() - 90 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'] if self.opts['rotationMethod'] == "quaternion": pos = Vector(center - self.opts['rotation'].rotatedVector(Vector(0,0,dist) )) else: # using 'euler' rotation method elev = radians(self.opts['elevation']) azim = radians(self.opts['azimuth']) pos = Vector( center.x() + dist * cos(elev) * cos(azim), center.y() + dist * cos(elev) * sin(azim), center.z() + dist * sin(elev) ) return pos def setCameraParams(self, **kwds): valid_keys = {'center', 'rotation', 'distance', 'fov', 'elevation', 'azimuth'} if not valid_keys.issuperset(kwds): raise ValueError(f'valid keywords are {valid_keys}') self.setCameraPosition(pos=kwds.get('center'), distance=kwds.get('distance'), elevation=kwds.get('elevation'), azimuth=kwds.get('azimuth'), rotation=kwds.get('rotation')) if 'fov' in kwds: self.opts['fov'] = kwds['fov'] def cameraParams(self): valid_keys = ['center', 'distance', 'fov'] if self.opts['rotationMethod'] == 'quaternion': valid_keys.append('rotation') else: valid_keys.extend(['elevation', 'azimuth']) return { k : self.opts[k] for k in valid_keys } def orbit(self, azim, elev): """Orbits the camera around the center position. *azim* and *elev* are given in degrees.""" if self.opts['rotationMethod'] == 'quaternion': q = QtGui.QQuaternion.fromEulerAngles( elev, -azim, 0 ) # rx-ry-rz q *= self.opts['rotation'] self.opts['rotation'] = q else: # default euler rotation method self.opts['azimuth'] += azim self.opts['elevation'] = fn.clip_scalar(self.opts['elevation'] + elev, -90., 90.) self.update() def pan(self, dx, dy, dz, relative='global'): """ Moves the center (look-at) position while holding the camera in place. ============== ======================================================= **Arguments:** *dx* Distance to pan in x direction *dy* Distance to pan in y direction *dz* Distance to pan in z direction *relative* String that determines the direction of dx,dy,dz. If "global", then the global coordinate system is used. If "view", then the z axis is aligned with the view direction, and x and y axes are in the plane of the view: +x points right, +y points up. If "view-upright", then x is 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 relative == 'global': self.opts['center'] += QtGui.QVector3D(dx, dy, dz) elif relative == 'view-upright': cPos = self.cameraPosition() cVec = self.opts['center'] - cPos dist = cVec.length() ## distance from camera to center xDist = dist * 2. * tan(0.5 * radians(self.opts['fov'])) ## 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 elif relative == 'view': # pan in plane of camera if self.opts['rotationMethod'] == 'quaternion': # obtain basis vectors qc = self.opts['rotation'].conjugated() xv = qc.rotatedVector( Vector(1,0,0) ) yv = qc.rotatedVector( Vector(0,1,0) ) zv = qc.rotatedVector( Vector(0,0,1) ) scale_factor = self.pixelSize( self.opts['center'] ) # apply translation self.opts['center'] += scale_factor * (xv*-dx + yv*dy + zv*dz) else: # use default euler rotation method elev = radians(self.opts['elevation']) azim = radians(self.opts['azimuth']) fov = radians(self.opts['fov']) dist = (self.opts['center'] - self.cameraPosition()).length() fov_factor = tan(fov / 2) * 2 scale_factor = dist * fov_factor / self.width() z = scale_factor * cos(elev) * dy x = scale_factor * (sin(azim) * dx - sin(elev) * cos(azim) * dy) y = scale_factor * (cos(azim) * dx + sin(elev) * sin(azim) * dy) self.opts['center'] += QtGui.QVector3D(x, -y, z) else: raise ValueError("relative argument must be global, view, or view-upright") 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. * tan(0.5 * radians(self.opts['fov'])) return xDist / self.width() def mousePressEvent(self, ev): lpos = ev.position() if hasattr(ev, 'position') else ev.localPos() self.mousePos = lpos def mouseMoveEvent(self, ev): lpos = ev.position() if hasattr(ev, 'position') else ev.localPos() if not hasattr(self, 'mousePos'): self.mousePos = lpos diff = lpos - self.mousePos self.mousePos = lpos if ev.buttons() == QtCore.Qt.MouseButton.LeftButton: if (ev.modifiers() & QtCore.Qt.KeyboardModifier.ControlModifier): self.pan(diff.x(), diff.y(), 0, relative='view') else: self.orbit(-diff.x(), diff.y()) elif ev.buttons() == QtCore.Qt.MouseButton.MiddleButton: if (ev.modifiers() & QtCore.Qt.KeyboardModifier.ControlModifier): self.pan(diff.x(), 0, diff.y(), relative='view-upright') else: self.pan(diff.x(), diff.y(), 0, relative='view-upright') def mouseReleaseEvent(self, ev): pass def wheelEvent(self, ev): delta = ev.angleDelta().x() if delta == 0: delta = ev.angleDelta().y() if (ev.modifiers() & QtCore.Qt.KeyboardModifier.ControlModifier): self.opts['fov'] *= 0.999**delta else: self.opts['distance'] *= 0.999**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 KeyError: 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.Key_Right: self.orbit(azim=-speed, elev=0) elif key == QtCore.Qt.Key.Key_Left: self.orbit(azim=speed, elev=0) elif key == QtCore.Qt.Key.Key_Up: self.orbit(azim=0, elev=-speed) elif key == QtCore.Qt.Key.Key_Down: self.orbit(azim=0, elev=speed) elif key == QtCore.Qt.Key.Key_PageUp: pass elif key == QtCore.Qt.Key.Key_PageDown: pass self.keyTimer.start(16) else: self.keyTimer.stop() def readQImage(self): """ Read the current buffer pixels out as a QImage. """ return self.grabFramebuffer() def renderToArray(self, size, format=GL.GL_BGRA, type=GL.GL_UNSIGNED_BYTE, textureSize=1024, padding=256): w,h = map(int, size) self.makeCurrent() texwidth = textureSize fbo = QtOpenGL.QOpenGLFramebufferObject(texwidth, texwidth, QtOpenGL.QOpenGLFramebufferObject.Attachment.CombinedDepthStencil, GL.GL_TEXTURE_2D) output = np.empty((h, w, 4), dtype=np.ubyte) data = np.empty((texwidth, texwidth, 4), dtype=np.ubyte) try: 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 fbo.bind() GL.glViewport(0, 0, w2, h2) self.paint(region=(x, h-y-h2, w2, h2), viewport=(0, 0, w, h)) # only render sub-region fbo.bind() GL.glReadPixels(0, 0, texwidth, texwidth, format, type, data) data_yflip = data[::-1, ...] output[y+padding:y2-padding, x+padding:x2-padding] = data_yflip[-(h2-padding):-padding, padding:w2-padding] finally: fbo.release() return output class GLViewWidget(GLViewMixin, QtWidgets.QOpenGLWidget): def __init__(self, *args, devicePixelRatio=None, **kwargs): """ Basic widget for displaying 3D data - Rotation/scale controls - Axis/grid display - Export options ================ ============================================================== **Arguments:** parent (QObject, optional): Parent QObject. Defaults to None. devicePixelRatio No longer in use. High-DPI displays should automatically detect the correct resolution. rotationMethod (str): Mechanism to drive the rotation method, options are 'euler' and 'quaternion'. Defaults to 'euler'. ================ ============================================================== """ super().__init__(*args, **kwargs) self.setFocusPolicy(QtCore.Qt.FocusPolicy.ClickFocus)