from OpenGL.GL import * # noqa import OpenGL.GL.framebufferobjects as glfbo # noqa from math import cos, radians, sin, tan import numpy as np from .. import Vector from .. import functions as fn from .. import getConfigOption from ..Qt import QtCore, QtGui, QtWidgets 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 = { 'center': Vector(0,0,0), ## will always appear at the center of the widget 'rotation' : QtGui.QQuaternion(1,0,0,0), ## camera rotation (quaternion:wxyz) '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 ## note that 'viewport' is in device pixels '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) 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 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.opts['viewport'] = None ## glViewport params; None == whole widget 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() or fmt.version() < (2, 0): verString = glGetString(GL_VERSION) raise RuntimeError( "pyqtgraph.opengl: Requires >= OpenGL 2.0 (not ES); Found %s" % verString ) 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): vp = self.opts['viewport'] if vp is None: return (0, 0, self.deviceWidth(), self.deviceHeight()) else: return vp def setProjection(self, region=None): m = self.projectionMatrix(region) glMatrixMode(GL_PROJECTION) glLoadMatrixf(np.array(m.data(), dtype=np.float32)) def projectionMatrix(self, region=None): if region is None: region = (0, 0, self.deviceWidth(), self.deviceHeight()) x0, y0, w, h = self.getViewport() 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() glMatrixMode(GL_MODELVIEW) glLoadMatrixf(np.array(m.data(), dtype=np.float32)) 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 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.deviceHeight()-(region[1]+region[3]), region[2], region[3]) #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() bgcolor = self.opts['bgcolor'] glClearColor(*bgcolor) 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(i._id) self._itemNames[i._id] = i i.paint() except: from .. import debug debug.printExc() print("Error while drawing item %s." % str(item)) finally: glPopAttrib() else: glMatrixMode(GL_MODELVIEW) glPushMatrix() try: tr = i.transform() glMultMatrixf(np.array(tr.data(), dtype=np.float32)) self.drawItemTree(i, useItemNames=useItemNames) finally: glMatrixMode(GL_MODELVIEW) glPopMatrix() 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', 'rotation', 'distance', 'fov', '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 # Example item selection code: #region = (ev.pos().x()-5, ev.pos().y()-5, 10, 10) #print(self.itemsAt(region)) ## debugging code: draw the picking region #glViewport(*self.getViewport()) #glClear( GL_DEPTH_BUFFER_BIT | GL_COLOR_BUFFER_BIT ) #region = (region[0], self.height()-(region[1]+region[3]), region[2], region[3]) #self.paintGL(region=region) #self.swapBuffers() 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_BGRA, type=GL_UNSIGNED_BYTE, textureSize=1024, padding=256): w,h = map(int, size) self.makeCurrent() tex = None fb = None depth_buf = None try: output = np.empty((h, w, 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 RuntimeError("OpenGL failed to create 2D texture (%dx%d); too large for this hardware." % data.shape[:2]) ## create texture glTexImage2D(GL_TEXTURE_2D, 0, GL_RGBA, texwidth, texwidth, 0, GL_RGBA, GL_UNSIGNED_BYTE, data) # Create depth buffer depth_buf = glGenRenderbuffers(1) glBindRenderbuffer(GL_RENDERBUFFER, depth_buf) glRenderbufferStorage(GL_RENDERBUFFER, GL_DEPTH_COMPONENT, texwidth, texwidth) glFramebufferRenderbuffer(GL_FRAMEBUFFER, GL_DEPTH_ATTACHMENT, GL_RENDERBUFFER, depth_buf) 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 glBindTexture(GL_TEXTURE_2D, tex) # fixes issue #366 ## read texture back to array data = glGetTexImage(GL_TEXTURE_2D, 0, format, type) data = np.frombuffer(data, dtype=np.ubyte).reshape(texwidth,texwidth,4)[::-1, ...] output[y+padding:y2-padding, x+padding:x2-padding] = data[-(h2-padding):-padding, padding:w2-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]) if depth_buf is not None: glDeleteRenderbuffers(1, [depth_buf]) 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)