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DrawPointCloud.py
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import sys
from PyQt5.QtCore import pyqtSignal, QPoint, QSize, Qt
from PyQt5.QtWidgets import (QApplication, QHBoxLayout, QOpenGLWidget, QSlider,
QWidget)
import OpenGL.GL as GL
from Cylinder import Cylinder
from CylinderCover import CylinderCover
import numpy as np
class Window(QWidget):
def __init__(self):
super(Window, self).__init__()
self.glWidget = DrawPointCloud(self)
self.up_down = self.create_slider()
self.turntable = self.create_slider()
self.up_down.valueChanged.connect(self.glWidget.set_up_down_rotation)
self.glWidget.upDownRotationChanged.connect(self.up_down.setValue)
self.turntable.valueChanged.connect(self.glWidget.set_turntable_rotation)
self.glWidget.turntableRotationChanged.connect(self.turntable.setValue)
main_layout = QHBoxLayout()
main_layout.addWidget(self.glWidget)
main_layout.addWidget(self.turntable)
main_layout.addWidget(self.up_down)
self.setLayout(main_layout)
self.up_down.setValue(15 * 16)
self.turntable.setValue(345 * 16)
self.setWindowTitle("Hello GL")
@staticmethod
def create_slider():
slider = QSlider(Qt.Vertical)
slider.setRange(0, 360 * 16)
slider.setSingleStep(16)
slider.setPageStep(15 * 16)
slider.setTickInterval(15 * 16)
slider.setTickPosition(QSlider.TicksRight)
return slider
class DrawPointCloud(QOpenGLWidget):
upDownRotationChanged = pyqtSignal(int)
turntableRotationChanged = pyqtSignal(int)
zRotationChanged = pyqtSignal(int)
def __init__(self, gui, parent=None):
super(DrawPointCloud, self).__init__(parent)
self.object = 0
self.up_down = 0
self.turntable = 0
self.zRot = 00
self.pt_center = np.array([0, 0, 0])
self.radius = 0.1
self.pcd_gl_list = -1
self.bin_gl_list = -1
self.pcd_isolated_gl_list = -1
self.pcd_bad_fit_gl_list = -1
self.selected_point = 0
self.gui = gui
self.cyl = Cylinder()
self.cyl_cover = CylinderCover()
with open("data/cyl_cover_all.txt", "r") as fid:
self.cyl_cover.read(fid)
self.my_pcd = self.cyl_cover.my_pcd
self.bin_mapping = self.set_bin_mapping()
self.lastPos = QPoint()
self.show_closeup = False
self.show_one = False
self.show_pca_cylinders = False
self.show_fitted_cylinders = False
self.show_bins = False
self.show_isolated = False
self.last_cyl = -1
self.axis_colors = [[1.0, 0, 0], [0, 1.0, 0], [0, 0, 1.0]]
def set_bin_mapping(self):
bin_map = []
for k, b in self.my_pcd.bin_list.items():
bin_map.append((b[0], k))
return bin_map
@staticmethod
def get_opengl_info():
info = """
Vendor: {0}
Renderer: {1}
OpenGL Version: {2}
Shader Version: {3}
""".format(
GL.glGetString(GL.GL_VENDOR),
GL.glGetString(GL.GL_RENDERER),
GL.glGetString(GL.GL_VERSION),
GL.glGetString(GL.GL_SHADING_LANGUAGE_VERSION)
)
return info
def minimumSizeHint(self):
return QSize(50, 50)
def sizeHint(self):
return QSize(1200, 1200)
def set_up_down_rotation(self, angle):
angle = self.normalize_angle(angle)
if angle != self.up_down:
self.up_down = angle
self.upDownRotationChanged.emit(angle)
self.update()
def set_turntable_rotation(self, angle):
angle = self.normalize_angle(angle)
if angle != self.turntable:
self.turntable = angle
self.turntableRotationChanged.emit(angle)
self.update()
def initializeGL(self):
print(self.get_opengl_info())
GL.glClearColor(0.0, 0.0, 0.0, 1.0)
self.pcd_gl_list = self.make_pcd_gl_list()
self.pcd_isolated_gl_list = self.make_isolated_gl_list()
self.bin_gl_list = self.make_bin_gl_list()
GL.glShadeModel(GL.GL_FLAT)
# GL.glEnable(GL.GL_DEPTH_TEST)
# GL.glEnable(GL.GL_CULL_FACE)
def recalc_gl_ids(self):
self.make_bin_gl_list()
@staticmethod
def draw_box(x_center, y_center, width, height=0):
GL.glLoadIdentity()
GL.glLineWidth(2.0)
GL.glBegin(GL.GL_LINE_LOOP)
GL.glColor3d(0.75, 0.5, 0.75)
bin_width = width / 2.0
bin_height = height / 2.0
if abs(bin_height) < 0.00001:
bin_height = bin_width
GL.glVertex2d(x_center - bin_width, y_center - bin_height)
GL.glVertex2d(x_center - bin_width, y_center + bin_height)
GL.glVertex2d(x_center + bin_width, y_center + bin_height)
GL.glVertex2d(x_center + bin_width, y_center - bin_height)
GL.glEnd()
@staticmethod
def draw_circle(x_center, y_center, circ_radius):
GL.glLoadIdentity()
GL.glLineWidth(2.0)
GL.glBegin(GL.GL_LINE_LOOP)
GL.glColor4d(0.75, 0.25, 0.5, 1.0)
for t in np.linspace(0, 2 * np.pi, 16):
GL.glVertex2d(x_center + circ_radius * np.cos(t), y_center + circ_radius * np.sin(t))
GL.glEnd()
def draw_cyl(self, cyl):
if hasattr(cyl, "pts") and self.show_one:
GL.glPointSize(10)
GL.glBegin(GL.GL_POINTS)
GL.glColor3f(0.95, 0.9, 0.7)
for p in cyl.pts:
GL.glVertex3d(p[0], p[1], p[2])
GL.glEnd()
elif hasattr(cyl, "pts_ids") and self.show_one:
GL.glPointSize(10)
GL.glBegin(GL.GL_POINTS)
GL.glColor3f(0.95, 0.9, 0.7)
for pt_id in cyl.pts_ids:
p = self.my_pcd.pt(pt_id)
GL.glVertex3d(p[0], p[1], p[2])
GL.glEnd()
GL.glLineWidth(4)
GL.glBegin(GL.GL_LINES)
GL.glColor3f(1.0, 0.0, 0.0)
l1 = cyl.pt_center + 0.5 * cyl.height * cyl.axis_vec
l2 = cyl.pt_center - 0.5 * cyl.height * cyl.axis_vec
GL.glVertex3d(l1[0], l1[1], l1[2])
GL.glVertex3d(l2[0], l2[1], l2[2])
GL.glColor3f(0.0, 1.0, 0.0)
l1 = cyl.pt_center + cyl.radius * cyl.x_vec
l2 = cyl.pt_center - cyl.radius * cyl.x_vec
GL.glVertex3d(l1[0], l1[1], l1[2])
GL.glVertex3d(l2[0], l2[1], l2[2])
GL.glColor3f(0.0, 0.0, 1.0)
l1 = cyl.pt_center + cyl.radius * cyl.y_vec
l2 = cyl.pt_center - cyl.radius * cyl.y_vec
GL.glVertex3d(l1[0], l1[1], l1[2])
GL.glVertex3d(l2[0], l2[1], l2[2])
GL.glEnd()
def draw_bin_size(self, radius):
GL.glLoadIdentity()
scl = 2.0 / radius
x_center = -0.95
if self.show_closeup:
x_center = 0.0
# Actual bin size
# Neighbor size is twice bin size
if hasattr(self.my_pcd, "div"):
self.draw_box(x_center, 0, scl * self.my_pcd.div)
self.draw_circle(x_center, 0, scl * 2 * self.my_pcd.div)
# What to set the bin size to
try:
height = scl * self.gui.branch_height.value()
self.draw_box(x_center, -0.1, scl * self.gui.smallest_branch_width.value(), height)
self.draw_box(x_center, -0.1, scl * self.gui.largest_branch_width.value(), height)
self.draw_circle(x_center, -0.1, scl * self.gui.connected_neighborhood_radius.value())
except AttributeError:
pass
def draw_bins(self):
if self.bin_gl_list != -1:
GL.glCallList(self.bin_gl_list)
if self.show_closeup:
which_bin = self.gui.show_closeup_slider.value()
pt_ids = self.my_pcd.bin_list[self.bin_mapping[which_bin][1]]
GL.glPointSize(10)
GL.glBegin(GL.GL_POINTS)
GL.glColor3f(0.0, 1.0, 0.0)
for p_id in pt_ids:
p = self.my_pcd.pt(p_id)
GL.glVertex3d(p[0], p[1], p[2])
GL.glEnd()
def paintGL(self):
GL.glClear(GL.GL_COLOR_BUFFER_BIT | GL.GL_DEPTH_BUFFER_BIT)
pt_center = self.pt_center
radius = self.radius
try:
which_one = self.gui.show_closeup_slider.value()
except AttributeError:
which_one = 0
if self.show_closeup:
if self.show_bins:
pt_center = self.my_pcd.pt(self.bin_mapping[which_one][0])
radius = 2 * self.my_pcd.div
elif self.show_pca_cylinders:
pt_center = self.cyl_cover.cyls_pca[which_one].pt_center
radius = self.cyl_cover.cyls_pca[which_one].height
elif self.show_fitted_cylinders:
pt_center = self.cyl_cover.cyls_fitted[which_one].pt_center
radius = self.cyl_cover.cyls_fitted[which_one].height
elif hasattr(self, "selected_point") and hasattr(self.my_pcd, "connected_radius"):
pt_center = self.cyl.pt_center
radius = 2 * self.my_pcd.connected_radius
if hasattr(self.gui, "zoom"):
radius = radius / self.gui.zoom.value()
GL.glLoadIdentity()
GL.glRotated(self.up_down, 1.0, 0.0, 0.0)
GL.glRotated(self.turntable, 0.0, 1.0, 0.0)
GL.glRotated(self.zRot, 0.0, 0.0, 1.0)
GL.glScaled(2/radius, 2/radius, 2/radius)
GL.glTranslated(-pt_center[0], -pt_center[1], -pt_center[2])
if self.show_bins:
self.draw_bins()
else:
GL.glCallList(self.pcd_gl_list)
if self.show_isolated is True:
GL.glCallList(self.pcd_isolated_gl_list)
if hasattr(self, "cyl"):
if len(self.cyl.data.pts_ids) > 0:
self.draw_cyl(self.cyl)
if self.show_pca_cylinders:
if self.show_one:
if self.last_cyl != which_one:
print(self.cyl_cover.cyls_pca[which_one])
self.last_cyl = which_one
self.selected_point = self.cyl_cover.cyls_pca[which_one].id
self.draw_cyl(self.cyl_cover.cyls_pca[which_one])
else:
clip_min = self.gui.show_min_val_slider.value()
clip_max = self.gui.show_max_val_slider.value()
for c in self.cyl_cover.cyls_pca:
if clip_min <= c.data.pca_err <= clip_max:
self.draw_cyl(c)
if self.show_fitted_cylinders:
if self.show_one:
if self.last_cyl != which_one:
print(self.cyl_cover.cyls_fitted[which_one])
self.last_cyl = which_one
self.selected_point = self.cyl_cover.cyls_fitted[which_one].id
self.draw_cyl(self.cyl_cover.cyls_fitted[which_one])
else:
clip_min = self.gui.show_min_val_slider.value()
clip_max = self.gui.show_max_val_slider.value()
for c in self.cyl_cover.cyls_fitted:
if clip_min <= c.err <= clip_max:
self.draw_cyl(c)
if hasattr(self, "selected_point"):
GL.glPointSize(10)
GL.glBegin(GL.GL_POINTS)
GL.glColor3f(1.0, 0.0, 0.0)
try:
p = self.my_pcd.pt(self.selected_point)
except IndexError:
pass
GL.glVertex3d(p[0], p[1], p[2])
GL.glEnd()
self.draw_bin_size(radius)
@staticmethod
def resizeGL(width, height):
side = min(width, height)
if side < 0:
return
GL.glViewport((width - side) // 2, (height - side) // 2, side, side)
GL.glMatrixMode(GL.GL_PROJECTION)
GL.glLoadIdentity()
GL.glOrtho(-1.15, 1.15, -1.15, 1.15, -1.5, 1.5)
GL.glMatrixMode(GL.GL_MODELVIEW)
def mousePressEvent(self, event):
self.lastPos = event.pos()
def mouseMoveEvent(self, event):
dx = event.x() - self.lastPos.x()
dy = event.y() - self.lastPos.y()
if event.buttons() & Qt.LeftButton:
self.set_up_down_rotation(self.up_down + 4 * dy)
self.set_turntable_rotation(self.turntable + 4 * dx)
self.lastPos = event.pos()
def make_pcd_gl_list(self):
self.pt_center = [0.5*(self.my_pcd.max_pt[i] + self.my_pcd.min_pt[i]) for i in range(0, 3)]
self.radius = 0
for i in range(0, 3):
self.radius = max(self.radius, self.my_pcd.max_pt[i] - self.my_pcd.min_pt[i])
if self.pcd_gl_list == -1:
self.pcd_gl_list = GL.glGenLists(1)
GL.glNewList(self.pcd_gl_list, GL.GL_COMPILE)
GL.glPointSize(2)
GL.glBegin(GL.GL_POINTS)
n_neigh = 20
for i,p in enumerate(self.my_pcd.pts()):
if hasattr(self.my_pcd, "neighbors"):
n_neigh = len(self.my_pcd.neighbors)
if n_neigh < 20:
GL.glColor3d(0.8, 0.2, 0.0)
elif n_neigh < 30:
GL.glColor3d(0.6, 0.2, 0.0)
else:
GL.glColor3d(0.2, 0.8, 0.2)
else:
GL.glColor3d(0.2, 0.8, 0.2)
if n_neigh > 15:
GL.glVertex3d(p[0], p[1], p[2])
GL.glEnd()
GL.glEndList()
return self.pcd_gl_list
def make_isolated_gl_list(self):
if self.pcd_isolated_gl_list == -1:
self.pcd_isolated_gl_list = GL.glGenLists(1)
GL.glNewList(self.pcd_isolated_gl_list, GL.GL_COMPILE)
GL.glPointSize(2)
GL.glBegin(GL.GL_POINTS)
for i, p in enumerate(self.my_pcd.pts()):
if hasattr(self.my_pcd, "neighbors"):
n_neigh = len(self.my_pcd.neighbors)
if n_neigh == 0:
GL.glColor3d(0.8, 0.2, 0.0)
elif n_neigh < 5:
GL.glColor3d(0.6, 0.2, 0.0)
else:
GL.glColor3d(0.2, 0.8, 0.2)
if n_neigh < 15:
GL.glVertex3d(p[0], p[1], p[2])
GL.glEnd()
GL.glEndList()
return self.pcd_isolated_gl_list
def make_bin_gl_list(self):
if self.bin_gl_list == -1:
self.bin_gl_list = GL.glGenLists(1)
GL.glNewList(self.bin_gl_list, GL.GL_COMPILE)
GL.glPointSize(3)
try:
clip_min = self.gui.show_min_val_slider.value()
clip_max = self.gui.show_max_val_slider.value()
except AttributeError:
clip_min = 0
clip_max = 500
GL.glBegin(GL.GL_POINTS)
for b in self.my_pcd.bin_list.values():
if clip_min <= len(b) <= clip_max:
d_col = max(0.1, min(1.0, len(b) / 15.0))
GL.glColor3d(d_col, d_col, d_col)
p = self.my_pcd.pt(b[0])
GL.glVertex3d(p[0], p[1], p[2])
GL.glEnd()
GL.glEndList()
return self.bin_gl_list
def normalize_angle(self, angle):
while angle < 0:
angle += 360
while angle > 360:
angle -= 360
return angle
def set_color(self, c):
GL.glColor4f(c.redF(), c.greenF(), c.blueF(), c.alphaF())
if __name__ == '__main__':
app = QApplication(sys.argv)
window = Window()
window.show()
sys.exit(app.exec_())