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
[docs]
class GLViewMixin:
[docs]
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
