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gyro_viewer.py
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#!/usr/bin/env python
import sys
import math, re, time
import random
import OpenGL.GL as gl
import py3toolbox as tb
import multiprocessing as mp
import data_reader as dr
import pyqtgraph as pg
from PyQt5 import QtCore,QtGui,QtWidgets
from PyQt5.QtCore import (QPoint, QPointF, QRect, QRectF, QSize, Qt, QTime, QTimer)
from PyQt5.QtGui import (QBrush, QColor, QFontMetrics, QImage, QPainter, QSurfaceFormat)
from PyQt5.QtWidgets import QApplication, QOpenGLWidget
from pyquaternion import Quaternion
from scipy.spatial.transform import Rotation
import math_helper as mh
MODULE_NAME = 'GyroViewer'
def get_config():
return tb.load_json('./config.json')
class Gyro3D(QOpenGLWidget):
def __init__(self, q_in=None):
super(Gyro3D, self).__init__()
self.config = get_config()[MODULE_NAME]
self.q_in = q_in
self.object = 0
self.type = ""
self.rX = 0
self.rY = 0
self.rZ = 0
self.qW = 0
self.qX = 0
self.qY = 0
self.qZ = 0
self.rX = 0
self.rY = 0
self.rZ = 0
self.Yaw = 0
self.Pitch = 0
self.Roll = 0
self.trolltechGreen = QColor.fromCmykF(0.40, 0.0, 1.0, 0.0)
self.trolltechPurple = QColor.fromCmykF(0.39, 0.39, 0.0, 0.0)
self.animationTimer = QTimer()
self.animationTimer.setSingleShot(False)
self.animationTimer.timeout.connect(self.update)
self.animationTimer.start(0)
self.readDataTimer = QTimer()
self.readDataTimer.setSingleShot(False)
self.readDataTimer.timeout.connect(self.readData)
self.readDataTimer.start(0)
self.setAutoFillBackground(True)
self.setMinimumSize(200, 200)
self.setWindowTitle("Gyro 3D Viewer")
self.time = time.time()
def readData(self):
try:
data = self.q_in.get(False)
if data is not None:
self.type = data['Type']
if self.type == 'QUATERNION' :
self.qW = data['qW']
self.qX = data['qX']
self.qY = data['qY']
self.qZ = data['qZ']
elif self.type == 'YPR' :
self.Yaw = data['Yaw']
self.Pitch = data['Pitch']
self.Roll = data['Roll']
except Exception:
pass
def setXRotation(self, angle):
angle = self.normalizeAngle(angle)
if angle != self.rX:
self.rX = angle
def setYRotation(self, angle):
angle = self.normalizeAngle(angle)
if angle != self.rY:
self.rY = angle
def setZRotation(self, angle):
angle = self.normalizeAngle(angle)
if angle != self.rZ:
self.rZ = angle
def initializeGL(self):
self.object = self.makeObject()
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.setXRotation(self.rX + 8 * dy)
self.setYRotation(self.rY + 8 * dx)
elif event.buttons() & Qt.RightButton:
self.setXRotation(self.rX + 8 * dy)
self.setZRotation(self.rZ + 8 * dx)
self.lastPos = event.pos()
def paintEvent(self, event):
try :
fps = int(1 / (time.time() - self.time))
except Exception:
fps = 0
self.setWindowTitle("Gyro 3D Viewer : FPS = " + str(fps) + " Q = " + str(self.q_in.qsize()) )
self.time = time.time()
self.makeCurrent()
gl.glMatrixMode(gl.GL_MODELVIEW)
gl.glPushMatrix()
self.setClearColor(self.trolltechPurple.darker())
gl.glShadeModel(gl.GL_SMOOTH)
gl.glEnable(gl.GL_DEPTH_TEST)
gl.glEnable(gl.GL_LIGHTING)
gl.glEnable(gl.GL_LIGHT0)
gl.glEnable(gl.GL_MULTISAMPLE)
gl.glLightfv(gl.GL_LIGHT0, gl.GL_POSITION, (0.5, -5.0, 7.0, 1.0))
self.setupViewport(self.width(), self.height())
gl.glClear(gl.GL_COLOR_BUFFER_BIT | gl.GL_DEPTH_BUFFER_BIT)
gl.glLoadIdentity()
gl.glTranslatef(0.0, 0.0, -10.0)
# below rotation is actually change the view point
gl.glRotatef(-90.0, 1.0, 0.0, 0.0)
gl.glRotatef(90.0, 0.0, 0.0, 1.0)
gl.glScalef(1.2, 1.2, 1.2)
if self.type == 'QUATERNION' :
angle, axis = mh.get_rotation_axis_angle([self.qX, self.qY, self.qZ, self.qW], degrees=True)
#quat = Quaternion (self.qW , self.qX, self.qY, self.qZ)
#angle = quat.angle * 180 / math.pi
#u = quat.axis
gl.glRotatef(angle , axis[0], axis[1], axis[2])
#gl.glRotatef(angle , u[1], u[2], -u[0])
#rot_mat = Rotation.from_quat([self.qX, self.qY, self.qZ, self.qW]).as_matrix()
#gl.glMultMatrixf(rot_mat)
pass
elif self.type == 'EULR' :
gl.glRotatef(self.Roll , 1.0, 0.0, 0.0) # rotate against X axis
gl.glRotatef(self.Pitch , 0.0, 1.0, 0.0) # rotate against Y axis
gl.glRotatef(self.Yaw , 0.0, 0.0, 1.0) # rotate against Z axis
gl.glCallList(self.object)
gl.glMatrixMode(gl.GL_MODELVIEW)
gl.glPopMatrix()
def resizeGL(self, width, height):
self.setupViewport(width, height)
def showEvent(self, event):
pass
def sizeHint(self):
return QSize(800, 600)
def makeObject(self):
genList = gl.glGenLists(1)
gl.glNewList(genList, gl.GL_COMPILE)
vertices = []
vnormals = []
gl.glBegin(gl.GL_TRIANGLES)
obj_lines = tb.read_file(file_name=self.config['object_file'],return_type='list')
for obj_line in obj_lines:
if obj_line.startswith('v ') :
obj_line = obj_line.replace('v ','')
[x,y,z] = obj_line.split(" ")
vertices.append ([float(x), float(y),float(z)])
if obj_line.startswith('vn ') :
obj_line = obj_line.replace('vn ','')
[vn_x,vn_y,vn_z] = obj_line.split(" ")
vnormals.append ([float(vn_x), float(vn_y),float(vn_z)])
for obj_line in obj_lines:
if obj_line.startswith('f ') :
obj_line = obj_line.replace('f ','')
v = re.findall(r"\s*(\d+)\/\/\d+\s*", obj_line)
vn = re.findall(r"\s*\d+\/\/(\d+)\s*", obj_line)
gl.glNormal3d(vnormals[int(vn[0])-1][0],vnormals[int(vn[0])-1][1],vnormals[int(vn[0])-1][2])
gl.glVertex3f(vertices[int(v[0])-1][0],vertices[int(v[0])-1][1],vertices[int(v[0])-1][2])
gl.glVertex3f(vertices[int(v[1])-1][0],vertices[int(v[1])-1][1],vertices[int(v[1])-1][2])
gl.glVertex3f(vertices[int(v[2])-1][0],vertices[int(v[2])-1][1],vertices[int(v[2])-1][2])
gl.glEnd()
gl.glEndList()
return genList
def normalizeAngle(self, angle):
while angle < 0: angle += 360 * 16
while angle > 360 * 16: angle -= 360 * 16
return angle
def setupViewport(self, width, height):
side = min(width, height)
gl.glViewport((width - side) // 2, (height - side) // 2, side, side)
gl.glMatrixMode(gl.GL_PROJECTION)
gl.glLoadIdentity()
gl.glOrtho(-4, +4, +4, -4, 1.0, 30.0)
gl.glMatrixMode(gl.GL_MODELVIEW)
def setClearColor(self, c):
gl.glClearColor(c.redF(), c.greenF(), c.blueF(), c.alphaF())
def setColor(self, c):
gl.glColor4f(c.redF(), c.greenF(), c.blueF(), c.alphaF())
class GyroViewer(mp.Process):
def __init__(self,q_in,q_mon):
mp.Process.__init__(self)
self.config = get_config()[MODULE_NAME]
self.q_in = q_in
self.q_mon = q_mon
def run(self):
self.app = QApplication.instance()
if self.app is None:
self.app = QApplication([])
window = Gyro3D(self.q_in)
window.show()
self.q_mon.put(MODULE_NAME)
QApplication.exec_()
return
def Gyro3D_demo() :
## Demo Mode ##
config = get_config()
q_in = mp.Queue()
q_mon = mp.Queue()
gyro_monitor = GyroViewer(q_in,q_mon)
gyro_monitor.start()
data = {
'Type' : 'YPR',
'Roll' : 0,
'Pitch' : 0,
'Yaw' : 0
}
try :
tb.pause ("Change Roll from 0 ~ 360 degrees \n")
for r in range(0,360):
data['Roll'] = r
q_in.put(data)
time.sleep(0.01)
tb.pause ("Change Pitch from 0 ~ 360 degrees \n")
for r in range(0,360):
data['Pitch'] = r
q_in.put(data)
time.sleep(0.01)
tb.pause ("Change Yaw from 0 ~ 360 degrees \n")
for r in range(0,360):
data['Yaw'] = r
q_in.put(data)
time.sleep(0.01)
tb.pause ("Change Roll, Pitch Yaw from 0 ~ 360 degrees \n")
for r in range(0,360):
data['Roll'] = r
data['Pitch'] = r
data['Yaw'] = r
q_in.put(data)
time.sleep(0.01)
for r in range(360,0,-1):
data['Roll'] = r
data['Pitch'] = r
data['Yaw'] = r
q_in.put(data)
time.sleep(0.01)
q_in.put('STOP')
except Exception as err:
pass
if __name__ == '__main__':
Gyro3D_demo()
pass