def importObject(self, o):
print 'importing object: '+o.get('Name')+'...'
if(o.get('Type') == 'Tool'):
if(o.get('Model') == 'Probe'):
obj = vtkesqui.vtkToolProbe()
elif(o.get('Model') == 'Grasper'):
obj = vtkesqui.vtkToolGrasper()
else:
obj = vtkesqui.vtkToolDummy()
elif(o.get('Type') == 'Organ'):
obj = vtkesqui.vtkOrgan()
obj.SetName(o.get('Name'))
obj.SetStatus(1)
#Import object elements
for child in o:
if(child.tag == "Elements"):
for e in child:
if (e.tag == "Element"):
element = self.importElement(e)
obj.AddElement(element)
return obj
def importObject(self, o):
print 'importing object: ' + o.get('Name') + '...'
if (o.get('Type') == 'Tool'):
if (o.get('Model') == 'Probe'):
obj = vtkesqui.vtkToolProbe()
elif (o.get('Model') == 'Grasper'):
obj = vtkesqui.vtkToolGrasper()
else:
obj = vtkesqui.vtkToolDummy()
elif (o.get('Type') == 'Organ'):
obj = vtkesqui.vtkOrgan()
obj.SetName(o.get('Name'))
obj.SetStatus(1)
#Import object elements
for child in o:
if (child.tag == "Elements"):
for e in child:
if (e.tag == "Element"):
element = self.importElement(e)
obj.AddElement(element)
return obj
def createBall(i):
fn = "/home/david/vtkESQuiData/Scenario/Organs/ball.vtp"
fnc = "/home/david/vtkESQuiData/Scenario/Organs/ball_col.vtp"
fntl = "/home/david/vtkESQuiData/Scenario/Textures/leftball.jpg"
fntr = "/home/david/vtkESQuiData/Scenario/Textures/rightball.jpg"
fntb = "/home/david/vtkESQuiData/Scenario/Textures/bothball.jpg"
# Add an Organ
# Visualization model
vis_ball = vtkesqui.vtkVisualizationModel()
#vis_ball.SetName("vis_ball"+str(i))
vis_ball.SetFileName("/home/david/vtkESQuiData/Scenario/Organs/ball.vtp")
vis_ball.SetTextureFileName(
"/home/david/vtkESQuiData/Scenario/Textures/leftball.jpg")
vis_ball.SetOpacity(1.0)
# Collision model
col_ball = vtkesqui.vtkCollisionModel()
col_ball.SetName("col_ball_vtkbioeng" + str(i))
col_ball.SetFileName("/home/david/vtkESQuiData/Scenario/Organs/ball.vtp")
col_ball.SetOpacity(1.0)
# Organ element (ball)
#x = -3 + i*2.0
e_ball = vtkesqui.vtkScenarioElement()
#e_ball.SetName("e_ball"+str(i))
e_ball.SetPosition(2 * i, -2, -3)
e_ball.SetOrientation(15, -0, 0)
e_ball.SetVisualizationModel(vis_ball)
e_ball.SetCollisionModel(col_ball)
ball = vtkesqui.vtkOrgan()
#ball.SetName("ball_"+str(i))
ball.AddElement(e_ball)
return ball
def createBall(i):
fn ="/home/david/vtkESQuiData/Scenario/Organs/ball.vtp"
fnc ="/home/david/vtkESQuiData/Scenario/Organs/ball_col.vtp"
fntl = "/home/david/vtkESQuiData/Scenario/Textures/leftball.jpg";
fntr = "/home/david/vtkESQuiData/Scenario/Textures/rightball.jpg";
fntb = "/home/david/vtkESQuiData/Scenario/Textures/bothball.jpg";
# Add an Organ
# Visualization model
vis_ball = vtkesqui.vtkVisualizationModel()
#vis_ball.SetName("vis_ball"+str(i))
vis_ball.SetFileName("/home/david/vtkESQuiData/Scenario/Organs/ball.vtp")
vis_ball.SetTextureFileName("/home/david/vtkESQuiData/Scenario/Textures/leftball.jpg")
vis_ball.SetOpacity(1.0)
# Collision model
col_ball = vtkesqui.vtkCollisionModel()
col_ball.SetName("col_ball_vtkbioeng"+str(i))
col_ball.SetFileName("/home/david/vtkESQuiData/Scenario/Organs/ball.vtp")
col_ball.SetOpacity(1.0)
# Organ element (ball)
#x = -3 + i*2.0
e_ball = vtkesqui.vtkScenarioElement()
#e_ball.SetName("e_ball"+str(i))
e_ball.SetPosition(2*i, -2, -3)
e_ball.SetOrientation(15, -0, 0)
e_ball.SetVisualizationModel(vis_ball)
e_ball.SetCollisionModel(col_ball)
ball = vtkesqui.vtkOrgan()
#ball.SetName("ball_"+str(i))
ball.AddElement(e_ball)
return ball
defo = vtkesqui.vtkParticleSpringSystemInterface()
defo.SetName("ball_ParticleSpringSystem")
defo.SetFileName(dfn)
defo.SetOpacity(0.5)
defo.SetColor(1.0, 1.0, 1.0)
ball = vtkesqui.vtkScenarioElement()
ball.SetId(0)
ball.SetName("ball")
ball.SetPosition(3.0, 0.0, 0.0)
ball.SetOrientation(0, 0, -20)
ball.SetVisualizationModel(vis)
ball.SetCollisionModel(col)
ball.SetDeformationModel(defo)
organ = vtkesqui.vtkOrgan()
organ.AddElement(ball)
organ.Update()
ren = vtk.vtkRenderer()
renWin = vtk.vtkRenderWindow()
renWin.AddRenderer(ren)
iren = vtk.vtkRenderWindowInteractor()
iren.SetRenderWindow(renWin)
ren.AddActor(vis.GetActor())
ren.AddActor(col.GetActor())
ren.AddActor(defo.GetActor())
ren.SetBackground(1.0, 1.0, 1.0)
def main():
fn0 = "/home/david/vtkESQuiData/Scenario/Tools/Grasper/stick.vtp";
fn0c = "/home/david/vtkESQuiData/Scenario/Tools/Grasper/stick_col.vtp";
fn0t = "/home/david/vtkESQuiData/Scenario/Textures/metal.jpg";
fn3 = "/home/david/vtkESQuiData/Scenario/Tools/Probe/tip.vtp";
fn3c = "/home/david/vtkESQuiData/Scenario/Tools/Probe/tip_col.vtp";
fn4 = "/home/david/vtkESQuiData/Scenario/Organs/ball.vtp";
fn4c = "/home/david/vtkESQuiData/Scenario/Organs/ball_col_bb.vtp";
fn4tl = "/home/david/vtkESQuiData/Scenario/Textures/leftball.jpg";
fn5 = "/home/david/vtkESQuiData/Scenario/Organs/cavity.vtp";
fn5t = "/home/david/vtkESQuiData/Scenario/Textures/intestine2.jpg";
#Create scenario
scenario = vtkesqui.vtkScenario()
scenario.SetName("vtkESQui - Laparoscopy (Precission & Speed)")
# Left Tool (Probe)
# Visualization model
vis_stick_l = vtkesqui.vtkVisualizationModel()
vis_stick_l.SetName("vis_stick_l")
vis_stick_l.SetFileName(fn0)
vis_stick_l.SetTextureFileName(fn0t)
vis_stick_l.SetOpacity(1.0)
vis_stick_l.SetColor(1.0, 1.0, 1.0)
# Collision model
col_stick_l = vtkesqui.vtkCollisionModel()
col_stick_l.SetName("col_stick_l_vtkbioeng")
col_stick_l.SetFileName(fn0c)
col_stick_l.SetVisibility(0.0)
# First tool element (stick_l)
stick_l = vtkesqui.vtkScenarioElement()
stick_l.SetName("stick_l")
stick_l.SetPosition(-3.0, 0.0, 0.0)
stick_l.SetOrientation(0, 0, 15)
stick_l.SetOrigin(0,0,5)
stick_l.SetVisualizationModel(vis_stick_l)
stick_l.SetCollisionModel(col_stick_l)
# Visualization model
vis_tip_l = vtkesqui.vtkVisualizationModel()
vis_tip_l.SetName("vis_tip_l")
vis_tip_l.SetFileName(fn3)
vis_tip_l.SetTextureFileName(fn0t)
vis_tip_l.SetOpacity(1.0)
# Collision model
col_tip_l = vtkesqui.vtkCollisionModel()
col_tip_l.SetName("col_tip_l_vtkbioeng")
col_tip_l.SetFileName(fn3c)
col_tip_l.SetVisibility(0.0)
# Second tool element (tip_l)
tip_l = vtkesqui.vtkScenarioElement()
tip_l.SetName("tip_l")
tip_l.SetPosition(-3.0, 0.0, 0.0)
tip_l.SetOrientation(0, 0, 15)
tip_l.SetOrigin(0,0,5)
tip_l.SetVisualizationModel(vis_tip_l)
tip_l.SetCollisionModel(col_tip_l)
probe_l = vtkesqui.vtkToolProbe()
probe_l.AddElement(stick_l)
probe_l.AddElement(tip_l)
scenario.AddObject(probe_l)
# Right tool (Grasper)
# Visualization model
vis_stick_r = vtkesqui.vtkVisualizationModel()
vis_stick_r.SetName("vis_stick_r")
vis_stick_r.SetFileName(fn0)
vis_stick_r.SetTextureFileName(fn0t)
vis_stick_r.SetOpacity(1.0)
vis_stick_r.SetColor(1.0, 1.0, 1.0)
# Collision model
col_stick_r = vtkesqui.vtkCollisionModel()
col_stick_r.SetName("col_stick_r_vtkbioeng")
col_stick_r.SetFileName(fn0c)
col_stick_r.SetVisibility(0.0)
# First tool element (stick_r)
stick_r = vtkesqui.vtkScenarioElement()
stick_r.SetName("stick_r")
stick_r.SetPosition(3.0, 0.0, 0.0)
stick_r.SetOrientation(0, 0, 15)
stick_r.SetOrigin(0,0,5)
stick_r.SetVisualizationModel(vis_stick_r)
stick_r.SetCollisionModel(col_stick_r)
# Visualization model
vis_tip_r = vtkesqui.vtkVisualizationModel()
vis_tip_r.SetName("vis_tip_r")
vis_tip_r.SetFileName(fn3)
vis_tip_r.SetTextureFileName(fn0t)
vis_tip_r.SetOpacity(1.0)
# Collision model
col_tip_r = vtkesqui.vtkCollisionModel()
col_tip_r.SetName("col_tip_r_vtkbioeng")
col_tip_r.SetFileName(fn3c)
col_tip_r.SetVisibility(0.0)
# Second tool element (tip_r)
tip_r = vtkesqui.vtkScenarioElement()
tip_r.SetName("tip_r")
tip_r.SetPosition(3.0, 0.0, 0.0)
tip_r.SetOrientation(0, 0, 15)
tip_r.SetOrigin(0,0,5)
tip_r.SetVisualizationModel(vis_tip_r)
tip_r.SetCollisionModel(col_tip_r)
probe_r = vtkesqui.vtkToolProbe()
probe_r.AddElement(stick_r)
probe_r.AddElement(tip_r)
scenario.AddObject(probe_r)
# Add an Organ (Cavity)
# Visualization model
vis_cavity = vtkesqui.vtkVisualizationModel()
vis_cavity.SetName("vis_cavity")
vis_cavity.SetFileName(fn5)
vis_cavity.SetTextureFileName(fn5t)
vis_cavity.SetOpacity(1.0)
# Organ element (cavity)
e_cavity = vtkesqui.vtkScenarioElement()
e_cavity.SetName("e_cavity")
e_cavity.SetPosition(0.0, 0.0, -1.0)
e_cavity.SetOrientation(-45, 0, 0)
e_cavity.SetVisualizationModel(vis_cavity)
cavity = vtkesqui.vtkOrgan()
cavity.SetName("cavity")
cavity.AddElement(e_cavity)
scenario.AddObject(cavity)
# Add a ball
# Visualization model
vis_ball = vtkesqui.vtkVisualizationModel()
vis_ball.SetName("vis_ball")
vis_ball.SetFileName(fn4)
vis_ball.SetColor(1.0,1.0,0.2)
vis_ball.SetOpacity(1.0)
# Collision model
col_ball = vtkesqui.vtkCollisionModel()
col_ball.SetName("col_ball_vtkbioeng")
col_ball.SetFileName(fn4c)
col_ball.SetVisibility(0.0)
col_ball.SetOpacity(0.0)
# Organ element (ball)
e_ball = vtkesqui.vtkScenarioElement()
e_ball.SetName("e_ball")
e_ball.SetVisualizationModel(vis_ball)
e_ball.SetCollisionModel(col_ball)
ball = vtkesqui.vtkOrgan()
ball.SetName("ball")
ball.AddElement(e_ball)
scenario.AddObject(ball)
# Scenario camera
camera = vtk.vtkCamera()
camera.SetPosition(0, 0, 6)
camera.SetFocalPoint(0, 0, -6)
camera.Yaw(0)
camera.Elevation(20)
camera.Pitch(-15)
camera.ParallelProjectionOff()
camera.SetViewAngle(70)
camera.Dolly(1.2)
scenario.SetCamera(camera)
#/********** Lights **********/
headLight = vtk.vtkLight()
headLight.SetLightTypeToHeadlight()
headLight.PositionalOn()
headLight.SetIntensity(0.7)
headLight.SetConeAngle(90)
scenario.AddLight(headLight)
ambientLight = vtk.vtkLight()
ambientLight.SetLightTypeToSceneLight()
ambientLight.PositionalOff()
ambientLight.SetPosition(0,1,1)
ambientLight.SetIntensity(0.5)
scenario.AddLight(ambientLight)
simulation = vtkesqui.vtkSimulation()
simulation.SetScenario(scenario)
simulation.SetRenderTimerRate(30)
simulation.SetSimulationTimerRate(1)
simulation.SetInteractionTimerRate(1)
simulation.InteractionOn()
simulation.CollisionOn()
simulation.Initialize()
#Wait for initialization to set collision mode
simulation.SetCollisionModeToSimple()
# Sign up to receive TimerEvent
iren = scenario.GetRenderWindowInteractor()
cb = vtkTimerCallback()
iren.AddObserver('TimerEvent', cb.execute)
# 100ms timer
timerId = iren.CreateRepeatingTimer(100);
cb.simulation = simulation
cb.target = ball
simulation.Run()
def main():
fn0 = "/home/david/vtkESQuiData/Scenario/Tools/Grasper/stick.vtp"
fn0c = "/home/david/vtkESQuiData/Scenario/Tools/Grasper/stick_col.vtp"
fn0t = "/home/david/vtkESQuiData/Scenario/Textures/metal.jpg"
fn3 = "/home/david/vtkESQuiData/Scenario/Tools/Probe/tip.vtp"
fn3c = "/home/david/vtkESQuiData/Scenario/Tools/Probe/tip_col.vtp"
fn4 = "/home/david/vtkESQuiData/Scenario/Organs/ball.vtp"
fn4c = "/home/david/vtkESQuiData/Scenario/Organs/ball_col_bb.vtp"
fn4tl = "/home/david/vtkESQuiData/Scenario/Textures/leftball.jpg"
fn5 = "/home/david/vtkESQuiData/Scenario/Organs/cavity.vtp"
fn5t = "/home/david/vtkESQuiData/Scenario/Textures/intestine2.jpg"
#Create scenario
scenario = vtkesqui.vtkScenario()
scenario.SetName("vtkESQui - Laparoscopy (Precission & Speed)")
# Left Tool (Probe)
# Visualization model
vis_stick_l = vtkesqui.vtkVisualizationModel()
vis_stick_l.SetName("vis_stick_l")
vis_stick_l.SetFileName(fn0)
vis_stick_l.SetTextureFileName(fn0t)
vis_stick_l.SetOpacity(1.0)
vis_stick_l.SetColor(1.0, 1.0, 1.0)
# Collision model
col_stick_l = vtkesqui.vtkCollisionModel()
col_stick_l.SetName("col_stick_l_vtkbioeng")
col_stick_l.SetFileName(fn0c)
col_stick_l.SetVisibility(0.0)
# First tool element (stick_l)
stick_l = vtkesqui.vtkScenarioElement()
stick_l.SetName("stick_l")
stick_l.SetPosition(-3.0, 0.0, 0.0)
stick_l.SetOrientation(0, 0, 15)
stick_l.SetOrigin(0, 0, 5)
stick_l.SetVisualizationModel(vis_stick_l)
stick_l.SetCollisionModel(col_stick_l)
# Visualization model
vis_tip_l = vtkesqui.vtkVisualizationModel()
vis_tip_l.SetName("vis_tip_l")
vis_tip_l.SetFileName(fn3)
vis_tip_l.SetTextureFileName(fn0t)
vis_tip_l.SetOpacity(1.0)
# Collision model
col_tip_l = vtkesqui.vtkCollisionModel()
col_tip_l.SetName("col_tip_l_vtkbioeng")
col_tip_l.SetFileName(fn3c)
col_tip_l.SetVisibility(0.0)
# Second tool element (tip_l)
tip_l = vtkesqui.vtkScenarioElement()
tip_l.SetName("tip_l")
tip_l.SetPosition(-3.0, 0.0, 0.0)
tip_l.SetOrientation(0, 0, 15)
tip_l.SetOrigin(0, 0, 5)
tip_l.SetVisualizationModel(vis_tip_l)
tip_l.SetCollisionModel(col_tip_l)
probe_l = vtkesqui.vtkToolProbe()
probe_l.AddElement(stick_l)
probe_l.AddElement(tip_l)
scenario.AddObject(probe_l)
# Right tool (Grasper)
# Visualization model
vis_stick_r = vtkesqui.vtkVisualizationModel()
vis_stick_r.SetName("vis_stick_r")
vis_stick_r.SetFileName(fn0)
vis_stick_r.SetTextureFileName(fn0t)
vis_stick_r.SetOpacity(1.0)
vis_stick_r.SetColor(1.0, 1.0, 1.0)
# Collision model
col_stick_r = vtkesqui.vtkCollisionModel()
col_stick_r.SetName("col_stick_r_vtkbioeng")
col_stick_r.SetFileName(fn0c)
col_stick_r.SetVisibility(0.0)
# First tool element (stick_r)
stick_r = vtkesqui.vtkScenarioElement()
stick_r.SetName("stick_r")
stick_r.SetPosition(3.0, 0.0, 0.0)
stick_r.SetOrientation(0, 0, 15)
stick_r.SetOrigin(0, 0, 5)
stick_r.SetVisualizationModel(vis_stick_r)
stick_r.SetCollisionModel(col_stick_r)
# Visualization model
vis_tip_r = vtkesqui.vtkVisualizationModel()
vis_tip_r.SetName("vis_tip_r")
vis_tip_r.SetFileName(fn3)
vis_tip_r.SetTextureFileName(fn0t)
vis_tip_r.SetOpacity(1.0)
# Collision model
col_tip_r = vtkesqui.vtkCollisionModel()
col_tip_r.SetName("col_tip_r_vtkbioeng")
col_tip_r.SetFileName(fn3c)
col_tip_r.SetVisibility(0.0)
# Second tool element (tip_r)
tip_r = vtkesqui.vtkScenarioElement()
tip_r.SetName("tip_r")
tip_r.SetPosition(3.0, 0.0, 0.0)
tip_r.SetOrientation(0, 0, 15)
tip_r.SetOrigin(0, 0, 5)
tip_r.SetVisualizationModel(vis_tip_r)
tip_r.SetCollisionModel(col_tip_r)
probe_r = vtkesqui.vtkToolProbe()
probe_r.AddElement(stick_r)
probe_r.AddElement(tip_r)
scenario.AddObject(probe_r)
# Add an Organ (Cavity)
# Visualization model
vis_cavity = vtkesqui.vtkVisualizationModel()
vis_cavity.SetName("vis_cavity")
vis_cavity.SetFileName(fn5)
vis_cavity.SetTextureFileName(fn5t)
vis_cavity.SetOpacity(1.0)
# Organ element (cavity)
e_cavity = vtkesqui.vtkScenarioElement()
e_cavity.SetName("e_cavity")
e_cavity.SetPosition(0.0, 0.0, -1.0)
e_cavity.SetOrientation(-45, 0, 0)
e_cavity.SetVisualizationModel(vis_cavity)
cavity = vtkesqui.vtkOrgan()
cavity.SetName("cavity")
cavity.AddElement(e_cavity)
scenario.AddObject(cavity)
# Add a ball
# Visualization model
vis_ball = vtkesqui.vtkVisualizationModel()
vis_ball.SetName("vis_ball")
vis_ball.SetFileName(fn4)
vis_ball.SetColor(1.0, 1.0, 0.2)
vis_ball.SetOpacity(1.0)
# Collision model
col_ball = vtkesqui.vtkCollisionModel()
col_ball.SetName("col_ball_vtkbioeng")
col_ball.SetFileName(fn4c)
col_ball.SetVisibility(0.0)
col_ball.SetOpacity(0.0)
# Organ element (ball)
e_ball = vtkesqui.vtkScenarioElement()
e_ball.SetName("e_ball")
e_ball.SetVisualizationModel(vis_ball)
e_ball.SetCollisionModel(col_ball)
ball = vtkesqui.vtkOrgan()
ball.SetName("ball")
ball.AddElement(e_ball)
scenario.AddObject(ball)
# Scenario camera
camera = vtk.vtkCamera()
camera.SetPosition(0, 0, 6)
camera.SetFocalPoint(0, 0, -6)
camera.Yaw(0)
camera.Elevation(20)
camera.Pitch(-15)
camera.ParallelProjectionOff()
camera.SetViewAngle(70)
camera.Dolly(1.2)
scenario.SetCamera(camera)
#/********** Lights **********/
headLight = vtk.vtkLight()
headLight.SetLightTypeToHeadlight()
headLight.PositionalOn()
headLight.SetIntensity(0.7)
headLight.SetConeAngle(90)
scenario.AddLight(headLight)
ambientLight = vtk.vtkLight()
ambientLight.SetLightTypeToSceneLight()
ambientLight.PositionalOff()
ambientLight.SetPosition(0, 1, 1)
ambientLight.SetIntensity(0.5)
scenario.AddLight(ambientLight)
simulation = vtkesqui.vtkSimulation()
simulation.SetScenario(scenario)
simulation.SetRenderTimerRate(30)
simulation.SetSimulationTimerRate(1)
simulation.SetInteractionTimerRate(1)
simulation.InteractionOn()
simulation.CollisionOn()
simulation.Initialize()
#Wait for initialization to set collision mode
simulation.SetCollisionModeToSimple()
# Sign up to receive TimerEvent
iren = scenario.GetRenderWindowInteractor()
cb = vtkTimerCallback()
iren.AddObserver('TimerEvent', cb.execute)
# 100ms timer
timerId = iren.CreateRepeatingTimer(100)
cb.simulation = simulation
cb.target = ball
simulation.Run()
def main():
fn0 = "/home/jballesteros/Workspace/data/vtkESQuiData/Scenario/Tools/Grasper/stick.vtp";
fn0c = "/home/jballesteros/Workspace/data/vtkESQuiData/Scenario/Tools/Grasper/stick_col.vtp";
fn0t = "/home/jballesteros/Workspace/data/vtkESQuiData/Scenario/Textures/metal.jpg";
fn3 = "/home/jballesteros/Workspace/data/vtkESQuiData/Scenario/Tools/Probe/tip.vtp";
fn3c = "/home/jballesteros/Workspace/data/vtkESQuiData/Scenario/Tools/Probe/tip_col.vtp";
fn4 = "/home/jballesteros/Workspace/data/vtkESQuiData/Scenario/Organs/ball.vtp";
fn4c = "/home/jballesteros/Workspace/data/vtkESQuiData/Scenario/Organs/ball_col_bb.vtp";
fn4tl = "/home/jballesteros/Workspace/data/vtkESQuiData/Scenario/Textures/leftball.jpg";
fn4tr = "/home/jballesteros/Workspace/data/vtkESQuiData/Scenario/Textures/rightball.jpg";
fn4tb = "/home/jballesteros/Workspace/data/vtkESQuiData/Scenario/Textures/bothball.jpg";
fn5 = "/home/jballesteros/Workspace/data/vtkESQuiData/Scenario/Organs/cavity.vtp";
fn5t = "/home/jballesteros/Workspace/data/vtkESQuiData/Scenario/Textures/intestine2.jpg";
#Create scenario
scenario = vtkesqui.vtkScenario()
scenario.SetName("vtkESQui - Laparoscopy (Precission & Speed)")
# Left Tool (Probe)
# Visualization model
vis_stick_l = vtkesqui.vtkVisualizationModel()
vis_stick_l.SetName("vis_stick_l")
vis_stick_l.SetFileName(fn0)
vis_stick_l.SetTextureFileName(fn0t)
vis_stick_l.SetOpacity(1.0)
vis_stick_l.SetColor(1.0, 1.0, 1.0)
# Collision model
col_stick_l = vtkesqui.vtkCollisionModel()
col_stick_l.SetName("col_stick_l_vtkbioeng")
col_stick_l.SetFileName(fn0c)
col_stick_l.SetVisibility(0.0)
# First tool element (stick_l)
stick_l = vtkesqui.vtkScenarioElement()
stick_l.SetName("stick_l")
stick_l.SetPosition(-4.0, 0.0, 0.0)
stick_l.SetOrientation(0, 0, 20)
stick_l.SetOrigin(0,0,6)
stick_l.SetVisualizationModel(vis_stick_l)
stick_l.SetCollisionModel(col_stick_l)
# Visualization model
vis_tip_l = vtkesqui.vtkVisualizationModel()
vis_tip_l.SetName("vis_tip_l")
vis_tip_l.SetFileName(fn3)
vis_tip_l.SetTextureFileName(fn0t)
vis_tip_l.SetOpacity(1.0)
vis_tip_l.SetColor(1.0, 0.0, 0.0)
# Collision model
col_tip_l = vtkesqui.vtkCollisionModel()
col_tip_l.SetName("col_tip_l_vtkbioeng")
col_tip_l.SetFileName(fn3c)
col_tip_l.SetVisibility(0.0)
# Second tool element (tip_l)
tip_l = vtkesqui.vtkScenarioElement()
tip_l.SetName("tip_l")
tip_l.SetPosition(-4.0, 0.0, 0.0)
tip_l.SetOrientation(0, 0, 20)
tip_l.SetOrigin(0,0,6)
tip_l.SetVisualizationModel(vis_tip_l)
tip_l.SetCollisionModel(col_tip_l)
probe_l = vtkesqui.vtkToolProbe()
probe_l.AddElement(stick_l)
probe_l.AddElement(tip_l)
scenario.AddObject(probe_l)
# Right tool (Grasper)
# Visualization model
vis_stick_r = vtkesqui.vtkVisualizationModel()
vis_stick_r.SetName("vis_stick_r")
vis_stick_r.SetFileName(fn0)
vis_stick_r.SetTextureFileName(fn0t)
vis_stick_r.SetOpacity(1.0)
vis_stick_r.SetColor(1.0, 1.0, 1.0)
# Collision model
col_stick_r = vtkesqui.vtkCollisionModel()
col_stick_r.SetName("col_stick_r_vtkbioeng")
col_stick_r.SetFileName(fn0c)
col_stick_r.SetVisibility(0.0)
# First tool element (stick_r)
stick_r = vtkesqui.vtkScenarioElement()
stick_r.SetName("stick_r")
stick_r.SetPosition(4.0, 0.0, 0.0)
stick_r.SetOrientation(0, 0, 20)
stick_r.SetOrigin(0,0,6)
stick_r.SetVisualizationModel(vis_stick_r)
stick_r.SetCollisionModel(col_stick_r)
# Visualization model
vis_tip_r = vtkesqui.vtkVisualizationModel()
vis_tip_r.SetName("vis_tip_r")
vis_tip_r.SetFileName(fn3)
vis_tip_r.SetTextureFileName(fn0t)
vis_tip_r.SetOpacity(1.0)
vis_tip_r.SetColor(0.0, 1.0, 0.0)
# Collision model
col_tip_r = vtkesqui.vtkCollisionModel()
col_tip_r.SetName("col_tip_r_vtkbioeng")
col_tip_r.SetFileName(fn3c)
col_tip_r.SetVisibility(0.0)
# Second tool element (tip_r)
tip_r = vtkesqui.vtkScenarioElement()
tip_r.SetName("tip_r")
tip_r.SetPosition(4.0, 0.0, 0.0)
tip_r.SetOrientation(0, 0, 20)
tip_r.SetOrigin(0,0,6)
tip_r.SetVisualizationModel(vis_tip_r)
tip_r.SetCollisionModel(col_tip_r)
probe_r = vtkesqui.vtkToolProbe()
probe_r.AddElement(stick_r)
probe_r.AddElement(tip_r)
scenario.AddObject(probe_r)
# Add an Organ (Cavity)
# Visualization model
vis_cavity = vtkesqui.vtkVisualizationModel()
vis_cavity.SetName("vis_cavity")
vis_cavity.SetFileName(fn5)
vis_cavity.SetTextureFileName(fn5t)
vis_cavity.SetOpacity(1.0)
# Organ element (cavity)
e_cavity = vtkesqui.vtkScenarioElement()
e_cavity.SetName("e_cavity")
e_cavity.SetPosition(0.0, 0.0, -3.0)
e_cavity.SetOrientation(-45, 0, 0)
e_cavity.SetVisualizationModel(vis_cavity)
cavity = vtkesqui.vtkOrgan()
cavity.SetName("cavity")
cavity.AddElement(e_cavity)
scenario.AddObject(cavity)
# Organs
balls = list()
textures = list()
textures.append(fn4tl)
textures.append(fn4tr)
textures.append(fn4tb)
reader = vtk.vtkXMLPolyDataReader()
reader.SetFileName(fn4)
reader.Update()
readerc = vtk.vtkXMLPolyDataReader()
readerc.SetFileName(fn4c)
readerc.Update()
for i in range(9):
# Define organ type
# 3 organs of each type (left, right and both)
t = i%3
px = int(i/3)
# Add a ball
# Visualization model
vis_ball = vtkesqui.vtkVisualizationModel()
vis_ball.SetName("vis_ball"+str(i))
vis_ball.SetFileName(fn4)
vis_ball.SetTextureFileName(textures[t])
vis_ball.SetOpacity(1.0)
# Collision model
col_ball = vtkesqui.vtkCollisionModel()
col_ball.SetName("col_ball_vtkbioeng"+str(i))
col_ball.SetFileName(fn4c)
col_ball.SetVisibility(0.0)
col_ball.SetOpacity(0.0)
# Organ element (ball)
#x = -3 + i*2.0
e_ball = vtkesqui.vtkScenarioElement()
e_ball.SetName("e_ball"+str(i))
e_ball.SetPosition(px-1, -2*t, -3)
e_ball.SetOrientation(15, -0, 0)
e_ball.SetVisualizationModel(vis_ball)
e_ball.SetCollisionModel(col_ball)
ball = vtkesqui.vtkOrgan()
ball.SetName("ball_"+str(i)+"_"+str(t))
ball.AddElement(e_ball)
ball.Update()
ball.Disable()
scenario.AddObject(ball)
balls.append(ball)
# Scenario camera
camera = vtk.vtkCamera()
camera.SetPosition(0, 0, 6)
camera.SetFocalPoint(0, 0, -6)
camera.Yaw(0)
camera.Elevation(20)
camera.Pitch(-15)
camera.ParallelProjectionOff()
camera.SetViewAngle(70)
camera.Dolly(1.2)
scenario.SetCamera(camera)
#/********** Lights **********/
headLight = vtk.vtkLight()
headLight.SetLightTypeToHeadlight()
headLight.PositionalOn()
headLight.SetIntensity(0.8)
headLight.SetConeAngle(60)
scenario.AddLight(headLight)
ambientLight = vtk.vtkLight()
ambientLight.SetLightTypeToSceneLight()
ambientLight.PositionalOff()
ambientLight.SetIntensity(0.1)
scenario.AddLight(ambientLight)
simulation = vtkesqui.vtkSimulation()
simulation.SetScenario(scenario)
simulation.SetRenderTimerRate(30)
simulation.SetSimulationTimerRate(1)
simulation.SetInteractionTimerRate(1)
simulation.InteractionOn()
simulation.CollisionOn()
simulation.Initialize()
#Wait for initialization to set collision mode
simulation.SetCollisionModeToSimple()
# Sign up to receive TimerEvent
iren = scenario.GetRenderWindowInteractor()
cb = vtkTimerCallback()
iren.AddObserver('TimerEvent', cb.execute)
# 100ms timer
timerId = iren.CreateRepeatingTimer(100);
cb.simulation = simulation
cb.organs = balls
simulation.Run()
def main():
fn0 = "/Users/davidcastillobolado/vtkESQuiData/Scenario/Tools/Grasper/stick.vtp"
fn0c = "/Users/davidcastillobolado/vtkESQuiData/Scenario/Tools/Grasper/stick_col.vtp"
fn1 = "/Users/davidcastillobolado/vtkESQuiData/Scenario/Tools/Grasper/lever_l.vtp"
fn1c = "/Users/davidcastillobolado/vtkESQuiData/Scenario/Tools/Grasper/lever_l_col.vtp"
fn2 = "/Users/davidcastillobolado/vtkESQuiData/Scenario/Tools/Grasper/lever_r.vtp"
fn2c = "/Users/davidcastillobolado/vtkESQuiData/Scenario/Tools/Grasper/lever_r_col.vtp"
fn0t = "/Users/davidcastillobolado/vtkESQuiData/Scenario/Textures/metal.jpg"
fn3 = "/Users/davidcastillobolado/vtkESQuiData/Scenario/Tools/Probe/tip.vtp"
fn3c = "/Users/davidcastillobolado/vtkESQuiData/Scenario/Tools/Probe/tip_col.vtp"
fn4 = "/Users/davidcastillobolado/vtkESQuiData/Scenario/Organs/ball.vtp"
fn4c = "/Users/davidcastillobolado/vtkESQuiData/Scenario/Organs/ball_col.vtp"
fn4d = "/Users/davidcastillobolado/vtkESQuiData/Scenario/Organs/ball_def_c10.vtp"
fn4t = "/Users/davidcastillobolado/vtkESQuiData/Scenario/Textures/liver.jpg"
fn5 = "/Users/davidcastillobolado/vtkESQuiData/Scenario/Organs/cavity.vtp"
fn5c = "/Users/davidcastillobolado/vtkESQuiData/Scenario/Organs/cavity_col.vtp"
fn5d = "/Users/davidcastillobolado/vtkESQuiData/Scenario/Organs/cavity_def_c10.vtp"
fn5t = "/Users/davidcastillobolado/vtkESQuiData/Scenario/Textures/intestine2.jpg"
# Left Tool (Probe)
# Visualization model
vis_stick_l = vtkesqui.vtkVisualizationModel()
vis_stick_l.SetName("vis_stick_l")
vis_stick_l.SetFileName(fn0)
vis_stick_l.SetTextureFileName(fn0t)
vis_stick_l.SetOpacity(1.0)
vis_stick_l.SetColor(1.0, 1.0, 1.0)
# Collision model
col_stick_l = vtkesqui.vtkCollisionModel()
col_stick_l.SetName("col_stick_l_vtkbioeng")
col_stick_l.SetFileName(fn0c)
col_stick_l.SetOpacity(0.0)
col_stick_l.SetColor(1.0, 1.0, 1.0)
# First tool element (stick_l)
stick_l = vtkesqui.vtkScenarioElement()
stick_l.SetName("stick_l")
stick_l.SetPosition(-4.0, 0.0, 0.0)
stick_l.SetOrientation(0, 0, 20)
stick_l.SetOrigin(0, 0, 6)
stick_l.SetVisualizationModel(vis_stick_l)
stick_l.SetCollisionModel(col_stick_l)
# Visualization model
vis_tip_l = vtkesqui.vtkVisualizationModel()
vis_tip_l.SetName("vis_tip_l")
vis_tip_l.SetFileName(fn3)
vis_tip_l.SetTextureFileName(fn0t)
vis_tip_l.SetOpacity(1.0)
vis_tip_l.SetColor(1.0, 0.0, 0.0)
# Collision model
col_tip_l = vtkesqui.vtkCollisionModel()
col_tip_l.SetName("col_tip_l_vtkbioeng")
col_tip_l.SetFileName(fn3c)
col_tip_l.SetOpacity(0.0)
col_tip_l.SetColor(1.0, 1.0, 1.0)
# Second tool element (tip_l)
tip_l = vtkesqui.vtkScenarioElement()
tip_l.SetName("tip_l")
tip_l.SetPosition(-4.0, 0.0, 0.0)
tip_l.SetOrientation(0, 0, 20)
tip_l.SetOrigin(0, 0, 6)
tip_l.SetVisualizationModel(vis_tip_l)
tip_l.SetCollisionModel(col_tip_l)
probe_l = vtkesqui.vtkToolProbe()
probe_l.AddElement(stick_l)
probe_l.AddElement(tip_l)
# Right tool (Grasper)
# Visualization model
vis_stick_r = vtkesqui.vtkVisualizationModel()
vis_stick_r.SetName("vis_stick_r")
vis_stick_r.SetFileName(fn0)
vis_stick_r.SetTextureFileName(fn0t)
vis_stick_r.SetOpacity(1.0)
vis_stick_r.SetColor(1.0, 1.0, 1.0)
# Collision model
col_stick_r = vtkesqui.vtkCollisionModel()
col_stick_r.SetName("col_stick_r_vtkbioeng")
col_stick_r.SetFileName(fn0c)
col_stick_r.SetOpacity(0.0)
col_stick_r.SetColor(1.0, 1.0, 1.0)
# First tool element (stick_r)
stick_r = vtkesqui.vtkScenarioElement()
stick_r.SetName("stick_r")
stick_r.SetPosition(4.0, 0.0, 0.0)
stick_r.SetOrientation(0, 0, -20)
stick_r.SetOrigin(0, 0, 6)
stick_r.SetVisualizationModel(vis_stick_r)
# stick_r.SetCollisionModel(col_stick_r)
# Visualization model
vis_l_lever_r = vtkesqui.vtkVisualizationModel()
vis_l_lever_r.SetName("vis_l_lever_r")
vis_l_lever_r.SetFileName(fn1)
vis_l_lever_r.SetTextureFileName(fn0t)
vis_l_lever_r.SetOpacity(1.0)
vis_l_lever_r.SetColor(0.0, 1.0, 0.0)
# Collision model
col_l_lever_r = vtkesqui.vtkCollisionModel()
col_l_lever_r.SetName("col_l_lever_r_vtkbioeng")
col_l_lever_r.SetFileName(fn1c)
col_l_lever_r.SetOpacity(0.0)
col_l_lever_r.SetColor(1.0, 1.0, 1.0)
# Second tool element (l_lever_r)
l_lever_r = vtkesqui.vtkScenarioElement()
l_lever_r.SetName("l_lever_r")
l_lever_r.SetPosition(4.0, 0.0, 0.0)
l_lever_r.SetOrientation(0, 0, -20)
l_lever_r.SetOrigin(0, 0, 6)
l_lever_r.SetVisualizationModel(vis_l_lever_r)
l_lever_r.SetCollisionModel(col_l_lever_r)
# Visualization model
vis_r_lever_r = vtkesqui.vtkVisualizationModel()
vis_r_lever_r.SetName("vis_r_lever_r")
vis_r_lever_r.SetFileName(fn2)
vis_r_lever_r.SetTextureFileName(fn0t)
vis_r_lever_r.SetOpacity(1.0)
vis_r_lever_r.SetColor(0.0, 1.0, 0.0)
# Collision model
col_r_lever_r = vtkesqui.vtkCollisionModel()
col_r_lever_r.SetName("col_r_lever_r_vtkbioeng")
col_r_lever_r.SetFileName(fn2c)
col_r_lever_r.SetOpacity(0.0)
col_r_lever_r.SetColor(1.0, 1.0, 1.0)
# Second tool element (r_lever_r)
r_lever_r = vtkesqui.vtkScenarioElement()
r_lever_r.SetName("r_lever_r")
r_lever_r.SetPosition(4.0, 0.0, 0.0)
r_lever_r.SetOrientation(0, 0, -20)
r_lever_r.SetOrigin(0, 0, 6)
r_lever_r.SetVisualizationModel(vis_r_lever_r)
r_lever_r.SetCollisionModel(col_r_lever_r)
grasper_r = vtkesqui.vtkToolGrasper()
grasper_r.SetStick(stick_r)
grasper_r.SetLeftLever(l_lever_r)
grasper_r.SetRightLever(r_lever_r)
# Add an Organ
# Visualization model
vis_ball = vtkesqui.vtkVisualizationModel()
vis_ball.SetName("vis_ball")
vis_ball.SetFileName(fn4)
vis_ball.SetTextureFileName(fn4t)
vis_ball.SetOpacity(1.0)
# Collision model
col_ball = vtkesqui.vtkCollisionModel()
col_ball.SetName("col_ball_vtkbioeng")
col_ball.SetFileName(fn4c)
col_ball.SetOpacity(0.0)
# Deformation model
def_ball = vtkesqui.vtkParticleSpringSystemInterface()
def_ball.SetName("def_ball_particle")
def_ball.SetFileName(fn4d)
def_ball.SetOpacity(0.0)
def_ball.SetSpring(150)
def_ball.SetDistance(1.0)
def_ball.SetDamping(3)
def_ball.SetMass(0.1)
def_ball.SetTimeStep(0.001)
# Organ element (ball)
e_ball = vtkesqui.vtkScenarioElement()
e_ball.SetName("ball")
e_ball.SetPosition(0.0, 0.0, -2.0)
e_ball.SetOrientation(0, 0, 0)
e_ball.SetVisualizationModel(vis_ball)
e_ball.SetCollisionModel(col_ball)
e_ball.SetDeformationModel(def_ball)
ball = vtkesqui.vtkOrgan()
ball.AddElement(e_ball)
# Add an Organ (Cavity)
# Visualization model
vis_cavity = vtkesqui.vtkVisualizationModel()
vis_cavity.SetName("vis_cavity")
vis_cavity.SetFileName(fn5)
vis_cavity.SetTextureFileName(fn5t)
vis_cavity.SetOpacity(1.0)
# Collision model
col_cavity = vtkesqui.vtkCollisionModel()
col_cavity.SetName("col_cavity_vtkbioeng")
col_cavity.SetFileName(fn5c)
col_cavity.SetOpacity(0.0)
# Deformation model
def_cavity = vtkesqui.vtkParticleSpringSystemInterface()
def_cavity.SetName("def_cavity_particle")
def_cavity.SetFileName(fn5d)
def_cavity.SetOpacity(0.0)
def_cavity.SetSpring(150)
def_cavity.SetDistance(1.0)
def_cavity.SetDamping(3)
def_cavity.SetMass(0.1)
def_cavity.SetTimeStep(0.001)
# Organ element (cavity)
e_cavity = vtkesqui.vtkScenarioElement()
e_cavity.SetName("cavity")
e_cavity.SetPosition(0.0, 0.0, -2.0)
e_cavity.SetOrientation(-30, 0, 0)
e_cavity.SetVisualizationModel(vis_cavity)
e_cavity.SetCollisionModel(col_cavity)
e_cavity.SetDeformationModel(def_cavity)
cavity = vtkesqui.vtkOrgan()
cavity.AddElement(e_cavity)
scenario = vtkesqui.vtkScenario()
scenario.SetName("vtkESQui - Laparoscopy")
scenario.AddObject(probe_l)
scenario.AddObject(grasper_r)
scenario.AddObject(ball)
scenario.AddObject(cavity)
# Scenario camera
camera = vtk.vtkCamera()
camera.SetPosition(0, 0, 6)
camera.SetFocalPoint(0, 0, -6)
camera.Yaw(0)
camera.Elevation(20)
camera.Pitch(-15)
camera.ParallelProjectionOff()
camera.SetViewAngle(70)
camera.Dolly(1.2)
scenario.SetCamera(camera)
# /********** Lights **********/
headLight = vtk.vtkLight()
headLight.SetLightTypeToHeadlight()
headLight.PositionalOn()
headLight.SetIntensity(0.8)
headLight.SetConeAngle(60)
scenario.AddLight(headLight)
ambientLight = vtk.vtkLight()
ambientLight.SetLightTypeToSceneLight()
ambientLight.PositionalOff()
ambientLight.SetPosition(0, 1, 1)
ambientLight.SetIntensity(0.5)
scenario.AddLight(ambientLight)
style = vtkesqui.vtkDefaultInteractorStyle()
style.SetScenario(scenario)
simulation = vtkesqui.vtkSimulation()
simulation.SetScenario(scenario)
simulation.SetInteractorStyle(style)
simulation.SetRenderTimerRate(50)
simulation.SetSimulationTimerRate(50)
simulation.SetInteractionTimerRate(50)
simulation.InteractionOn()
simulation.CollisionOn()
simulation.Initialize()
simulation.Run()
defo = vtkesqui.vtkParticleSpringSystemInterface()
defo.SetName("ball_ParticleSpringSystem")
defo.SetFileName(dfn)
defo.SetOpacity(0.5)
defo.SetColor(1.0, 1.0, 1.0)
ball = vtkesqui.vtkScenarioElement()
ball.SetId(0)
ball.SetName("ball")
ball.SetPosition(3.0, 0.0, 0.0)
ball.SetOrientation(0, 0, -20)
ball.SetVisualizationModel(vis)
ball.SetCollisionModel(col)
ball.SetDeformationModel(defo)
organ = vtkesqui.vtkOrgan()
organ.AddElement(ball)
organ.Update()
ren = vtk.vtkRenderer()
renWin = vtk.vtkRenderWindow()
renWin.AddRenderer(ren)
iren = vtk.vtkRenderWindowInteractor()
iren.SetRenderWindow(renWin)
ren.AddActor(vis.GetActor())
ren.AddActor(col.GetActor())
ren.AddActor(defo.GetActor())
ren.SetBackground(1.0, 1.0, 1.0)
def main():
fn0 = "/Users/davidcastillobolado/vtkESQuiData/Scenario/Tools/Grasper/stick.vtp"
fn0c = "/Users/davidcastillobolado/vtkESQuiData/Scenario/Tools/Grasper/stick_col.vtp"
fn1 = "/Users/davidcastillobolado/vtkESQuiData/Scenario/Tools/Grasper/lever_l.vtp"
fn1c = "/Users/davidcastillobolado/vtkESQuiData/Scenario/Tools/Grasper/lever_l_col.vtp"
fn2 = "/Users/davidcastillobolado/vtkESQuiData/Scenario/Tools/Grasper/lever_r.vtp"
fn2c = "/Users/davidcastillobolado/vtkESQuiData/Scenario/Tools/Grasper/lever_r_col.vtp"
fn0t = "/Users/davidcastillobolado/vtkESQuiData/Scenario/Textures/metal.jpg"
fn3 = "/Users/davidcastillobolado/vtkESQuiData/Scenario/Tools/Probe/tip.vtp"
fn3c = "/Users/davidcastillobolado/vtkESQuiData/Scenario/Tools/Probe/tip_col.vtp"
fn4 = "/Users/davidcastillobolado/vtkESQuiData/Scenario/Organs/ball.vtp"
fn4c = "/Users/davidcastillobolado/vtkESQuiData/Scenario/Organs/ball_col.vtp"
fn4d = "/Users/davidcastillobolado/vtkESQuiData/Scenario/Organs/ball_def_c10.vtp"
fn4t = "/Users/davidcastillobolado/vtkESQuiData/Scenario/Textures/liver.jpg"
fn5 = "/Users/davidcastillobolado/vtkESQuiData/Scenario/Organs/cavity.vtp"
fn5c = "/Users/davidcastillobolado/vtkESQuiData/Scenario/Organs/cavity_col.vtp"
fn5d = "/Users/davidcastillobolado/vtkESQuiData/Scenario/Organs/cavity_def_c10.vtp"
fn5t = "/Users/davidcastillobolado/vtkESQuiData/Scenario/Textures/intestine2.jpg"
# Left Tool (Probe)
# Visualization model
vis_stick_l = vtkesqui.vtkVisualizationModel()
vis_stick_l.SetName("vis_stick_l")
vis_stick_l.SetFileName(fn0)
vis_stick_l.SetTextureFileName(fn0t)
vis_stick_l.SetOpacity(1.0)
vis_stick_l.SetColor(1.0, 1.0, 1.0)
# Collision model
col_stick_l = vtkesqui.vtkCollisionModel()
col_stick_l.SetName("col_stick_l_vtkbioeng")
col_stick_l.SetFileName(fn0c)
col_stick_l.SetOpacity(0.0)
col_stick_l.SetColor(1.0, 1.0, 1.0)
# First tool element (stick_l)
stick_l = vtkesqui.vtkScenarioElement()
stick_l.SetName("stick_l")
stick_l.SetPosition(-4.0, 0.0, 0.0)
stick_l.SetOrientation(0, 0, 20)
stick_l.SetOrigin(0, 0, 6)
stick_l.SetVisualizationModel(vis_stick_l)
stick_l.SetCollisionModel(col_stick_l)
# Visualization model
vis_tip_l = vtkesqui.vtkVisualizationModel()
vis_tip_l.SetName("vis_tip_l")
vis_tip_l.SetFileName(fn3)
vis_tip_l.SetTextureFileName(fn0t)
vis_tip_l.SetOpacity(1.0)
vis_tip_l.SetColor(1.0, 0.0, 0.0)
# Collision model
col_tip_l = vtkesqui.vtkCollisionModel()
col_tip_l.SetName("col_tip_l_vtkbioeng")
col_tip_l.SetFileName(fn3c)
col_tip_l.SetOpacity(0.0)
col_tip_l.SetColor(1.0, 1.0, 1.0)
# Second tool element (tip_l)
tip_l = vtkesqui.vtkScenarioElement()
tip_l.SetName("tip_l")
tip_l.SetPosition(-4.0, 0.0, 0.0)
tip_l.SetOrientation(0, 0, 20)
tip_l.SetOrigin(0, 0, 6)
tip_l.SetVisualizationModel(vis_tip_l)
tip_l.SetCollisionModel(col_tip_l)
probe_l = vtkesqui.vtkToolProbe()
probe_l.AddElement(stick_l)
probe_l.AddElement(tip_l)
# Right tool (Grasper)
# Visualization model
vis_stick_r = vtkesqui.vtkVisualizationModel()
vis_stick_r.SetName("vis_stick_r")
vis_stick_r.SetFileName(fn0)
vis_stick_r.SetTextureFileName(fn0t)
vis_stick_r.SetOpacity(1.0)
vis_stick_r.SetColor(1.0, 1.0, 1.0)
# Collision model
col_stick_r = vtkesqui.vtkCollisionModel()
col_stick_r.SetName("col_stick_r_vtkbioeng")
col_stick_r.SetFileName(fn0c)
col_stick_r.SetOpacity(0.0)
col_stick_r.SetColor(1.0, 1.0, 1.0)
# First tool element (stick_r)
stick_r = vtkesqui.vtkScenarioElement()
stick_r.SetName("stick_r")
stick_r.SetPosition(4.0, 0.0, 0.0)
stick_r.SetOrientation(0, 0, -20)
stick_r.SetOrigin(0, 0, 6)
stick_r.SetVisualizationModel(vis_stick_r)
#stick_r.SetCollisionModel(col_stick_r)
# Visualization model
vis_l_lever_r = vtkesqui.vtkVisualizationModel()
vis_l_lever_r.SetName("vis_l_lever_r")
vis_l_lever_r.SetFileName(fn1)
vis_l_lever_r.SetTextureFileName(fn0t)
vis_l_lever_r.SetOpacity(1.0)
vis_l_lever_r.SetColor(0.0, 1.0, 0.0)
# Collision model
col_l_lever_r = vtkesqui.vtkCollisionModel()
col_l_lever_r.SetName("col_l_lever_r_vtkbioeng")
col_l_lever_r.SetFileName(fn1c)
col_l_lever_r.SetOpacity(0.0)
col_l_lever_r.SetColor(1.0, 1.0, 1.0)
# Second tool element (l_lever_r)
l_lever_r = vtkesqui.vtkScenarioElement()
l_lever_r.SetName("l_lever_r")
l_lever_r.SetPosition(4.0, 0.0, 0.0)
l_lever_r.SetOrientation(0, 0, -20)
l_lever_r.SetOrigin(0, 0, 6)
l_lever_r.SetVisualizationModel(vis_l_lever_r)
l_lever_r.SetCollisionModel(col_l_lever_r)
# Visualization model
vis_r_lever_r = vtkesqui.vtkVisualizationModel()
vis_r_lever_r.SetName("vis_r_lever_r")
vis_r_lever_r.SetFileName(fn2)
vis_r_lever_r.SetTextureFileName(fn0t)
vis_r_lever_r.SetOpacity(1.0)
vis_r_lever_r.SetColor(0.0, 1.0, 0.0)
# Collision model
col_r_lever_r = vtkesqui.vtkCollisionModel()
col_r_lever_r.SetName("col_r_lever_r_vtkbioeng")
col_r_lever_r.SetFileName(fn2c)
col_r_lever_r.SetOpacity(0.0)
col_r_lever_r.SetColor(1.0, 1.0, 1.0)
# Second tool element (r_lever_r)
r_lever_r = vtkesqui.vtkScenarioElement()
r_lever_r.SetName("r_lever_r")
r_lever_r.SetPosition(4.0, 0.0, 0.0)
r_lever_r.SetOrientation(0, 0, -20)
r_lever_r.SetOrigin(0, 0, 6)
r_lever_r.SetVisualizationModel(vis_r_lever_r)
r_lever_r.SetCollisionModel(col_r_lever_r)
grasper_r = vtkesqui.vtkToolGrasper()
grasper_r.SetStick(stick_r)
grasper_r.SetLeftLever(l_lever_r)
grasper_r.SetRightLever(r_lever_r)
# Add an Organ
# Visualization model
vis_ball = vtkesqui.vtkVisualizationModel()
vis_ball.SetName("vis_ball")
vis_ball.SetFileName(fn4)
vis_ball.SetTextureFileName(fn4t)
vis_ball.SetOpacity(1.0)
# Collision model
col_ball = vtkesqui.vtkCollisionModel()
col_ball.SetName("col_ball_vtkbioeng")
col_ball.SetFileName(fn4c)
col_ball.SetOpacity(0.0)
# Deformation model
def_ball = vtkesqui.vtkParticleSpringSystemInterface()
def_ball.SetName("def_ball_particle")
def_ball.SetFileName(fn4d)
def_ball.SetOpacity(0.0)
def_ball.SetSpring(150)
def_ball.SetDistance(1.0)
def_ball.SetDamping(3)
def_ball.SetMass(.1)
def_ball.SetTimeStep(0.001)
# Organ element (ball)
e_ball = vtkesqui.vtkScenarioElement()
e_ball.SetName("ball")
e_ball.SetPosition(0.0, 0.0, -2.0)
e_ball.SetOrientation(0, 0, 0)
e_ball.SetVisualizationModel(vis_ball)
e_ball.SetCollisionModel(col_ball)
e_ball.SetDeformationModel(def_ball)
ball = vtkesqui.vtkOrgan()
ball.AddElement(e_ball)
# Add an Organ (Cavity)
# Visualization model
vis_cavity = vtkesqui.vtkVisualizationModel()
vis_cavity.SetName("vis_cavity")
vis_cavity.SetFileName(fn5)
vis_cavity.SetTextureFileName(fn5t)
vis_cavity.SetOpacity(1.0)
# Collision model
col_cavity = vtkesqui.vtkCollisionModel()
col_cavity.SetName("col_cavity_vtkbioeng")
col_cavity.SetFileName(fn5c)
col_cavity.SetOpacity(0.0)
# Deformation model
def_cavity = vtkesqui.vtkParticleSpringSystemInterface()
def_cavity.SetName("def_cavity_particle")
def_cavity.SetFileName(fn5d)
def_cavity.SetOpacity(0.0)
def_cavity.SetSpring(150)
def_cavity.SetDistance(1.0)
def_cavity.SetDamping(3)
def_cavity.SetMass(.1)
def_cavity.SetTimeStep(0.001)
# Organ element (cavity)
e_cavity = vtkesqui.vtkScenarioElement()
e_cavity.SetName("cavity")
e_cavity.SetPosition(0.0, 0.0, -2.0)
e_cavity.SetOrientation(-30, 0, 0)
e_cavity.SetVisualizationModel(vis_cavity)
e_cavity.SetCollisionModel(col_cavity)
e_cavity.SetDeformationModel(def_cavity)
cavity = vtkesqui.vtkOrgan()
cavity.AddElement(e_cavity)
scenario = vtkesqui.vtkScenario()
scenario.SetName("vtkESQui - Laparoscopy")
scenario.AddObject(probe_l)
scenario.AddObject(grasper_r)
scenario.AddObject(ball)
scenario.AddObject(cavity)
# Scenario camera
camera = vtk.vtkCamera()
camera.SetPosition(0, 0, 6)
camera.SetFocalPoint(0, 0, -6)
camera.Yaw(0)
camera.Elevation(20)
camera.Pitch(-15)
camera.ParallelProjectionOff()
camera.SetViewAngle(70)
camera.Dolly(1.2)
scenario.SetCamera(camera)
#/********** Lights **********/
headLight = vtk.vtkLight()
headLight.SetLightTypeToHeadlight()
headLight.PositionalOn()
headLight.SetIntensity(0.8)
headLight.SetConeAngle(60)
scenario.AddLight(headLight)
ambientLight = vtk.vtkLight()
ambientLight.SetLightTypeToSceneLight()
ambientLight.PositionalOff()
ambientLight.SetPosition(0, 1, 1)
ambientLight.SetIntensity(0.5)
scenario.AddLight(ambientLight)
style = vtkesqui.vtkDefaultInteractorStyle()
style.SetScenario(scenario)
simulation = vtkesqui.vtkSimulation()
simulation.SetScenario(scenario)
simulation.SetInteractorStyle(style)
simulation.SetRenderTimerRate(50)
simulation.SetSimulationTimerRate(50)
simulation.SetInteractionTimerRate(50)
simulation.InteractionOn()
simulation.CollisionOn()
simulation.Initialize()
simulation.Run()
# Collision model
col_ball = vtkesqui.vtkCollisionModel()
col_ball.SetName("col_ball_vtkbioeng"+str(i))
col_ball.SetInput(readerc.GetOutput())
col_ball.SetOpacity(1.0)
# Organ element (ball)
#x = -3 + i*2.0
e_ball = vtkesqui.vtkScenarioElement()
e_ball.SetName("e_ball"+str(i))
e_ball.SetPosition(2*px-2, -2*t, -3)
e_ball.SetOrientation(15, -0, 0)
e_ball.SetVisualizationModel(vis_ball)
e_ball.SetCollisionModel(col_ball)
ball = vtkesqui.vtkOrgan()
ball.SetName("ball_"+str(i)+"_"+str(t))
ball.AddElement(e_ball)
ball.Update()
ren.AddActor(vis_ball.GetActor())
ren.AddActor(col_ball.GetActor())
ren.SetBackground(1.0, 1.0, 1.0)
renWin.SetSize(500, 500)
ren.ResetCamera()
ren.GetActiveCamera().Azimuth(45)
iren.Initialize()
renWin.Render()
def main():
fn0 = "/home/jballesteros/Workspace/data/vtkESQuiData/Scenario/Tools/Grasper/stick.vtp"
fn0c = "/home/jballesteros/Workspace/data/vtkESQuiData/Scenario/Tools/Grasper/stick_col.vtp"
fn0t = "/home/jballesteros/Workspace/data/vtkESQuiData/Scenario/Textures/metal.jpg"
fn3 = "/home/jballesteros/Workspace/data/vtkESQuiData/Scenario/Tools/Probe/tip.vtp"
fn3c = "/home/jballesteros/Workspace/data/vtkESQuiData/Scenario/Tools/Probe/tip_col.vtp"
fn4 = "/home/jballesteros/Workspace/data/vtkESQuiData/Scenario/Organs/ball.vtp"
fn4c = "/home/jballesteros/Workspace/data/vtkESQuiData/Scenario/Organs/ball_col_bb.vtp"
fn4tl = "/home/jballesteros/Workspace/data/vtkESQuiData/Scenario/Textures/leftball.jpg"
fn4tr = "/home/jballesteros/Workspace/data/vtkESQuiData/Scenario/Textures/rightball.jpg"
fn4tb = "/home/jballesteros/Workspace/data/vtkESQuiData/Scenario/Textures/bothball.jpg"
fn5 = "/home/jballesteros/Workspace/data/vtkESQuiData/Scenario/Organs/cavity.vtp"
fn5t = "/home/jballesteros/Workspace/data/vtkESQuiData/Scenario/Textures/intestine2.jpg"
#Create scenario
scenario = vtkesqui.vtkScenario()
scenario.SetName("vtkESQui - Laparoscopy (Precission & Speed)")
# Left Tool (Probe)
# Visualization model
vis_stick_l = vtkesqui.vtkVisualizationModel()
vis_stick_l.SetName("vis_stick_l")
vis_stick_l.SetFileName(fn0)
vis_stick_l.SetTextureFileName(fn0t)
vis_stick_l.SetOpacity(1.0)
vis_stick_l.SetColor(1.0, 1.0, 1.0)
# Collision model
col_stick_l = vtkesqui.vtkCollisionModel()
col_stick_l.SetName("col_stick_l_vtkbioeng")
col_stick_l.SetFileName(fn0c)
col_stick_l.SetVisibility(0.0)
# First tool element (stick_l)
stick_l = vtkesqui.vtkScenarioElement()
stick_l.SetName("stick_l")
stick_l.SetPosition(-4.0, 0.0, 0.0)
stick_l.SetOrientation(0, 0, 20)
stick_l.SetOrigin(0, 0, 6)
stick_l.SetVisualizationModel(vis_stick_l)
stick_l.SetCollisionModel(col_stick_l)
# Visualization model
vis_tip_l = vtkesqui.vtkVisualizationModel()
vis_tip_l.SetName("vis_tip_l")
vis_tip_l.SetFileName(fn3)
vis_tip_l.SetTextureFileName(fn0t)
vis_tip_l.SetOpacity(1.0)
vis_tip_l.SetColor(1.0, 0.0, 0.0)
# Collision model
col_tip_l = vtkesqui.vtkCollisionModel()
col_tip_l.SetName("col_tip_l_vtkbioeng")
col_tip_l.SetFileName(fn3c)
col_tip_l.SetVisibility(0.0)
# Second tool element (tip_l)
tip_l = vtkesqui.vtkScenarioElement()
tip_l.SetName("tip_l")
tip_l.SetPosition(-4.0, 0.0, 0.0)
tip_l.SetOrientation(0, 0, 20)
tip_l.SetOrigin(0, 0, 6)
tip_l.SetVisualizationModel(vis_tip_l)
tip_l.SetCollisionModel(col_tip_l)
probe_l = vtkesqui.vtkToolProbe()
probe_l.AddElement(stick_l)
probe_l.AddElement(tip_l)
scenario.AddObject(probe_l)
# Right tool (Grasper)
# Visualization model
vis_stick_r = vtkesqui.vtkVisualizationModel()
vis_stick_r.SetName("vis_stick_r")
vis_stick_r.SetFileName(fn0)
vis_stick_r.SetTextureFileName(fn0t)
vis_stick_r.SetOpacity(1.0)
vis_stick_r.SetColor(1.0, 1.0, 1.0)
# Collision model
col_stick_r = vtkesqui.vtkCollisionModel()
col_stick_r.SetName("col_stick_r_vtkbioeng")
col_stick_r.SetFileName(fn0c)
col_stick_r.SetVisibility(0.0)
# First tool element (stick_r)
stick_r = vtkesqui.vtkScenarioElement()
stick_r.SetName("stick_r")
stick_r.SetPosition(4.0, 0.0, 0.0)
stick_r.SetOrientation(0, 0, 20)
stick_r.SetOrigin(0, 0, 6)
stick_r.SetVisualizationModel(vis_stick_r)
stick_r.SetCollisionModel(col_stick_r)
# Visualization model
vis_tip_r = vtkesqui.vtkVisualizationModel()
vis_tip_r.SetName("vis_tip_r")
vis_tip_r.SetFileName(fn3)
vis_tip_r.SetTextureFileName(fn0t)
vis_tip_r.SetOpacity(1.0)
vis_tip_r.SetColor(0.0, 1.0, 0.0)
# Collision model
col_tip_r = vtkesqui.vtkCollisionModel()
col_tip_r.SetName("col_tip_r_vtkbioeng")
col_tip_r.SetFileName(fn3c)
col_tip_r.SetVisibility(0.0)
# Second tool element (tip_r)
tip_r = vtkesqui.vtkScenarioElement()
tip_r.SetName("tip_r")
tip_r.SetPosition(4.0, 0.0, 0.0)
tip_r.SetOrientation(0, 0, 20)
tip_r.SetOrigin(0, 0, 6)
tip_r.SetVisualizationModel(vis_tip_r)
tip_r.SetCollisionModel(col_tip_r)
probe_r = vtkesqui.vtkToolProbe()
probe_r.AddElement(stick_r)
probe_r.AddElement(tip_r)
scenario.AddObject(probe_r)
# Add an Organ (Cavity)
# Visualization model
vis_cavity = vtkesqui.vtkVisualizationModel()
vis_cavity.SetName("vis_cavity")
vis_cavity.SetFileName(fn5)
vis_cavity.SetTextureFileName(fn5t)
vis_cavity.SetOpacity(1.0)
# Organ element (cavity)
e_cavity = vtkesqui.vtkScenarioElement()
e_cavity.SetName("e_cavity")
e_cavity.SetPosition(0.0, 0.0, -3.0)
e_cavity.SetOrientation(-45, 0, 0)
e_cavity.SetVisualizationModel(vis_cavity)
cavity = vtkesqui.vtkOrgan()
cavity.SetName("cavity")
cavity.AddElement(e_cavity)
scenario.AddObject(cavity)
# Organs
balls = list()
textures = list()
textures.append(fn4tl)
textures.append(fn4tr)
textures.append(fn4tb)
reader = vtk.vtkXMLPolyDataReader()
reader.SetFileName(fn4)
reader.Update()
readerc = vtk.vtkXMLPolyDataReader()
readerc.SetFileName(fn4c)
readerc.Update()
for i in range(9):
# Define organ type
# 3 organs of each type (left, right and both)
t = i % 3
px = int(i / 3)
# Add a ball
# Visualization model
vis_ball = vtkesqui.vtkVisualizationModel()
vis_ball.SetName("vis_ball" + str(i))
vis_ball.SetFileName(fn4)
vis_ball.SetTextureFileName(textures[t])
vis_ball.SetOpacity(1.0)
# Collision model
col_ball = vtkesqui.vtkCollisionModel()
col_ball.SetName("col_ball_vtkbioeng" + str(i))
col_ball.SetFileName(fn4c)
col_ball.SetVisibility(0.0)
col_ball.SetOpacity(0.0)
# Organ element (ball)
#x = -3 + i*2.0
e_ball = vtkesqui.vtkScenarioElement()
e_ball.SetName("e_ball" + str(i))
e_ball.SetPosition(px - 1, -2 * t, -3)
e_ball.SetOrientation(15, -0, 0)
e_ball.SetVisualizationModel(vis_ball)
e_ball.SetCollisionModel(col_ball)
ball = vtkesqui.vtkOrgan()
ball.SetName("ball_" + str(i) + "_" + str(t))
ball.AddElement(e_ball)
ball.Update()
ball.Disable()
scenario.AddObject(ball)
balls.append(ball)
# Scenario camera
camera = vtk.vtkCamera()
camera.SetPosition(0, 0, 6)
camera.SetFocalPoint(0, 0, -6)
camera.Yaw(0)
camera.Elevation(20)
camera.Pitch(-15)
camera.ParallelProjectionOff()
camera.SetViewAngle(70)
camera.Dolly(1.2)
scenario.SetCamera(camera)
#/********** Lights **********/
headLight = vtk.vtkLight()
headLight.SetLightTypeToHeadlight()
headLight.PositionalOn()
headLight.SetIntensity(0.8)
headLight.SetConeAngle(60)
scenario.AddLight(headLight)
ambientLight = vtk.vtkLight()
ambientLight.SetLightTypeToSceneLight()
ambientLight.PositionalOff()
ambientLight.SetIntensity(0.1)
scenario.AddLight(ambientLight)
simulation = vtkesqui.vtkSimulation()
simulation.SetScenario(scenario)
simulation.SetRenderTimerRate(30)
simulation.SetSimulationTimerRate(1)
simulation.SetInteractionTimerRate(1)
simulation.InteractionOn()
simulation.CollisionOn()
simulation.Initialize()
#Wait for initialization to set collision mode
simulation.SetCollisionModeToSimple()
# Sign up to receive TimerEvent
iren = scenario.GetRenderWindowInteractor()
cb = vtkTimerCallback()
iren.AddObserver('TimerEvent', cb.execute)
# 100ms timer
timerId = iren.CreateRepeatingTimer(100)
cb.simulation = simulation
cb.organs = balls
simulation.Run()
