renWin = vtk.vtkRenderWindow() renWin.SetSize(640*2, 480*1) iren = vtk.vtkRenderWindowInteractor() iren.SetRenderWindow(renWin) renWinD = vtk.vtkRenderWindow() renWinD.SetSize(640*2, 480*1) irenD = vtk.vtkRenderWindowInteractor() irenD.SetRenderWindow(renWinD) # scenario renScenario = vtk.vtkRenderer() renScenario.SetBackground(eggshell) renScenario.SetViewport(0.0 / 2.0, 0.0, 1.0 / 2.0, 1.0) cameraActor = vtk.vtkCameraActor() cameraActor.SetCamera(di.get_vtk_camera()) cameraActor.SetWidthByHeightRatio(di.get_width_by_height_ratio()) renScenario.AddActor(cameraActor) renScenario.AddActor(sourceAo.actor) renScenario.AddActor(surfAo.actor) renScenario.AddActor(meshAo.actor) renScenario.GetActiveCamera().SetPosition(2.0, 7.0, 8.0) renScenario.GetActiveCamera().SetFocalPoint(0.0, 1.0, 0.0) # surf renSurf = vtk.vtkRenderer() renSurf.SetBackground(eggshell) renSurf.SetViewport(1.0 / 2.0, 0.0, 2.0 / 2.0, 1.0) cameraActor = vtk.vtkCameraActor() cameraActor.SetCamera(di.get_vtk_camera())
def add_sensor_visualization(filter_depth_image, positions, vtk_renderer):
"""
Add visualization specific to the sensor
:param filter_depth_image: FilterDepthImage, needed to get camera info
:param positions: list of sensor positions
:param vtk_renderer: The vtkRenderer where the actors will be added.
"""
""" Frustum of the sensor """
cameraActor = vtk.vtkCameraActor()
cameraActor.SetCamera(filter_depth_image.get_vtk_camera())
cameraActor.SetWidthByHeightRatio(filter_depth_image.get_width_by_height_ratio())
cameraActor.GetProperty().SetColor(blue)
""" Path of the sensor """
npts = positions.shape[0]
points = vtk.vtkPoints()
points.SetNumberOfPoints(npts)
lines = vtk.vtkCellArray()
lines.InsertNextCell(npts)
for i, pos in enumerate(positions):
points.SetPoint(i, pos)
lines.InsertCellPoint(i)
polydata = vtk.vtkPolyData()
polydata.SetPoints(points)
polydata.SetLines(lines)
polymapper = vtk.vtkPolyDataMapper()
polymapper.SetInputData(polydata)
polymapper.Update()
actor = vtk.vtkActor()
actor.SetMapper(polymapper)
actor.GetProperty().SetColor(blue)
actor.GetProperty().SetOpacity(0.5)
ball = vtk.vtkSphereSource()
ball.SetRadius(0.02)
ball.SetThetaResolution(12)
ball.SetPhiResolution(12)
balls = vtk.vtkGlyph3D()
balls.SetInputData(polydata)
balls.SetSourceConnection(ball.GetOutputPort())
mapBalls = vtk.vtkPolyDataMapper()
mapBalls.SetInputConnection(balls.GetOutputPort())
spcActor = vtk.vtkActor()
spcActor.SetMapper(mapBalls)
spcActor.GetProperty().SetColor(hot_pink)
spcActor.GetProperty().SetSpecularColor(1, 1, 1)
spcActor.GetProperty().SetSpecular(0.3)
spcActor.GetProperty().SetSpecularPower(20)
spcActor.GetProperty().SetAmbient(0.2)
spcActor.GetProperty().SetDiffuse(0.8)
""" Add to the given renderer """
vtk_renderer.AddActor(spcActor)
vtk_renderer.AddActor(cameraActor)
vtk_renderer.AddActor(actor)
