/
plotter.py
578 lines (439 loc) · 21.5 KB
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plotter.py
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import numpy as np
import scipy as sp
import scipy.interpolate
import scipy.spatial
import pickle
import vtk
import vtk.util.colors
import math
import warnings
warnings.filterwarnings("error")
class Plotter:
COLOR_BG = vtk.util.colors.light_grey
COLOR_BG_PLOT = vtk.util.colors.ghost_white
#vtk.util.colors.ivory
COLOR_OBSTACLE = vtk.util.colors.banana
COLOR_SITES = vtk.util.colors.cobalt
COLOR_PATH = vtk.util.colors.brick
COLOR_CONTROL_POINTS = vtk.util.colors.tomato
COLOR_CONTROL_POLIG = vtk.util.colors.mint
COLOR_GRAPH = vtk.util.colors.sepia
COLOR_PLOT_CURV = vtk.util.colors.blue
COLOR_PLOT_TORS = vtk.util.colors.red
COLOR_LABELS = vtk.util.colors.blue
COLOR_LENGTH = vtk.util.colors.red
_DEFAULT_LINE_THICKNESS = 0.0005
_DEFAULT_POINT_THICKNESS = 0.002
_DEFAULT_BSPLINE_THICKNESS = 0.001
class KeyPressInteractorStyle(vtk.vtkInteractorStyleUnicam):
_screenshotFile = "/tmp/screenshot.png"
_cameraFile = "/tmp/cameraData.dat"
_cameraFile2 = "/tmp/cameraData2.dat"
def __init__(self, parent=None):
self.AddObserver("KeyPressEvent", self._keyPressEvent)
self.AddObserver("RightButtonPressEvent", self._mousePressEvent)
#super(KeyPressInteractorStyle, self).__init__()
def SetCamera(self, camera):
self._camera = camera
def SetRenderer(self, renderer):
self._renderer = renderer
def SetRenderWindow(self, renderWindow):
self._renderWindow = renderWindow
def _keyPressEvent(self, obj, event):
if obj.GetInteractor().GetKeySym() == "l":
print("Scene screenshot in "+self._screenshotFile)
w2if = vtk.vtkWindowToImageFilter()
w2if.SetInput(self._renderWindow)
w2if.Update()
writer = vtk.vtkPNGWriter()
writer.SetFileName(self._screenshotFile)
writer.SetInputData(w2if.GetOutput())
writer.Write()
elif obj.GetInteractor().GetKeySym() == "c":
print("Save camera data in "+self._cameraFile)
record = {}
record['position'] = self._camera.GetPosition()
record['focalPoint'] = self._camera.GetFocalPoint()
record['viewAngle'] = self._camera.GetViewAngle()
record['viewUp'] = self._camera.GetViewUp()
record['clippingRange'] = self._camera.GetClippingRange()
with open(self._cameraFile, 'wb') as f:
pickle.dump(record, f)
elif obj.GetInteractor().GetKeySym() == "v":
print("Restore camera data from "+self._cameraFile)
with open(self._cameraFile, 'rb') as f:
record = pickle.load(f)
self._camera.SetPosition(record['position'])
self._camera.SetFocalPoint(record['focalPoint'])
self._camera.SetViewAngle(record['viewAngle'])
self._camera.SetViewUp(record['viewUp'])
self._camera.SetClippingRange(record['clippingRange'])
self._renderWindow.Render()
elif obj.GetInteractor().GetKeySym() == "b":
print("Restore camera data from "+self._cameraFile2)
with open(self._cameraFile2, 'rb') as f:
record = pickle.load(f)
self._camera.SetPosition(record['position'])
self._camera.SetFocalPoint(record['focalPoint'])
self._camera.SetViewAngle(record['viewAngle'])
self._camera.SetViewUp(record['viewUp'])
self._camera.SetClippingRange(record['clippingRange'])
self._renderWindow.Render()
self.OnKeyPress()
def _mousePressEvent(self, obj, event):
clickPos = obj.GetInteractor().GetEventPosition()
picker =vtk.vtkPropPicker()
picker.Pick(clickPos[0], clickPos[1], 0, self._renderer)
pos = picker.GetPickPosition()
print(pos)
class KeyPressContextInteractorStyle(vtk.vtkContextInteractorStyle):
_screenshotFile = "/tmp/screenshot.png"
def __init__(self, parent=None):
self.AddObserver("KeyPressEvent",self._keyPressEvent)
def SetRenderWindow(self, renderWindow):
self._renderWindow = renderWindow
def _keyPressEvent(self, obj, event):
if obj.GetInteractor().GetKeySym() == "l":
print("Plot screenshot in "+self._screenshotFile)
w2if = vtk.vtkWindowToImageFilter()
w2if.SetInput(self._renderWindow)
w2if.Update()
writer = vtk.vtkPNGWriter()
writer.SetFileName(self._screenshotFile)
writer.SetInputData(w2if.GetOutput())
writer.Write()
def __init__(self):
self._rendererScene = vtk.vtkRenderer()
self._rendererScene.SetBackground(self.COLOR_BG)
self._renderWindowScene = vtk.vtkRenderWindow()
self._renderWindowScene.AddRenderer(self._rendererScene)
self._renderWindowInteractor = vtk.vtkRenderWindowInteractor()
self._renderWindowInteractor.SetRenderWindow(self._renderWindowScene)
#self._interactorStyle = vtk.vtkInteractorStyleUnicam()
self._interactorStyle = self.KeyPressInteractorStyle()
self._interactorStyle.SetCamera(self._rendererScene.GetActiveCamera())
self._interactorStyle.SetRenderer(self._rendererScene)
self._interactorStyle.SetRenderWindow(self._renderWindowScene)
self._contextViewPlotCurv = vtk.vtkContextView()
self._contextViewPlotCurv.GetRenderer().SetBackground(self.COLOR_BG_PLOT)
self._contextInteractorStyleCurv = self.KeyPressContextInteractorStyle()
self._contextInteractorStyleCurv.SetRenderWindow(self._contextViewPlotCurv.GetRenderWindow())
self._chartXYCurv = vtk.vtkChartXY()
self._contextViewPlotCurv.GetScene().AddItem(self._chartXYCurv)
self._chartXYCurv.SetShowLegend(True)
self._chartXYCurv.GetAxis(vtk.vtkAxis.LEFT).SetTitle("")
self._chartXYCurv.GetAxis(vtk.vtkAxis.BOTTOM).SetTitle("")
self._contextViewPlotTors = vtk.vtkContextView()
self._contextViewPlotTors.GetRenderer().SetBackground(self.COLOR_BG_PLOT)
self._contextInteractorStyleTors = self.KeyPressContextInteractorStyle()
self._contextInteractorStyleTors.SetRenderWindow(self._contextViewPlotTors.GetRenderWindow())
self._chartXYTors = vtk.vtkChartXY()
self._contextViewPlotTors.GetScene().AddItem(self._chartXYTors)
self._chartXYTors.SetShowLegend(True)
self._chartXYTors.GetAxis(vtk.vtkAxis.LEFT).SetTitle("")
self._chartXYTors.GetAxis(vtk.vtkAxis.BOTTOM).SetTitle("")
self._textActor = vtk.vtkTextActor()
self._textActor.GetTextProperty().SetColor(self.COLOR_LENGTH)
self._addedBSpline = False
def draw(self):
self._renderWindowInteractor.Initialize()
self._renderWindowInteractor.SetInteractorStyle(self._interactorStyle)
axes = vtk.vtkAxesActor()
widget = vtk.vtkOrientationMarkerWidget()
widget.SetOutlineColor(0.9300, 0.5700, 0.1300)
widget.SetOrientationMarker(axes)
widget.SetInteractor(self._renderWindowInteractor)
#widget.SetViewport(0.0, 0.0, 0.1, 0.1)
widget.SetViewport(0.0, 0.0, 0.2, 0.4)
widget.SetEnabled(True)
widget.InteractiveOn()
textWidget = vtk.vtkTextWidget()
textRepresentation = vtk.vtkTextRepresentation()
textRepresentation.GetPositionCoordinate().SetValue(.0,.0 )
textRepresentation.GetPosition2Coordinate().SetValue(.3,.04 )
textWidget.SetRepresentation(textRepresentation)
textWidget.SetInteractor(self._renderWindowInteractor)
textWidget.SetTextActor(self._textActor)
textWidget.SelectableOff()
textWidget.On()
self._rendererScene.ResetCamera()
camPos = self._rendererScene.GetActiveCamera().GetPosition()
self._rendererScene.GetActiveCamera().SetPosition((camPos[2],camPos[1],camPos[0]))
self._rendererScene.GetActiveCamera().SetViewUp((0.0,0.0,1.0))
self._rendererScene.GetActiveCamera().Zoom(1.4)
self._renderWindowScene.Render()
if self._addedBSpline:
self._contextViewPlotCurv.GetRenderWindow().SetMultiSamples(0)
self._contextViewPlotCurv.GetInteractor().Initialize()
self._contextViewPlotCurv.GetInteractor().SetInteractorStyle(self._contextInteractorStyleCurv)
#self._contextViewPlotCurv.GetInteractor().Start()
self._contextViewPlotTors.GetRenderWindow().SetMultiSamples(0)
self._contextViewPlotTors.GetInteractor().Initialize()
self._contextViewPlotTors.GetInteractor().SetInteractorStyle(self._contextInteractorStyleTors)
self._contextViewPlotTors.GetInteractor().Start()
else:
self._renderWindowInteractor.Start()
def addTetrahedron(self, vertexes, color):
vtkPoints = vtk.vtkPoints()
vtkPoints.InsertNextPoint(vertexes[0][0], vertexes[0][1], vertexes[0][2])
vtkPoints.InsertNextPoint(vertexes[1][0], vertexes[1][1], vertexes[1][2])
vtkPoints.InsertNextPoint(vertexes[2][0], vertexes[2][1], vertexes[2][2])
vtkPoints.InsertNextPoint(vertexes[3][0], vertexes[3][1], vertexes[3][2])
unstructuredGrid = vtk.vtkUnstructuredGrid()
unstructuredGrid.SetPoints(vtkPoints)
unstructuredGrid.InsertNextCell(vtk.VTK_TETRA, 4, range(4))
mapper = vtk.vtkDataSetMapper()
mapper.SetInputData(unstructuredGrid)
actor = vtk.vtkActor()
actor.SetMapper(mapper)
actor.GetProperty().SetColor(color)
self._rendererScene.AddActor(actor)
def addTriangles(self, triangles, color):
vtkPoints = vtk.vtkPoints()
idPoint = 0
allIdsTriangle = []
for triangle in triangles:
idsTriangle = []
for point in triangle:
vtkPoints.InsertNextPoint(point[0], point[1], point[2])
idsTriangle.append(idPoint)
idPoint += 1
allIdsTriangle.append(idsTriangle)
unstructuredGrid = vtk.vtkUnstructuredGrid()
unstructuredGrid.SetPoints(vtkPoints)
for idsTriangle in allIdsTriangle:
unstructuredGrid.InsertNextCell(vtk.VTK_TRIANGLE, 3, idsTriangle)
mapper = vtk.vtkDataSetMapper()
mapper.SetInputData(unstructuredGrid)
actor = vtk.vtkActor()
actor.SetMapper(mapper)
actor.GetProperty().SetColor(color)
self._rendererScene.AddActor(actor)
def addPolyLine(self, points, color, thick=False, thickness=_DEFAULT_LINE_THICKNESS):
vtkPoints = vtk.vtkPoints()
for point in points:
vtkPoints.InsertNextPoint(point[0], point[1], point[2])
if thick:
cellArray = vtk.vtkCellArray()
cellArray.InsertNextCell(len(points))
for i in range(len(points)):
cellArray.InsertCellPoint(i)
polyData = vtk.vtkPolyData()
polyData.SetPoints(vtkPoints)
polyData.SetLines(cellArray)
tubeFilter = vtk.vtkTubeFilter()
tubeFilter.SetNumberOfSides(8)
tubeFilter.SetInputData(polyData)
tubeFilter.SetRadius(thickness)
tubeFilter.Update()
mapper = vtk.vtkPolyDataMapper()
mapper.SetInputConnection(tubeFilter.GetOutputPort())
else:
unstructuredGrid = vtk.vtkUnstructuredGrid()
unstructuredGrid.SetPoints(vtkPoints)
for i in range(1, len(points)):
unstructuredGrid.InsertNextCell(vtk.VTK_LINE, 2, [i-1, i])
mapper = vtk.vtkDataSetMapper()
mapper.SetInputData(unstructuredGrid)
actor = vtk.vtkActor()
actor.SetMapper(mapper)
actor.GetProperty().SetColor(color)
self._rendererScene.AddActor(actor)
def addPoints(self, points, color, thick=False, thickness=_DEFAULT_POINT_THICKNESS):
vtkPoints = vtk.vtkPoints()
for point in points:
vtkPoints.InsertNextPoint(point[0], point[1], point[2])
pointsPolyData = vtk.vtkPolyData()
pointsPolyData.SetPoints(vtkPoints)
if thick:
sphereSource = vtk.vtkSphereSource()
sphereSource.SetRadius(thickness)
glyph3D = vtk.vtkGlyph3D()
glyph3D.SetSourceConnection(sphereSource.GetOutputPort())
glyph3D.SetInputData(pointsPolyData)
glyph3D.Update()
mapper = vtk.vtkPolyDataMapper()
mapper.SetInputConnection(glyph3D.GetOutputPort())
else:
vertexFilter = vtk.vtkVertexGlyphFilter()
vertexFilter.SetInputData(pointsPolyData)
vertexFilter.Update()
mapper = vtk.vtkPolyDataMapper()
mapper.SetInputData(vertexFilter.GetOutput())
actor = vtk.vtkActor()
actor.SetMapper(mapper)
actor.GetProperty().SetColor(color)
self._rendererScene.AddActor(actor)
def addBSpline(self, path, degree, color, thick=False, thickness=_DEFAULT_BSPLINE_THICKNESS):
self._addedBSpline = True
tau, u, spline, splineD1, splineD2, splineD3, curv, tors, arcLength, polLength = path.splinePoints()
self._textActor.SetInput("Length: "+str(arcLength))
numIntervals = len(tau)-1
curvPlotActor = vtk.vtkXYPlotActor()
curvPlotActor.SetTitle("Curvature")
curvPlotActor.SetXTitle("")
curvPlotActor.SetYTitle("")
curvPlotActor.SetXValuesToIndex()
torsPlotActor = vtk.vtkXYPlotActor()
torsPlotActor.SetTitle("Torsion")
torsPlotActor.SetXTitle("")
torsPlotActor.SetYTitle("")
torsPlotActor.SetXValuesToIndex()
uArrays = []
curvArrays = []
torsArrays = []
for i in range(numIntervals):
uArrays.append(vtk.vtkDoubleArray())
uArrays[i].SetName("t")
curvArrays.append(vtk.vtkDoubleArray())
curvArrays[i].SetName("Curvature")
torsArrays.append(vtk.vtkDoubleArray())
torsArrays[i].SetName("Torsion")
curvTorsArray = vtk.vtkDoubleArray()
#minCurv = minTors = minNd1Xd2 = float("inf")
#maxCurv = maxTors = float("-inf")
for i in range(len(u)):
for j in range(numIntervals):
if u[i] >= tau[j] and u[i] < tau[j+1]:
break
uArrays[j].InsertNextValue(u[i])
curvArrays[j].InsertNextValue(curv[i])
torsArrays[j].InsertNextValue(tors[i])
curvTorsArray.InsertNextValue(curv[i])# + abs(tors[i]))
#print("minCurv: {:e}; maxCurv: {:e}; minTors: {:e}; maxTors: {:e}; minNd1Xd2: {:e}".format(minCurv, maxCurv, minTors, maxTors, minNd1Xd2))
for inter in range(numIntervals):
plotTable = vtk.vtkTable()
plotTable.AddColumn(uArrays[inter])
plotTable.AddColumn(curvArrays[inter])
plotTable.AddColumn(torsArrays[inter])
points = self._chartXYCurv.AddPlot(vtk.vtkChart.LINE)
points.SetInputData(plotTable, 0, 1)
points.SetColor(self.COLOR_PLOT_CURV[0], self.COLOR_PLOT_CURV[1], self.COLOR_PLOT_CURV[2])
points.SetWidth(1.0)
if inter > 0:
points.SetLegendVisibility(False)
points = self._chartXYTors.AddPlot(vtk.vtkChart.LINE)
points.SetInputData(plotTable, 0, 2)
points.SetColor(self.COLOR_PLOT_TORS[0], self.COLOR_PLOT_TORS[1], self.COLOR_PLOT_TORS[2])
points.SetWidth(1.0)
if inter > 0:
points.SetLegendVisibility(False)
vtkPoints = vtk.vtkPoints()
for point in spline:
vtkPoints.InsertNextPoint(point[0], point[1], point[2])
polyDataLabelP = vtk.vtkPolyData()
polyDataLabelP.SetPoints(vtkPoints)
labels = vtk.vtkStringArray()
labels.SetNumberOfValues(len(spline))
labels.SetName("labels")
for i in range(len(spline)):
if i == 0:
labels.SetValue(i, "S")
elif i == len(spline)-1:
labels.SetValue(i, "E")
else:
labels.SetValue(i, "")
polyDataLabelP.GetPointData().AddArray(labels)
sizes = vtk.vtkIntArray()
sizes.SetNumberOfValues(len(spline))
sizes.SetName("sizes")
for i in range(len(spline)):
if i == 0 or i == len(spline)-1:
sizes.SetValue(i, 10)
else:
sizes.SetValue(i,1)
polyDataLabelP.GetPointData().AddArray(sizes)
pointMapper = vtk.vtkPolyDataMapper()
pointMapper.SetInputData(polyDataLabelP)
pointActor = vtk.vtkActor()
pointActor.SetMapper(pointMapper)
pointSetToLabelHierarchyFilter = vtk.vtkPointSetToLabelHierarchy()
pointSetToLabelHierarchyFilter.SetInputData(polyDataLabelP)
pointSetToLabelHierarchyFilter.SetLabelArrayName("labels")
pointSetToLabelHierarchyFilter.SetPriorityArrayName("sizes")
pointSetToLabelHierarchyFilter.GetTextProperty().SetColor(self.COLOR_LABELS)
pointSetToLabelHierarchyFilter.GetTextProperty().SetFontSize(15)
pointSetToLabelHierarchyFilter.GetTextProperty().SetBold(True)
pointSetToLabelHierarchyFilter.Update()
labelMapper = vtk.vtkLabelPlacementMapper()
labelMapper.SetInputConnection(pointSetToLabelHierarchyFilter.GetOutputPort())
labelActor = vtk.vtkActor2D()
labelActor.SetMapper(labelMapper)
self._rendererScene.AddActor(labelActor)
if thick:
cellArray = vtk.vtkCellArray()
cellArray.InsertNextCell(len(spline))
for i in range(len(spline)):
cellArray.InsertCellPoint(i)
polyData = vtk.vtkPolyData()
polyData.SetPoints(vtkPoints)
polyData.SetLines(cellArray)
polyData.GetPointData().SetScalars(curvTorsArray)
tubeFilter = vtk.vtkTubeFilter()
tubeFilter.SetNumberOfSides(8)
tubeFilter.SetInputData(polyData)
tubeFilter.SetRadius(thickness)
tubeFilter.Update()
mapper = vtk.vtkPolyDataMapper()
mapper.SetInputConnection(tubeFilter.GetOutputPort())
else:
unstructuredGrid = vtk.vtkUnstructuredGrid()
unstructuredGrid.SetPoints(vtkPoints)
for i in range(1, len(spline)):
unstructuredGrid.InsertNextCell(vtk.VTK_LINE, 2, [i-1, i])
unstructuredGrid.GetPointData().SetScalars(curvArray)
mapper = vtk.vtkDataSetMapper()
mapper.SetInputData(unstructuredGrid)
actor = vtk.vtkActor()
actor.SetMapper(mapper)
actor.GetProperty().SetColor(color)
self._rendererScene.AddActor(actor)
#self.addPolyLine(list(zip(out[0], out[1], out[2])), color, thick, thickness)
def addBSplineDEPRECATED(self, controlPolygon, degree, color, thick=False, thickness=_DEFAULT_BSPLINE_THICKNESS):
x = controlPolygon[:,0]
y = controlPolygon[:,1]
z = controlPolygon[:,2]
polLen = 0.
for i in range(1, len(controlPolygon)):
polLen += sp.spatial.distance.euclidean(controlPolygon[i-1], controlPolygon[i])
t = range(len(controlPolygon))
ipl_t = np.linspace(0.0, len(controlPolygon) - 1, max(polLen*100,100))
x_tup = sp.interpolate.splrep(t, x, k = degree)
y_tup = sp.interpolate.splrep(t, y, k = degree)
z_tup = sp.interpolate.splrep(t, z, k = degree)
x_list = list(x_tup)
xl = x.tolist()
x_list[1] = xl + [0.0, 0.0, 0.0, 0.0]
y_list = list(y_tup)
yl = y.tolist()
y_list[1] = yl + [0.0, 0.0, 0.0, 0.0]
z_list = list(z_tup)
zl = z.tolist()
z_list[1] = zl + [0.0, 0.0, 0.0, 0.0]
x_i = sp.interpolate.splev(ipl_t, x_list)
y_i = sp.interpolate.splev(ipl_t, y_list)
z_i = sp.interpolate.splev(ipl_t, z_list)
self.addPolyLine(list(zip(x_i, y_i, z_i)), color, thick, thickness)
def addGraph(self, graph, color):
vtkPoints = vtk.vtkPoints()
vtkId = 0
graph2VtkId = {}
for node in graph.nodes():
vtkPoints.InsertNextPoint(graph.node[node]['coord'][0], graph.node[node]['coord'][1], graph.node[node]['coord'][2])
graph2VtkId[node] = vtkId
vtkId += 1
unstructuredGrid = vtk.vtkUnstructuredGrid()
unstructuredGrid.SetPoints(vtkPoints)
for edge in graph.edges():
unstructuredGrid.InsertNextCell(vtk.VTK_LINE, 2, [graph2VtkId[edge[0]], graph2VtkId[edge[1]]])
mapper = vtk.vtkDataSetMapper()
mapper.SetInputData(unstructuredGrid)
actor = vtk.vtkActor()
actor.SetMapper(mapper)
actor.GetProperty().SetColor(color)
self._rendererScene.AddActor(actor)
def addGraphNodes(self, graph, color):
nodes = []
for node in graph.nodes():
nodes.append((graph.node[node]['coord'][0], graph.node[node]['coord'][1], graph.node[node]['coord'][2]))
self.addPoints(nodes, color, thick=True)