sphere.SetNumberOfPoints(25) # Triangulate the points with vtkDelaunay3D. This generates a convex hull # of tetrahedron. delny = vtk.vtkDelaunay3D() delny.SetInputConnection(sphere.GetOutputPort()) delny.SetTolerance(0.01) # The triangulation has texture coordinates generated so we can map # a texture onto it. tmapper = vtk.vtkTextureMapToCylinder() tmapper.SetInputConnection(delny.GetOutputPort()) tmapper.PreventSeamOn() # We scale the texture coordinate to get some repeat patterns. xform = vtk.vtkTransformTextureCoords() xform.SetInputConnection(tmapper.GetOutputPort()) xform.SetScale(4, 4, 1) # vtkDataSetMapper internally uses a vtkGeometryFilter to extract the # surface from the triangulation. The output (which is vtkPolyData) is # then passed to an internal vtkPolyDataMapper which does the # rendering. mapper = vtk.vtkDataSetMapper() mapper.SetInputConnection(xform.GetOutputPort()) # A texture is loaded using an image reader. Textures are simply images. # The texture is eventually associated with an actor. bmpReader = vtk.vtkBMPReader() bmpReader.SetFileName(VTK_DATA_ROOT + "/Data/masonry.bmp") atext = vtk.vtkTexture()
def add_eye_ball(self, pose, orientation):
# Eye ball
sphere = vtk.vtkSphereSource()
sphere.SetThetaResolution(64)
sphere.SetPhiResolution(64)
sphere.SetRadius(0.5)
reader = vtk.vtkJPEGReader()
reader.SetFileName(os.path.join(rospkg.RosPack().get_path('motion_renderer'), 'resource', 'green_eye.jpg'))
texture = vtk.vtkTexture()
texture.SetInputConnection(reader.GetOutputPort())
map_to_sphere = vtk.vtkTextureMapToSphere()
map_to_sphere.SetInputConnection(sphere.GetOutputPort())
map_to_sphere.PreventSeamOn()
xform = vtk.vtkTransformTextureCoords()
xform.SetInputConnection(map_to_sphere.GetOutputPort())
xform.SetScale(1.5, 1.5, 1)
mapper = vtk.vtkPolyDataMapper()
mapper.SetInputConnection(xform.GetOutputPort())
# Left Eye Actor
eye_actor = vtk.vtkActor()
eye_actor.SetMapper(mapper)
eye_actor.SetTexture(texture)
eye_actor.SetPosition(pose[0], pose[1], pose[2])
eye_actor.RotateX(orientation[0])
eye_actor.RotateY(orientation[1])
eye_actor.RotateZ(orientation[2])
self.ren.AddActor(eye_actor)
return eye_actor
def __init__(self, module_manager):
SimpleVTKClassModuleBase.__init__(
self, module_manager,
vtk.vtkTransformTextureCoords(), 'Processing.',
('vtkDataSet',), ('vtkDataSet',),
replaceDoc=True,
inputFunctions=None, outputFunctions=None)
def main(argv):
colors = vtk.vtkNamedColors()
if (len(argv) < 2):
print("Usage: " + argv[0] + " texture(.png/.ppm) e.g. earth.ppm" +
" [translate]")
sys.exit(-1)
translate = [0.0, 0.0, 0.0]
if len(argv) > 2:
translate[0] = float(argv[2])
else:
translate[0] = 0.0
translate[1] = 0.0
translate[2] = 0.0
print("%f, %f, %f" % (translate[0], translate[1], translate[2]))
# Create a sphere with texture coordinates
source = vtk.vtkTexturedSphereSource()
source.SetThetaResolution(100)
source.SetPhiResolution(100)
# Read texture file
readerFactory = vtk.vtkImageReader2Factory()
# imageReader = vtk.vtkImageReader2()
imageReader = readerFactory.CreateImageReader2(argv[1])
imageReader.SetFileName(argv[1])
# Create texture
texture = vtk.vtkTexture()
texture.SetInputConnection(imageReader.GetOutputPort())
transformTexture = vtk.vtkTransformTextureCoords()
transformTexture.SetInputConnection(source.GetOutputPort())
transformTexture.SetPosition(translate)
mapper = vtk.vtkPolyDataMapper()
mapper.SetInputConnection(transformTexture.GetOutputPort())
actor = vtk.vtkActor()
actor.SetMapper(mapper)
actor.SetTexture(texture)
renderer = vtk.vtkRenderer()
renderer.AddActor(actor)
renderer.SetBackground(colors.GetColor3d("Black"))
renderWindow = vtk.vtkRenderWindow()
renderWindow.AddRenderer(renderer)
renderWindow.SetWindowName("TexturedSphere")
renWinInteractor = vtk.vtkRenderWindowInteractor()
renWinInteractor.SetRenderWindow(renderWindow)
renderWindow.Render()
renWinInteractor.Start()
def test_vtk_shananigans(self):
sphere = vtk.vtkPointSource()
sphere.SetNumberOfPoints(25)
mesh = Mesh("data/wing_off_files/synth_wing_v3.off")
# Triangulate the points with vtkDelaunay3D. This generates a convex hull
# of tetrahedron.
delny = vtk.vtkDelaunay3D()
delny.SetInputConnection(sphere.GetOutputPort())
delny.SetTolerance(0.01)
print(dir(mesh.pv_mesh))
# The triangulation has texture coordinates generated so we can map
# a texture onto it.
tmapper = vtk.vtkTextureMapToCylinder()
tmapper.SetInputDataObject(mesh.pv_mesh.GetPointData().GetOutputPort())
tmapper.PreventSeamOn()
# We scale the texture coordinate to get some repeat patterns.
xform = vtk.vtkTransformTextureCoords()
xform.SetInputConnection(tmapper.GetOutputPort())
xform.SetScale(4, 4, 1)
# vtkDataSetMapper internally uses a vtkGeometryFilter to extract the
# surface from the triangulation. The output (which is vtkPolyData) is
# then passed to an internal vtkPolyDataMapper which does the
# rendering.
mapper = vtk.vtkDataSetMapper()
mapper.SetInputConnection(xform.GetOutputPort())
# A texture is loaded using an image reader. Textures are simply images.
# The texture is eventually associated with an actor.
bmpReader = vtk.vtkPNGReader()
bmpReader.SetFileName("data/textures/checkers.png")
atext = vtk.vtkTexture()
atext.SetInputConnection(bmpReader.GetOutputPort())
atext.InterpolateOn()
triangulation = vtk.vtkActor()
triangulation.SetMapper(mapper)
triangulation.SetTexture(atext)
# Create the standard rendering stuff.
ren = vtk.vtkRenderer()
renWin = vtk.vtkRenderWindow()
renWin.AddRenderer(ren)
iren = vtk.vtkRenderWindowInteractor()
iren.SetRenderWindow(renWin)
# Add the actors to the renderer, set the background and size
ren.AddActor(triangulation)
ren.SetBackground(1, 1, 1)
renWin.SetSize(300, 300)
iren.Initialize()
renWin.Render()
iren.Start()
def assignTexture(actor, name, scale=1, falsecolors=False, mapTo=1):
'''Assign a texture to actor from file or name in /textures directory'''
if mapTo == 1: tmapper = vtk.vtkTextureMapToCylinder()
elif mapTo == 2: tmapper = vtk.vtkTextureMapToSphere()
elif mapTo == 3: tmapper = vtk.vtkTextureMapToPlane()
setInput(tmapper, polydata(actor))
if mapTo == 1: tmapper.PreventSeamOn()
xform = vtk.vtkTransformTextureCoords()
xform.SetInputConnection(tmapper.GetOutputPort())
xform.SetScale(scale, scale, scale)
if mapTo == 1: xform.FlipSOn()
xform.Update()
mapper = vtk.vtkDataSetMapper()
mapper.SetInputConnection(xform.GetOutputPort())
mapper.ScalarVisibilityOff()
cdir = os.path.dirname(__file__)
if cdir == '': cdir = '.'
fn = cdir + '/textures/' + name + ".jpg"
if os.path.exists(name):
fn = name
elif not os.path.exists(fn):
colors.printc(('Texture', name, 'not found in', cdir + '/textures'),
'r')
colors.printc('Available textures:', c='m', end=' ')
for ff in os.listdir(cdir + '/textures'):
colors.printc(ff.split('.')[0], end=' ', c='m')
print()
return
jpgReader = vtk.vtkJPEGReader()
jpgReader.SetFileName(fn)
atext = vtk.vtkTexture()
atext.RepeatOn()
atext.EdgeClampOff()
atext.InterpolateOn()
if falsecolors: atext.MapColorScalarsThroughLookupTableOn()
atext.SetInputConnection(jpgReader.GetOutputPort())
actor.GetProperty().SetColor(1, 1, 1)
actor.SetMapper(mapper)
actor.SetTexture(atext)
# Generate texture coordinates on a "random" sphere.
# create some random points in a sphere
#
sphere = vtk.vtkPointSource()
sphere.SetNumberOfPoints(25)
# triangulate the points
#
del1 = vtk.vtkDelaunay3D()
del1.SetInputConnection(sphere.GetOutputPort())
del1.SetTolerance(0.01)
# texture map the sphere (using cylindrical coordinate system)
#
tmapper = vtk.vtkTextureMapToCylinder()
tmapper.SetInputConnection(del1.GetOutputPort())
tmapper.PreventSeamOn()
xform = vtk.vtkTransformTextureCoords()
xform.SetInputConnection(tmapper.GetOutputPort())
xform.SetScale(4, 4, 1)
mapper = vtk.vtkDataSetMapper()
mapper.SetInputConnection(xform.GetOutputPort())
# load in the texture map and assign to actor
#
bmpReader = vtk.vtkBMPReader()
bmpReader.SetFileName("" + str(VTK_DATA_ROOT) + "/Data/masonry.bmp")
atext = vtk.vtkTexture()
atext.SetInputConnection(bmpReader.GetOutputPort())
atext.InterpolateOn()
triangulation = vtk.vtkActor()
triangulation.SetMapper(mapper)
triangulation.SetTexture(atext)
# Create rendering stuff
def main():
# Read from file
stlreader = vtk.vtkSTLReader()
stlreader.SetFileName(
r"D:\DT-cat_Synthetic_Data_Generation\vtk_generation\mino_3d_model\demo_part\F58001104949503200002.stl"
)
tmapper = vtk.vtkTextureMapToCylinder()
tmapper.SetInputConnection(stlreader.GetOutputPort())
tmapper.PreventSeamOn()
xform = vtk.vtkTransformTextureCoords()
xform.SetInputConnection(tmapper.GetOutputPort())
xform.SetScale(0.5, 0.5, 0.5)
mapper = vtk.vtkPolyDataMapper()
mapper.SetInputConnection(xform.GetOutputPort())
# A texture is loaded using an image reader. Textures are simply images.
# The texture is eventually associated with an actor.
#bmpReader = vtk.vtkBMPReader()
#bmpReader.SetFileName("D:\DT-cat_Synthetic_Data_Generation\\texture\\2.bmp")
#atext = vtk.vtkTexture()
#atext.SetInputConnection(bmpReader.GetOutputPort())
#atext.InterpolateOn()
cylinderActor = vtk.vtkActor()
cylinderActor.RotateWXYZ(0, 1, 0, 0)
cylinderActor.GetProperty().SetColor(0.2, 0.3, 0.7)
cylinderActor.SetMapper(
mapper) # 设置生成几何图元的Mapper。即连接一个Actor到可视化管线的末端(可视化管线的末端就是Mapper)。
#cylinderActor.SetTexture(atext)
renderer = vtk.vtkRenderer() # 负责管理场景的渲染过程
renderer.AddActor(cylinderActor)
light = vtk.vtkLight()
light.SetPosition(400, 0, 00)
renderer.AddLight(light)
renderer.SetBackground(0.1, 0.2, 0.4)
renWin = vtk.vtkRenderWindow() # 将操作系统与VTK渲染引擎连接到一起。
renWin.AddRenderer(renderer)
renWin.SetSize(300, 300)
iren = vtk.vtkRenderWindowInteractor() # 提供平台独立的响应鼠标、键盘和时钟事件的交互机制
iren.SetRenderWindow(renWin)
# 交互器样式的一种，该样式下，用户是通过控制相机对物体作旋转、放大、缩小等操作
style = vtk.vtkInteractorStyleTrackballCamera()
axes = vtk.vtkAxesActor()
renderer.AddActor(axes)
iren.SetInteractorStyle(style)
iren.Initialize()
iren.Start()
# Clean up
# del cylinder
del stlreader
del cylinderActor
del renderer
del renWin
del iren
