Exemple #1
0
 def importElement(self, e):
     print '\telement: '+e.get('Name')+'...'
     element = vtkesqui.vtkScenarioElement()
     element.SetName(e.get('Name'))
     element.SetStatus(e.get('Status'))
     
     a = str(e.get('Scale')).split(" ")
     element.SetScale(float(a[0]), float(a[1]), float(a[2]))
     a = str(e.get('Origin')).split(" ")
     element.SetOrigin(float(a[0]), float(a[1]), float(a[2]))
     a = str(e.get('Position')).split(" ")
     element.SetPosition(float(a[0]), float(a[1]), float(a[2]))
     a = str(e.get('Orientation')).split(" ")
     element.SetOrientation(float(a[0]), float(a[1]), float(a[2]))
     #Import element models
     for child in e:
         if(child.tag == "Models"):
             for m in child:
                 if (m.tag == "Model"):
                     model = self.importModel(m)
                     if (m.get('Type') == 'Visualization'):
                         element.SetVisualizationModel(model)
                     elif (m.get('Type') == 'Collision'):
                         element.SetCollisionModel(model)
                     elif (m.get('Type') == 'Deformation'):
                         element.SetDeformationModel(model)
     return element
Exemple #2
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    def importElement(self, e):
        print '\telement: ' + e.get('Name') + '...'
        element = vtkesqui.vtkScenarioElement()
        element.SetName(e.get('Name'))
        element.SetStatus(e.get('Status'))

        a = str(e.get('Scale')).split(" ")
        element.SetScale(float(a[0]), float(a[1]), float(a[2]))
        a = str(e.get('Origin')).split(" ")
        element.SetOrigin(float(a[0]), float(a[1]), float(a[2]))
        a = str(e.get('Position')).split(" ")
        element.SetPosition(float(a[0]), float(a[1]), float(a[2]))
        a = str(e.get('Orientation')).split(" ")
        element.SetOrientation(float(a[0]), float(a[1]), float(a[2]))
        #Import element models
        for child in e:
            if (child.tag == "Models"):
                for m in child:
                    if (m.tag == "Model"):
                        model = self.importModel(m)
                        if (m.get('Type') == 'Visualization'):
                            element.SetVisualizationModel(model)
                        elif (m.get('Type') == 'Collision'):
                            element.SetCollisionModel(model)
                        elif (m.get('Type') == 'Deformation'):
                            element.SetDeformationModel(model)
        return element
Exemple #3
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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
Exemple #4
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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
Exemple #5
0
def main():

  fn0 = "/home/david/vtkESQuiData/Scenario/Tools/Grasper/stick.vtp";
  fn0c = "/home/david/vtkESQuiData/Scenario/Tools/Grasper/stick_col.vtp";
  fn1 = "/home/david/vtkESQuiData/Scenario/Tools/Grasper/lever_l.vtp";
  fn1c = "/home/david/vtkESQuiData/Scenario/Tools/Grasper/lever_l_col.vtp";
  fn2 = "/home/david/vtkESQuiData/Scenario/Tools/Grasper/lever_r.vtp";
  fn2c = "/home/david/vtkESQuiData/Scenario/Tools/Grasper/lever_r_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";

  #Create scenario
  scenario = vtkesqui.vtkScenario()
  
  # 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(1.0)
  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(-3.0, 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(1.0)
  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(-3.0, 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(1.0)
  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(3.0, 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(1.0)
  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(3.0, 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(1.0)
  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(3.0, 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 objects to the scenario
  scenario.AddObject(probe_l)
  scenario.AddObject(grasper_r)

  #for i in range(2):
  #i = 0
  
  b = createBall(0)
  scenario.AddObject(b)
  
  # 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)
  scenario.SetCamera(camera)
  
  #/********** Lights  **********/
  headLight = vtk.vtkLight()
  headLight.SetLightTypeToHeadlight()
  headLight.PositionalOn()
  headLight.SetIntensity(0.8)
  headLight.SetConeAngle(20)
  scenario.AddLight(headLight)
  
  ambientLight = vtk.vtkLight()
  ambientLight.SetIntensity(0.8)
  ambientLight.SetLightTypeToHeadlight()
  ambientLight.PositionalOff()
  scenario.AddLight(ambientLight)

  # Force the scenario to initialize
  scenario.Update()
  
  # Sign up to receive TimerEvent
  iren = scenario.GetRenderWindowInteractor()
  cb = vtkTimerCallback()
  iren.AddObserver('TimerEvent', cb.execute)
  # 1ms timer
  timerId = iren.CreateRepeatingTimer(1);
  cb.scenario = scenario
  
  iren.Start()
Exemple #6
0
vis = vtkesqui.vtkVisualizationModel();
vis.SetName("sphere_vis");
vis.SetInput(input);
vis.SetTextureFileName(tfn);
vis.SetOpacity(1.0);
vis.SetColor(1.0, 1.0, 1.0);

col = vtkesqui.vtkCollisionModel();
col.SetName("sphere_col");
col.SetInput(input_col);
col.SetOpacity(0.5);
col.SetColor(0.0, 0.0, 1.0);
col.SetRadius(0.02)

stick = vtkesqui.vtkScenarioElement();
stick.SetId(0);
stick.SetName("sphere");
stick.SetOrigin(0.0, 0.0, 0.0);
stick.SetPosition(3.0, 0.0, 0.0);
stick.SetOrientation(0, 0, -20);
stick.SetVisualizationModel(vis);
stick.SetCollisionModel(col);

stick.Update()

ren = vtk.vtkRenderer()
renWin = vtk.vtkRenderWindow()
renWin.AddRenderer(ren)
renWin.SetWindowName("vtkESQui - ScenarioElement")
iren = vtk.vtkRenderWindowInteractor()
Exemple #7
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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()
vis = vtkesqui.vtkVisualizationModel();
vis.SetName("stick_vis");
vis.SetInput(input);
vis.SetTextureFileName(tfn);
vis.SetOpacity(1.0);
vis.SetColor(1.0, 1.0, 1.0);

col = vtkesqui.vtkCollisionModel();
col.SetName("vtkbioeng");
col.SetInput(input_col);
col.SetOpacity(0.5);
col.SetColor(0.0, 0.0, 1.0);
col.SetRadius(0.02)

stick = vtkesqui.vtkScenarioElement();
stick.SetId(0);
stick.SetName("stick");
stick.SetOrigin(0.0, 0.0, 0.0);
stick.SetPosition(3.0, 0.0, 0.0);
stick.SetOrientation(0, 0, -20);
stick.SetVisualizationModel(vis);
stick.SetCollisionModel(col);

stick.Update()

ren = vtk.vtkRenderer()
renWin = vtk.vtkRenderWindow()
renWin.AddRenderer(ren)
iren = vtk.vtkRenderWindowInteractor()
iren.SetRenderWindow(renWin)
Exemple #9
0
def main():

  fn ="/home/david/vtkESQuiData/Scenario/Organs/ball.vtp"
  tfn ="/home/david/vtkESQuiData/Scenario/Textures/muscle.jpg"
  cfn ="/home/david/vtkESQuiData/Scenario/Organs/ball_col.vtp"
  dfn ="/home/david/vtkESQuiData/Scenario/Organs/ball_def_c10.vtp"

  # Visualization Model
  vis = vtkesqui.vtkVisualizationModel()
  vis.SetName("ball_vis")
  vis.SetFileName(fn)
  vis.SetTextureFileName(tfn)
  vis.SetOpacity(1.0)
  vis.SetColor(1.0, 1.0, 1.0)

  # Visualization Model
  col = vtkesqui.vtkCollisionModel()
  col.SetName("ball_vtkbioeng")
  col.SetFileName(cfn)
  col.SetVisibility(1)
  
  # Deformation Model
  defo = vtkesqui.vtkParticleSpringSystemInterface()
  defo.SetName("ball_defo")
  defo.SetFileName(dfn)
  defo.SetOpacity(0.5)
  defo.SetVisibility(1)
  defo.SetColor(1.0, 1.0, 1.0)
  defo.SetSpring(150)
  defo.SetDistance(1.0)
  defo.SetDamping(3)
  defo.SetMass(.5)
  defo.SetTimeStep(0.001)

  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)

  ball.Update()

  ren = vtk.vtkRenderer()
  renWin = vtk.vtkRenderWindow()
  renWin.AddRenderer(ren)
  renWin.SetWindowName("vtkESQui - Particle Spring System")
  iren = vtk.vtkRenderWindowInteractor()
  iren.SetRenderWindow(renWin)

  ren.AddActor(vis.GetActor())
  ren.AddActor(col.GetActor())
  ren.AddActor(defo.GetActor())

  ren.SetBackground(0.3, 0.6, 0.3)
  renWin.SetSize(800, 600)

  ren.ResetCamera()
  camera = ren.GetActiveCamera()
  camera.Azimuth(15)
  camera.Zoom(1.6)
  
  iren.Initialize()

  # Sign up to receive TimerEvent
  cb = vtkTimerCallback()
  cb.ball = ball
  iren.AddObserver('TimerEvent', cb.execute)
  timerId = iren.CreateRepeatingTimer(1)
  cb.renderTimerId = timerId
  cb.defo = defo
  
  iren.Start()
Exemple #10
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()
Exemple #11
0
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()
Exemple #12
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(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()
Exemple #13
0
# Visualization Model
col = vtkesqui.vtkCollisionModel()
col.SetName("ball_vtkbioeng")
col.SetFileName(cfn)
col.SetOpacity(1.0)
col.SetColor(0.0, 0.0, 1.0)

# Deformation Model
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()
Exemple #14
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()
Exemple #15
0
# Visualization Model
col = vtkesqui.vtkCollisionModel()
col.SetName("ball_vtkbioeng")
col.SetFileName(cfn)
col.SetOpacity(1.0)
col.SetColor(0.0, 0.0, 1.0)

# Deformation Model
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()
def main():

    fn0 = "/home/david/vtkESQuiData/Scenario/Tools/Grasper/stick.vtp"
    fn0c = "/home/david/vtkESQuiData/Scenario/Tools/Grasper/stick_col.vtp"
    fn1 = "/home/david/vtkESQuiData/Scenario/Tools/Grasper/lever_l.vtp"
    fn1c = "/home/david/vtkESQuiData/Scenario/Tools/Grasper/lever_l_col.vtp"
    fn2 = "/home/david/vtkESQuiData/Scenario/Tools/Grasper/lever_r.vtp"
    fn2c = "/home/david/vtkESQuiData/Scenario/Tools/Grasper/lever_r_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"

    # 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(1.0)
    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(-3.0, 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(1.0)
    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(-3.0, 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(1.0)
    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(3.0, 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(1.0)
    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(3.0, 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(1.0)
    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(3.0, 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)

    scenario = vtkesqui.vtkScenario()

    scenario.AddObject(probe_l)
    scenario.AddObject(grasper_r)

    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)

    scenario.SetCamera(camera)

    scenario.Update()

    style = vtkesqui.vtkDefaultInteractorStyle()
    style.SetScenario(scenario)
    style.Initialize()

    iren = scenario.GetRenderWindowInteractor()
    iren.SetInteractorStyle(style)
    iren.Initialize()

    # Sign up to receive TimerEvent
    cb = vtkTimerCallback()
    iren.AddObserver('TimerEvent', cb.execute)
    # 1ms timer
    timerId = iren.CreateRepeatingTimer(1)
    cb.scenario = scenario

    iren.Start()
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()