def main():
colors = vtk.vtkNamedColors()
camera = vtk.vtkCamera()
camera.SetClippingRange(0.1, 0.4)
planesArray = [0] * 24
camera.GetFrustumPlanes(1.0, planesArray)
planes = vtk.vtkPlanes()
planes.SetFrustumPlanes(planesArray)
frustumSource = vtk.vtkFrustumSource()
frustumSource.ShowLinesOff()
frustumSource.SetPlanes(planes)
shrink = vtk.vtkShrinkPolyData()
shrink.SetInputConnection(frustumSource.GetOutputPort())
shrink.SetShrinkFactor(.9)
mapper = vtk.vtkPolyDataMapper()
mapper.SetInputConnection(shrink.GetOutputPort())
back = vtk.vtkProperty()
back.SetColor(colors.GetColor3d("Tomato"))
actor = vtk.vtkActor()
actor.SetMapper(mapper)
actor.GetProperty().EdgeVisibilityOn()
actor.GetProperty().SetColor(colors.GetColor3d("Banana"))
actor.SetBackfaceProperty(back)
# a renderer and render window
renderer = vtk.vtkRenderer()
renderWindow = vtk.vtkRenderWindow()
renderWindow.SetWindowName("Frustum")
renderWindow.AddRenderer(renderer)
# an interactor
renderWindowInteractor = vtk.vtkRenderWindowInteractor()
renderWindowInteractor.SetRenderWindow(renderWindow)
# add the actors to the scene
renderer.AddActor(actor)
renderer.SetBackground(colors.GetColor3d("Silver"))
# Position the camera so that we can see the frustum
renderer.GetActiveCamera().SetPosition(1, 0, 0)
renderer.GetActiveCamera().SetFocalPoint(0, 0, 0)
renderer.GetActiveCamera().SetViewUp(0, 1, 0)
renderer.GetActiveCamera().Azimuth(30)
renderer.GetActiveCamera().Elevation(30)
renderer.ResetCamera()
# render an image (lights and cameras are created automatically)
renderWindow.Render()
# begin mouse interaction
renderWindowInteractor.Start()
def create_frustum(aspect_ratio, fovy, scale, R, t):
camera = vtk.vtkCamera()
camera.SetViewAngle(fovy)
print(t.item(0), t.item(1), t.item(2))
camera.SetPosition(t.item(0), t.item(1), t.item(2))
camera.SetViewUp(R[0][0], R[1][0], R[2][0])
camera.SetFocalPoint(0.0, 0.0, 1.0)
camera.SetClippingRange(1e-9, scale)
planes_array = [0] * 24
camera.GetFrustumPlanes(aspect_ratio, planes_array)
planes = vtk.vtkPlanes()
planes.SetFrustumPlanes(planes_array)
frustumSource = vtk.vtkFrustumSource()
frustumSource.SetPlanes(planes)
extract_edges = vtk.vtkExtractEdges()
extract_edges.SetInputConnection(frustumSource.GetOutputPort())
extract_edges.Update()
return extract_edges.GetOutput()
def __init__(self, parent = None):
super(VTKFrame, self).__init__(parent)
self.vtkWidget = QVTKRenderWindowInteractor(self)
vl = QtGui.QVBoxLayout(self)
vl.addWidget(self.vtkWidget)
vl.setContentsMargins(0, 0, 0, 0)
self.ren = vtk.vtkRenderer()
self.ren.SetBackground(0.1, 0.2, 0.4)
self.vtkWidget.GetRenderWindow().AddRenderer(self.ren)
self.iren = self.vtkWidget.GetRenderWindow().GetInteractor()
# Create source
camera = vtk.vtkCamera()
planesArray = [0]*24
camera.GetFrustumPlanes(2, planesArray)
planes = vtk.vtkPlanes()
planes.SetFrustumPlanes(planesArray)
frustumSource = vtk.vtkFrustumSource()
frustumSource.SetPlanes(planes)
frustumSource.Update()
frustum = frustumSource.GetOutput()
mapper = vtk.vtkPolyDataMapper()
mapper.SetInput(frustum)
actor = vtk.vtkActor()
actor.SetMapper(mapper)
self.ren.AddActor(actor)
self.ren.ResetCamera()
self._initialized = False
# create a rendering window and renderer ren = vtk.vtkRenderer() renWin = vtk.vtkRenderWindow() renWin.AddRenderer(ren) # create a renderwindowinteractor iren = vtk.vtkRenderWindowInteractor() iren.SetRenderWindow(renWin) planesArray=[0]*24 # Allocate a list of length 24 camera = vtk.vtkCamera() camera.GetFrustumPlanes(1, planesArray) planes=vtk.vtkPlanes() planes.SetFrustumPlanes(planesArray) frustumSource = vtk.vtkFrustumSource() frustumSource.SetPlanes(planes) frustumSource.ShowLinesOff(); frustumSource.Update() # mapper mapper = vtk.vtkPolyDataMapper() mapper.SetInputData(frustumSource.GetOutput()) # actor actor = vtk.vtkActor() actor.SetMapper(mapper) actor.GetProperty().SetColor(0.8,0.9,0.7) # assign actor to the renderer ren.AddActor(actor)
def main(argv):
if len(argv) < 3:
print("Usage: " + argv[0] + " polydata texture")
return 0
polyData = ReadPolyData(argv[1])
readerFactory = vtk.vtkImageReader2Factory()
textureFile = readerFactory.CreateImageReader2(argv[2])
textureFile.SetFileName(argv[2])
textureFile.Update()
colors = vtk.vtkNamedColors()
center = polyData.GetCenter()
print("Center: %f, %f, %f" % (center[0], center[1], center[2]))
camera = vtk.vtkCamera()
camera.SetPosition(center[0], center[1] + .0375, center[2] + .5)
camera.SetFocalPoint(center[0], center[1] + .0375, center[2])
camera.Azimuth(-45)
camera.Roll(-90)
camera.SetClippingRange(.5, .6)
planesArray = 24 * [1.0]
camera.GetFrustumPlanes(1.0, planesArray)
# Settings for vtkProjectedTexture
aspect = [1.0, 1.0, 1.0]
aspect[1] = (
1.0 /
(vtk.vtkMath.RadiansFromDegrees(math.tan(camera.GetViewAngle()))))
aspect[2] = 2.0
print("Aspect: %f, %f, %f" % (aspect[0], aspect[1], aspect[2]))
projectedTexture = vtk.vtkProjectedTexture()
projectedTexture.SetAspectRatio(aspect)
projectedTexture.SetPosition(camera.GetPosition())
projectedTexture.SetFocalPoint(camera.GetFocalPoint())
projectedTexture.SetUp(camera.GetViewUp()[0],
camera.GetViewUp()[1],
camera.GetViewUp()[2])
projectedTexture.SetInputData(polyData)
projectedTexture.Update()
# Map Texture on Surface
polyData.GetPointData().SetTCoords(
projectedTexture.GetOutput().GetPointData().GetTCoords())
texture = vtk.vtkTexture()
texture.SetInputData(textureFile.GetOutput())
mapper = vtk.vtkPolyDataMapper()
mapper.SetInputData(polyData)
actor = vtk.vtkActor()
actor.SetMapper(mapper)
actor.SetTexture(texture)
planes = vtk.vtkPlanes()
planes.SetFrustumPlanes(planesArray)
frustumSource = vtk.vtkFrustumSource()
frustumSource.ShowLinesOff()
frustumSource.SetPlanes(planes)
frustumSource.Update()
frustumMapper = vtk.vtkPolyDataMapper()
frustumMapper.SetInputConnection(frustumSource.GetOutputPort())
frustumActor = vtk.vtkActor()
frustumActor.SetMapper(frustumMapper)
frustumActor.GetProperty().EdgeVisibilityOn()
frustumActor.GetProperty().SetColor(colors.GetColor3d("Banana"))
frustumActor.GetProperty().SetOpacity(.5)
frustumActor.GetProperty().SetRepresentationToWireframe()
renderer = vtk.vtkRenderer()
renderer.AddActor(actor)
renderer.AddActor(frustumActor)
renderer.SetBackground(colors.GetColor3d("SlateGray"))
renderer.SetActiveCamera(camera)
camera.Azimuth(180)
camera.Roll(-90)
renderer.ResetCameraClippingRange()
renderWindow = vtk.vtkRenderWindow()
renderWindow.AddRenderer(renderer)
renderWindow.SetWindowName("ProjectedTexture")
renWinInteractor = vtk.vtkRenderWindowInteractor()
renWinInteractor.SetRenderWindow(renderWindow)
renderWindow.Render()
renWinInteractor.Start()
def visualize_frustums_intersection(p_planes_list, intersections):
colors = vtk.vtkNamedColors()
# set a renderer and a render window
renderer = vtk.vtkRenderer()
renderer.SetBackground(colors.GetColor3d("Silver"))
renderWindow = vtk.vtkRenderWindow()
renderWindow.SetSize(600, 600)
renderWindow.SetWindowName("Frustum Intersection plus intersection points")
renderWindow.AddRenderer(renderer)
# an interactor
renderWindowInteractor = vtk.vtkRenderWindowInteractor()
renderWindowInteractor.SetInteractorStyle(
vtk.vtkInteractorStyleTrackballCamera())
renderWindowInteractor.SetRenderWindow(renderWindow)
for i, p_planes in enumerate(p_planes_list):
planesArray = list(p_planes.flatten())
planes = vtk.vtkPlanes()
planes.SetFrustumPlanes(planesArray)
frustum = vtk.vtkFrustumSource()
frustum.ShowLinesOff()
frustum.SetPlanes(planes)
shrink = vtk.vtkShrinkPolyData()
shrink.SetInputConnection(frustum.GetOutputPort())
shrink.SetShrinkFactor(1.)
mapper = vtk.vtkPolyDataMapper()
mapper.SetInputConnection(shrink.GetOutputPort())
actor = vtk.vtkActor()
actor.SetMapper(mapper)
actor.GetProperty().EdgeVisibilityOn()
if i % 2 == 0:
actor.GetProperty().SetColor(colors.GetColor3d("Tomato"))
actor.GetProperty().SetOpacity(.2)
else:
actor.GetProperty().SetColor(colors.GetColor3d("Banana"))
actor.GetProperty().SetOpacity(.4)
renderer.AddActor(actor)
# create sphere for all the intersection point
for i in range(intersections.shape[0]):
point = intersections[i]
sphereSource = vtk.vtkSphereSource()
sphereSource.SetCenter(point[0], point[1], point[2])
sphereSource.SetRadius(.05)
# Make the surface smooth.
sphereSource.SetPhiResolution(100)
sphereSource.SetThetaResolution(100)
mapper = vtk.vtkPolyDataMapper()
mapper.SetInputConnection(sphereSource.GetOutputPort())
actor = vtk.vtkActor()
actor.SetMapper(mapper)
actor.GetProperty().SetColor(colors.GetColor3d("DarkGreen"))
renderer.AddActor(actor)
transform = vtk.vtkTransform()
transform.Translate(0, 0, 0)
axes = vtk.vtkAxesActor()
# The axes are positioned with a user transform
axes.SetAxisLabels(1)
axes.SetUserTransform(transform)
axes.AxisLabelsOff()
axes.SetTotalLength(3.0, 3.0, 3.0)
renderer.AddActor(axes)
renderer.SetUseDepthPeeling(1)
renderer.SetOcclusionRatio(0.1)
renderer.SetMaximumNumberOfPeels(100)
renderWindow.SetMultiSamples(0)
renderWindow.SetAlphaBitPlanes(1)
# Position the camera so that we can see the frustum
renderer.GetActiveCamera().SetPosition(1, 0, 0)
renderer.GetActiveCamera().SetFocalPoint(0, 0, 0)
renderer.GetActiveCamera().SetViewUp(0, 1, 0)
renderer.GetActiveCamera().Azimuth(30)
renderer.GetActiveCamera().Elevation(30)
renderer.ResetCamera()
# render an image (lights and cameras are created automatically)
renderWindow.Render()
# begin mouse interaction
renderWindowInteractor.Start()
def visualize_n_frustums_plus_ptclouds(p_planes_list, frustum_ptcloud):
colors = vtk.vtkNamedColors()
# set a renderer and a render window
renderer = vtk.vtkRenderer()
renderer.SetBackground(colors.GetColor3d("Silver"))
renderWindow = vtk.vtkRenderWindow()
renderWindow.SetSize(600, 600)
renderWindow.SetWindowName("Frustum Intersection")
renderWindow.AddRenderer(renderer)
# an interactor
renderWindowInteractor = vtk.vtkRenderWindowInteractor()
renderWindowInteractor.SetInteractorStyle(
vtk.vtkInteractorStyleTrackballCamera())
renderWindowInteractor.SetRenderWindow(renderWindow)
# add n frustums
for i, p_planes in enumerate(p_planes_list):
planesArray = list(p_planes.flatten())
planes = vtk.vtkPlanes()
planes.SetFrustumPlanes(planesArray)
frustum = vtk.vtkFrustumSource()
frustum.ShowLinesOff()
frustum.SetPlanes(planes)
shrink = vtk.vtkShrinkPolyData()
shrink.SetInputConnection(frustum.GetOutputPort())
shrink.SetShrinkFactor(1.)
mapper = vtk.vtkPolyDataMapper()
mapper.SetInputConnection(shrink.GetOutputPort())
actor = vtk.vtkActor()
actor.SetMapper(mapper)
actor.GetProperty().EdgeVisibilityOn()
actor.GetProperty().SetColor(colors.GetColor3d("Banana"))
actor.GetProperty().SetOpacity(.2)
renderer.AddActor(actor)
# add ptclouds
# assin color to ptcloud (n,4)
cm = colormap.get_cmap('RdBu')
color_mapper = colormap.ScalarMappable(norm=matplotlib.colors.Normalize(
vmin=0, vmax=1, clip=True),
cmap=cm)
color = color_mapper.to_rgba(frustum_ptcloud[:, 3])[:, :3] * 255
ptcloud = np.hstack((frustum_ptcloud[:, 0:3], color))
# Create the geometry of a point (the coordinate)
points = vtk.vtkPoints()
# Create the topology of the point (a vertex)
vertices = vtk.vtkCellArray()
# Setup colors
Colors = vtk.vtkUnsignedCharArray()
Colors.SetNumberOfComponents(3)
Colors.SetName("Colors")
# Add points
for i in range(0, len(ptcloud)):
p = ptcloud[i, :3]
id = points.InsertNextPoint(p)
vertices.InsertNextCell(1)
vertices.InsertCellPoint(id)
Colors.InsertNextTuple3(ptcloud[i, 3], ptcloud[i, 4], ptcloud[i, 5])
point = vtk.vtkPolyData()
# Set the points and vertices we created as the geometry and topology of the polydata
point.SetPoints(points)
point.SetVerts(vertices)
point.GetPointData().SetScalars(Colors)
point.Modified()
mapper = vtk.vtkPolyDataMapper()
mapper.SetInputData(point)
actor = vtk.vtkActor()
actor.SetMapper(mapper)
actor.GetProperty().EdgeVisibilityOn()
actor.GetProperty().SetColor(colors.GetColor3d("Tomato"))
actor.GetProperty().SetOpacity(.3)
renderer.AddActor(actor)
transform = vtk.vtkTransform()
transform.Translate(0, 0, 0)
axes = vtk.vtkAxesActor()
# The axes are positioned with a user transform
axes.SetAxisLabels(1)
axes.SetUserTransform(transform)
axes.AxisLabelsOff()
axes.SetTotalLength(3.0, 3.0, 3.0)
renderer.AddActor(axes)
renderer.SetUseDepthPeeling(1)
renderer.SetOcclusionRatio(0.1)
renderer.SetMaximumNumberOfPeels(100)
renderWindow.SetMultiSamples(0)
renderWindow.SetAlphaBitPlanes(1)
# Position the camera so that we can see the frustum
renderer.GetActiveCamera().SetPosition(1, 0, 0)
renderer.GetActiveCamera().SetFocalPoint(0, 0, 0)
renderer.GetActiveCamera().SetViewUp(0, 1, 0)
renderer.GetActiveCamera().Azimuth(30)
renderer.GetActiveCamera().Elevation(30)
renderer.ResetCamera()
# render an image (lights and cameras are created automatically)
renderWindow.Render()
# begin mouse interaction
renderWindowInteractor.Start()
def visualize_one_frustum(p_planes):
colors = vtk.vtkNamedColors()
planesArray = list(p_planes.flatten())
planes = vtk.vtkPlanes()
planes.SetFrustumPlanes(planesArray)
frustumSource = vtk.vtkFrustumSource()
frustumSource.ShowLinesOff()
frustumSource.SetPlanes(planes)
shrink = vtk.vtkShrinkPolyData()
shrink.SetInputConnection(frustumSource.GetOutputPort())
shrink.SetShrinkFactor(1.)
mapper = vtk.vtkPolyDataMapper()
mapper.SetInputConnection(shrink.GetOutputPort())
back = vtk.vtkProperty()
back.SetColor(colors.GetColor3d("Tomato"))
actor = vtk.vtkActor()
actor.SetMapper(mapper)
actor.GetProperty().EdgeVisibilityOn()
actor.GetProperty().SetColor(colors.GetColor3d("Banana"))
actor.SetBackfaceProperty(back)
# a renderer and render window
renderer = vtk.vtkRenderer()
renderWindow = vtk.vtkRenderWindow()
renderWindow.SetWindowName("Frustum")
renderWindow.AddRenderer(renderer)
# an interactor
renderWindowInteractor = vtk.vtkRenderWindowInteractor()
renderWindowInteractor.SetInteractorStyle(
vtk.vtkInteractorStyleTrackballCamera())
renderWindowInteractor.SetRenderWindow(renderWindow)
# add the actors to the scene
renderer.AddActor(actor)
renderer.SetBackground(colors.GetColor3d("Silver"))
transform = vtk.vtkTransform()
transform.Translate(0, 0, 0)
axes = vtk.vtkAxesActor()
# The axes are positioned with a user transform
axes.SetAxisLabels(1)
axes.SetUserTransform(transform)
axes.AxisLabelsOff()
axes.SetTotalLength(3.0, 3.0, 3.0)
renderer.AddActor(axes)
# Position the camera so that we can see the frustum
renderer.GetActiveCamera().SetPosition(1, 0, 0)
renderer.GetActiveCamera().SetFocalPoint(0, 0, 0)
renderer.GetActiveCamera().SetViewUp(0, 1, 0)
renderer.GetActiveCamera().Azimuth(30)
renderer.GetActiveCamera().Elevation(30)
renderer.ResetCamera()
# render an image (lights and cameras are created automatically)
renderWindow.Render()
# begin mouse interaction
renderWindowInteractor.Start()
#!/usr/bin/env python
import vtk
camera = vtk.vtkCamera()
planesArray = [0 for i in range(24)]
camera.GetFrustumPlanes(1, planesArray)
planes = vtk.vtkPlanes()
planes.SetFrustumPlanes(planesArray)
frustumSource = vtk.vtkFrustumSource()
frustumSource.SetPlanes(planes)
frustumSource.Update()
frustum = frustumSource.GetOutput()
mapper = vtk.vtkPolyDataMapper()
if vtk.VTK_MAJOR_VERSION <= 5:
mapper.SetInput(frustum)
else:
mapper.SetInputData(frustum)
actor = vtk.vtkActor()
actor.SetMapper(mapper)
# a renderer and render window
renderer = vtk.vtkRenderer()
renderWindow = vtk. vtk.vtkRenderWindow()
renderWindow.AddRenderer(renderer)
