def add_newData(self, path):
xyz = genfromtxt(path, dtype=float, usecols=[0, 1, 2])
minH = xyz[:, 2].min()
maxH = xyz[:, 2].max()
count = len(xyz)
pcd = VtkPointCloud(minH, maxH, count)
pcd.clearPoints()
for k in range(size(xyz, 0)):
point = xyz[k]
pcd.addPoint(point)
self.pointCloud = pcd
self.__addActor()
def __getPointCloud(self):
xyz = genfromtxt(self.fileName,dtype=float,usecols=[0,1,2])
minH=xyz[:,2].min()
maxH=xyz[:,2].max()
count = len(xyz)
print(count)
pcd=VtkPointCloud(minH,maxH,count)
pcd.clearPoints()
counter=size(xyz,0)
print(counter)
self.signalStart.emit(counter)
print("b")
for k in range(size(xyz,0)):
self.signalNow.emit(k)
point = xyz[k]
pcd.addPoint(point)
self.pcd = pcd
print("b")
def __getRawToPointCloud(self):
rLoader=rawLoader()
rLoader.setRawPath(self.fileName)
z = rLoader.getHEIGHTRAWVALUE()
z = z[(z>-99999)]
zMax = numpy.amax(z)
zMin = numpy.amin(z)
#print("get raw:",zMin,zMax)
count = rLoader.getWIDTH()*rLoader.getHEIGHT()
pcd = VtkPointCloud(zMin,zMax,count)
pcd.clearPoints()
xyz = rLoader.rawToXYZ()
counter = size(xyz,0)
self.signalStart.emit(counter)
for i in range(size(xyz,0)):
self.signalNow.emit(i)
point = xyz[i]
pcd.addPoint(point)
self.rawInfo=[rLoader.getWIDTH(),rLoader.getHEIGHT(),rLoader.getRESX(),rLoader.getRESY(),rLoader.getCHANNEL()]
self.pcd = pcd
class XYZviewer(QtWidgets.QFrame):
pickedPointSignal = QtCore.pyqtSignal(int)
def __init__(self, parent, dataPath):
super(XYZviewer,self).__init__(parent)
self.interactor = QVTKRenderWindowInteractor(self)
self.layout = QtWidgets.QHBoxLayout()
self.layout.addWidget(self.interactor)
self.layout.setContentsMargins(0,0,0,0)
self.setLayout(self.layout)
self.pointCloud = VtkPointCloud()
self.pcdCollection=[]
self.actors = []
self.pickedID=[]
self.e=ErrorObserver()
self.interactor.AddObserver("ErrorEvent",self.e)
if self.e.ErrorOccurred():
print(e.ErrorMessage)
#self.load_data(loadPath)
if dataPath != None:
self.add_data(dataPath)
# Renderer
self.renderer = vtk.vtkRenderer()
self.cubeAxesActor = vtk.vtkCubeAxesActor()
self.setCubeAxesActor()
self.cubeAxesActor.SetBounds(0,100,0,100,0,100)
self.renderer.AddActor(self.cubeAxesActor)
# Scalar Bar
self.scalarBarActor = vtk.vtkScalarBarActor()
self.setScalarBar()
self.renderer.AddActor(self.scalarBarActor)
#renderer.SetBackground(.2, .3, .4)
#colors=vtk.vtkNamedColors()
#colors.SetColor("BkgColor",[179,204,255,255])
#renderer.SetBackground(colors.GetColor3d("BkgColor"))
self.pointCloud.setLUTRange(0,10)
#cam=self.renderer.GetActiveCamera()
#cam.Azimuth(-45)
#cam.Elevation(0)
#cam.Roll(90)
#cam.SetViewUp(0,0,1)
#cam.SetPosition(0,1,0)
#cam.SetParallelProjection(0)
#cam.Elevation(-10)
#self.renderer.SetActiveCamera(cam)
#self.renderer.ResetCamera()
#renderer.SetLayer(1)
# Render Window
renderWindow = self.interactor.GetRenderWindow()
#renderWindow = vtk.vtkRenderWindow()
#print(renderWindow)
#renderWindow.SetNumberOfLayers(2)
renderWindow.AddRenderer(self.renderer)
#renderWindow.AddRenderer(self.addLogo())
# Interactor
#renderWindowInteractor = vtk.vtkRenderWindowInteractor()
self.interactor.SetRenderWindow(renderWindow)
self.interactor.SetInteractorStyle(vtk.vtkInteractorStyleTerrain())
# Scalar Bar
#self.addScalarBar(self.pointCloud.getLUT())
#renderWindow.SetInteractor(self.interactor)
# Logo
#self.addLogo()
self.renderer.ResetCamera()
# Begin Interaction
renderWindow.Render()
renderWindow.SetWindowName("XYZ Data Viewer:"+ "xyz")
self.interactor.Start()
#renderWindowInteractor.Start()
# Pack to class
#self.renderer=renderer
#self.interactor=interactor
def start(self):
self.interactor.Start()
def load_data(self,filename):
print("start viewer")
data = genfromtxt(filename,dtype=float,usecols=[0,1,2])
#print("generate xyz: ",data[0][2])
#return
for k in range(size(data,0)):
point = data[k]
self.pointCloud.addPoint(point)
def addLogo(self):
imgReader = vtk.vtkPNGReader()
imgReader.SetFileName("benano.png")
imgReader.Update()
#print(imgReader.GetOutput())
imgActor = vtk.vtkImageActor()
imgActor.SetInputData(imgReader.GetOutput())
background_renderer = vtk.vtkRenderer()
background_renderer.SetLayer(0)
background_renderer.InteractiveOff()
background_renderer.AddActor(imgActor)
return background_renderer
def setScalarBar(self):
lut=self.pointCloud.getLUT()
scalarBar=self.scalarBarActor
scalarBar.SetOrientationToVertical()
scalarBar.SetLookupTable(lut)
scalarBar.SetBarRatio(0.12)
scalarBar.SetTitleRatio(0.12)
scalarBar.SetMaximumWidthInPixels(60)
scalarBar.SetMaximumHeightInPixels(300)
#print(self.scalarBar.GetProperty().SetDisplayLocationToBackground())
#self.scalarBar.SetDisplayPosition(750,250)
scalarBar.SetDisplayPosition(60,400)
textP = vtk.vtkTextProperty()
textP.SetFontSize(10)
scalarBar.SetLabelTextProperty(textP)
scalarBar.SetTitleTextProperty(textP)
scalarBar.SetNumberOfLabels(8)
scalarBar.SetLabelFormat("%-#6.3f")#輸出格式
#self.scalarBarWidget = vtk.vtkScalarBarWidget()
#self.scalarBarWidget.SetInteractor(self.interactor)
#self.scalarBarWidget.SetScalarBarActor(self.scalarBar)
#self.scalarBarWidget.On()
self.scalarBarActor=scalarBar
def setCubeAxesActor(self):
cubeAxesActor = self.cubeAxesActor
#設定軸上下限
bounds = self.pointCloud.getBounds()
cubeAxesActor.SetBounds(bounds)
#將RENDER CAMERA指定給軸
cubeAxesActor.SetCamera(self.renderer.GetActiveCamera())
#設定標題與標籤文字顏色
cubeAxesActor.GetTitleTextProperty(0).SetColor(0.5,0.5,0.5)
cubeAxesActor.GetLabelTextProperty(0).SetColor(0.5,0.5,0.5)
cubeAxesActor.GetTitleTextProperty(1).SetColor(0.5,0.5,0.5)
cubeAxesActor.GetLabelTextProperty(1).SetColor(0.5,0.5,0.5)
cubeAxesActor.GetTitleTextProperty(2).SetColor(0.5,0.5,0.5)
cubeAxesActor.GetLabelTextProperty(2).SetColor(0.5,0.5,0.5)
#設定坐標軸線寬
cubeAxesActor.GetXAxesLinesProperty().SetLineWidth(0.5)
cubeAxesActor.GetYAxesLinesProperty().SetLineWidth(0.5)
cubeAxesActor.GetZAxesLinesProperty().SetLineWidth(0.5)
#開啟網格線
cubeAxesActor.DrawXGridlinesOn()
cubeAxesActor.DrawYGridlinesOn()
cubeAxesActor.DrawZGridlinesOn()
#內部網格線不畫
cubeAxesActor.SetDrawXInnerGridlines(0)
cubeAxesActor.SetDrawYInnerGridlines(0)
cubeAxesActor.SetDrawZInnerGridlines(0)
#網格線顏色
cubeAxesActor.GetXAxesGridlinesProperty().SetColor(0.5,0.5,0.5)
cubeAxesActor.GetYAxesGridlinesProperty().SetColor(0.5,0.5,0.5)
cubeAxesActor.GetZAxesGridlinesProperty().SetColor(0.5,0.5,0.5)
#控制軸的繪製方式(外,最近,最遠,靜態最近,靜態外)
cubeAxesActor.SetFlyMode(4)
#設定刻度線的位置(內,外,兩側)
cubeAxesActor.SetTickLocation(1)
#網格線樣式(所有,最近,最遠)
cubeAxesActor.SetGridLineLocation(2)
cubeAxesActor.XAxisMinorTickVisibilityOff()
cubeAxesActor.YAxisMinorTickVisibilityOff()
cubeAxesActor.ZAxisMinorTickVisibilityOn()
self.cubeAxesActor=cubeAxesActor
def add_axisWidget(self):
axes = vtk.vtkAxesActor()
axisWidget = vtk.vtkOrientationMarkerWidget()
axisWidget.SetOutlineColor(0.9,0.5,0.1)
axisWidget.SetOrientationMarker(axes)
iren = self.interactor.GetRenderWindow().GetInteractor()
axisWidget.SetInteractor(iren)
axisWidget.SetViewport(0,0,0.4,0.4)
axisWidget.EnabledOn()
axisWidget.InteractiveOn()
def add_newData(self,pcd):
'''
print("generate xyz")
for k in range(size(data,0)):
point = data[k] #20*(random.rand(3)-0.5)
pcd.addPoint(point)
self.renderer.AddActor(pcd.vtkActor)
'''
self.pointCloud=pcd
self.addActor()
def addActor(self):
"""
self.pcdCollection.append(self.xyzLoader.pcd)
print("Current pcd count: ", len(self.pcdCollection))
#self.actors.append(self.pcdCollection[-1].vtkActor)
#create each actor from xyz collection
for i in self.pcdCollection:
self.renderer.AddActor(i.vtkActor)
#print(i.vtkActor)
"""
self.removeAll()
isMesh = False
isDelaunay3D=False
isSurfRecon=1
if isMesh:
self.pointCloud.generateMesh()
#self.renderer.AddActor(self.pointCloud.vtkActor)
self.mainActor=self.pointCloud.boundaryActor
elif isDelaunay3D:
self.mainActor=self.pointCloud.delaunay3D()
elif isSurfRecon:
self.mainActor=self.pointCloud.surfaceRecon()
else:
self.mainActor=self.pointCloud.vtkActor
self.renderer.AddActor(self.mainActor)
self.setCubeAxesActor()
self.renderer.AddActor(self.cubeAxesActor)
self.setScalarBar()
self.renderer.AddActor(self.scalarBarActor)
self.renderer.ResetCamera()
self.refresh_renderer()
cam = self.renderer.GetActiveCamera()
self.oriMatrix = cam.GetExplicitProjectionTransformMatrix()
def removeAll(self):
actors = self.renderer.GetActors()
#print(actors)
for i in actors:
self.renderer.RemoveActor(i)
for i in range(len(self.pcdCollection)):
#print(i)
del self.pcdCollection[-1]
#print(len(self.pcdCollection))
def reset_Camera(self):
print(self.oriMatrix)
center_x,center_y,center_z=self.mainActor.GetCenter()
cam = self.renderer.GetActiveCamera()
cam.SetPosition(center_x,center_y,center_z+1)
cam.SetViewUp(0,1,0)
self.renderer.ResetCamera()
self.refresh_renderer()
def setCameraTop(self):
center_x,center_y,center_z=self.mainActor.GetCenter()
cam=self.renderer.GetActiveCamera()
cam.SetPosition(center_x+1,center_y,center_z)
cam.SetViewUp(0,0,1)
#cam.Azimuth(180)
print(cam.GetPosition())
#self.renderer.SetActiveCamera(cam)
self.renderer.ResetCamera()
self.refresh_renderer()
def setCameraLeft(self):
self.renderer.ResetCamera()
cam=self.renderer.GetActiveCamera()
#cam.SetPosition(0,0,0)
#cam.SetViewUp(0,1,0)
cam.Azimuth(-10)
#self.renderer.SetActiveCamera(cam)
self.renderer.ResetCamera()
self.refresh_renderer()
def setCameraRight(self):
self.renderer.ResetCamera()
cam=self.renderer.GetActiveCamera()
#cam.SetPosition(0,0,0)
#cam.SetViewUp(0,1,0)
cam.Azimuth(10)
#self.renderer.SetActiveCamera(cam)
self.renderer.ResetCamera()
self.refresh_renderer()
def refresh_renderer(self):
#self.renderer.ResetCamera()
renderWindow = self.interactor.GetRenderWindow()
renderWindow.Render()
def applyTransform(self,x,y,z):
center_x,center_y,center_z=self.mainActor.GetCenter()
w = vtk.vtkTransform()
#w.Translate(-center_x,-center_y,-center_z)
#vtk not auto change type from string to double
w.RotateX(float(x))
w.RotateY(float(y))
w.RotateZ(float(z))
self.mainActor.SetUserTransform(w)
self.refresh_renderer()
def setParallelCamera(self,state):
cam = self.renderer.GetActiveCamera()
cam.SetParallelProjection(state)
self.renderer.ResetCamera()
self.refresh_renderer()
def setPickerMode(self,state):
import utilities.pointPicker as pStyle
print(pStyle)
print(state)
if state==2:
self.interactor.SetInteractorStyle(pStyle.testStyle(self.emitPickedPoint))
else:
self.interactor.SetInteractorStyle(vtk.vtkInteractorStyleTerrain())
def emitPickedPoint(self,int):
self.pickedID.append(int)
x,y,z=self.pointCloud.vtkPoints.GetPoint(int)
print("emit:",int,x,y,z)
self.pickedPointSignal.emit(int)
sphereSource = vtk.vtkSphereSource()
sphereSource.SetCenter(x,y,z)
sphereSource.SetRadius(1)
sphereSource.SetThetaResolution(10)
mapper = vtk.vtkPolyDataMapper()
mapper.SetInputConnection(sphereSource.GetOutputPort())
actor = vtk.vtkActor()
actor.SetMapper(mapper)
actor.GetProperty().SetColor(1,0,0)
#actor.GetProperty().SetRepresentationToWireframe()
print(actor)
actors = self.renderer.GetActors()
print(actors)
self.renderer.AddActor(actor)
self.refresh_renderer()
if len(self.pickedID)>3:
self.drawKochanekSpline(self.pickedID)
def drawParametricSpline(self,IDList):
points = vtk.vtkPoints()
for i in IDList:
p=self.pointCloud.vtkPoints.GetPoint(i)
points.InsertNextPoint(p)
spline = vtk.vtkParametricSpline()
spline.SetPoints(points)
functionSource = vtk.vtkParametricFunctionSource()
functionSource.SetParametricFunction(spline)
functionSource.Update()
mapper = vtk.vtkPolyDataMapper()
mapper.SetInputConnection(functionSource.GetOutputPort())
actor = vtk.vtkActor()
actor.SetMapper(mapper)
self.renderer.AddActor(actor)
self.refresh_renderer()
def drawKochanekSpline(self,IDList):
points = vtk.vtkPoints()
for i in IDList:
p=self.pointCloud.vtkPoints.GetPoint(i)
points.InsertNextPoint(p)
xSpline = vtk.vtkKochanekSpline()
ySpline = vtk.vtkKochanekSpline()
zSpline = vtk.vtkKochanekSpline()
spline = vtk.vtkParametricSpline()
spline.SetXSpline(xSpline)
spline.SetYSpline(ySpline)
spline.SetZSpline(zSpline)
spline.SetPoints(points)
functionSource = vtk.vtkParametricFunctionSource()
functionSource.SetParametricFunction(spline)
functionSource.Update()
mapper = vtk.vtkPolyDataMapper()
mapper.SetInputConnection(functionSource.GetOutputPort())
actor = vtk.vtkActor()
actor.SetMapper(mapper)
self.renderer.AddActor(actor)
self.refresh_renderer()
def SurfaceReconstruction(self):
pointSource=vtk.vtkProgrammableSource()
def readPoints():
output = pointSource.GetPolyDataOutput()
points = vtk.vtkPoints()
output.SetPoints(points)
for i in IDList:
p=self.pointCloud.vtkPoints.GetPoint(i)
points.InsertNextPoint(p)
pointSource.SetExecuteMethod(readPoints)
surf = vtk.vtkSurfaceReconstructionFilter()
surf.SetInputConnection(pointSource.GetOutputPort())
cf = vtk.vtkContourFilter()
cf.SetInputConnection(surf.GetOutputPort())
cf.SetValue(0,0)
mapper = vtk.vtkPolyDataMapper()
mapper.SetInputConnection(cf.GetOutputPort())
mapper.ScalarVisibilityOff()
actor = vtk.vtkActor()
actor.SetMapper(mapper)
actor.GetProperty().SetDiffuseColor(1,0.3882,0.2784)
actor.GetProperty().SetSpecularColor(1,1,1)
actor.GetProperty().SetSpecular(.4)
actor.GetProperty().SetSpecularPower(50)
self.renderer.AddActor(actor)
self.refresh_renderer()