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VtkRenderer.py
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VtkRenderer.py
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import vtk
from numpy import random
import numpy as np
import vtk.util.numpy_support as converter
import time
import cv2
import itertools
class VtkText:
def __init__(self, text, pos):
self.text = text
self.pos = pos
def get_vtk_text(self):
txt = vtk.vtkTextActor()
txt.SetInput(self.text)
txtprop=txt.GetTextProperty()
txtprop.SetFontFamilyToArial()
txtprop.SetFontSize(18)
txtprop.SetColor(1,1,1)
txt.SetDisplayPosition(*self.pos)
return txt
class VtkLine:
def __init__(self, p0, p1):
self.p0 = p0
self.p1 = p1
def get_vtk_line(self):
source = vtk.vtkLineSource()
source.SetPoint1(self.p0)
source.SetPoint2(self.p1)
# mapper
mapper = vtk.vtkPolyDataMapper()
mapper.SetInputConnection(source.GetOutputPort())
# actor
actor = vtk.vtkActor()
actor.SetMapper(mapper)
# assign actor to the renderer
return actor
class VtkPlane:
def __init__(self, norm, xyz):
self.norm = norm
self.xyz = xyz
def get_vtk_plane(self, side_len=25):
# cube = vtk.vtkCubeSource()
# cube.SetXLength(side_len)
# cube.SetYLength(side_len)
# cube.SetZLength(side_len)
# cube.SetCenter(*self.pos)
cube = vtk.vtkSphereSource()
cube.SetThetaResolution(100)
cube.SetPhiResolution(100)
cube.SetRadius(side_len)
cube.SetCenter(*self.xyz)
cubeMapper = vtk.vtkPolyDataMapper()
cubeMapper.SetInputConnection(cube.GetOutputPort())
plane = vtk.vtkPlane()
plane.SetOrigin(*self.xyz)
plane.SetNormal(*self.norm)
#create cutter
cutter = vtk.vtkCutter()
cutter.SetCutFunction(plane)
cutter.SetInputConnection(cube.GetOutputPort())
cutter.Update()
cutStrips = vtk.vtkStripper()
cutStrips.SetInputConnection(cutter.GetOutputPort())
cutStrips.Update()
cutPoly = vtk.vtkPolyData()
cutPoly.SetPoints((cutStrips.GetOutput()).GetPoints())
cutPoly.SetPolys((cutStrips.GetOutput()).GetLines())
cutMapper = vtk.vtkPolyDataMapper()
cutMapper.SetInput(cutPoly)
cutActor = vtk.vtkActor()
cutActor.GetProperty().SetColor(1, 1, 1)
cutActor.SetMapper(cutMapper)
return cutActor
class VtkImage:
def __init__(self, im):
self.im = cv2.cvtColor(im, cv2.COLOR_BGR2RGB)
def get_vtk_image(self):
importer = vtk.vtkImageImport()
importer.SetDataSpacing(1,1,1)
importer.SetDataOrigin(0,0,0)
importer.SetWholeExtent(0, self.im.shape[1] - 1,
0, self.im.shape[0] - 1, 0, 0)
importer.SetDataExtentToWholeExtent()
importer.SetDataScalarTypeToUnsignedChar()
importer.SetNumberOfScalarComponents(self.im.shape[2])
importer.SetImportVoidPointer(self.im)
importer.Update()
flipY = vtk.vtkImageFlip()
flipY.SetFilteredAxis(1)
flipY.SetInputConnection(importer.GetOutputPort())
flipY.Update()
yActor = vtk.vtkImageActor()
yActor.SetInput(flipY.GetOutput())
return yActor
class VtkEllipsoid:
def __init__(self, T):
self.T = (T[0,0], T[0,1], T[0,2], T[0,3],
T[1,0], T[1,1], T[1,2], T[1,3],
T[2,0], T[2,1], T[2,2], T[2,3],
T[3,0], T[3,1], T[3,2], T[3,3])
def get_vtk_ellipsoid(self):
self.transformMatrix = vtk.vtkMatrix4x4()
self.transformMatrix.DeepCopy(self.T)
transform = vtk.vtkTransform()
transform.SetMatrix(self.transformMatrix)
self.source = vtk.vtkSphereSource()
self.source.SetRadius(1.0)
self.source.SetCenter(0.0,0.0,0.0)
transformFilter = vtk.vtkTransformPolyDataFilter()
transformFilter.SetTransform(transform)
transformFilter.SetInputConnection(self.source.GetOutputPort())
transformFilter.Update()
mapper = vtk.vtkPolyDataMapper()
mapper.SetInputConnection(transformFilter.GetOutputPort())
actor = vtk.vtkActor()
actor.GetProperty().SetOpacity(0.8)
actor.SetMapper(mapper)
# assign actor to the renderer
return actor
class VtkBoundingBox:
def __init__(self, properties):
# (x, y) is the center-back of the car
(x, y, z, l, w) = tuple(properties[:5])
h = 1
self.bounds = (x, x+l, y-w/2., y+w/2., z-h/2., z+h/2.)
def get_vtk_box(self, rot = 0):
# create source
source = vtk.vtkCubeSource()
source.SetBounds(self.bounds)
# mapper
mapper = vtk.vtkPolyDataMapper()
mapper.SetInputConnection(source.GetOutputPort())
# actor
actor = vtk.vtkActor()
actor.SetMapper(mapper)
actor.GetProperty().SetRepresentationToWireframe()
actor.GetProperty().SetLineWidth(1)
actor.GetProperty().LightingOff()
actor.SetOrigin(source.GetCenter())
actor.RotateZ(rot)
# assign actor to the renderer
return actor
"""
Uses VTK to render a point cloud based on intensities, which might be floating point numbers or RGB values.
Disclaimer: This function passes points to vtk, so make sure that your data does not get deallocated by python. Somethings are copied too. It's not really an efficient function and it's a slight miracle that it even works.
For internal VTK debugging, here's the layout of things:
- vtkPoints consist of the x,y,z coordinates. Pass in an array of size m x 3 (where m is the number of points)
- vtkCells tells vtk how to render the points. It is formatted as "1 1 1 2 1 3 ... 1 m' where the 1 tells how many points it should consider in a surface and the even element says which point id to use.
The function build_vtk_polydata will do the assembling magic.
Then you can call get_vtk_color_cloud or get_vtk_cloud based on how you want to color map each point.
"""
class VtkPointCloud:
def __init__(self, xyz, intensity):
self.xyz = np.ascontiguousarray(xyz)
self.intensity = np.ascontiguousarray(intensity)
num_points = self.xyz.shape[0]
np_cells_A = np.ones(num_points,dtype=np.int64)
np_cells_B = np.arange(0,num_points,dtype=np.int64)
self.np_cells = np.empty(2*num_points,dtype=np.int64)
self.np_cells[::2] = np_cells_A
self.np_cells[1::2] = np_cells_B
def build_vtk_polydata(self):
vtkPolyData = vtk.vtkPolyData()
vtkPoints = vtk.vtkPoints()
vtkCells = vtk.vtkCellArray()
vtkPolyData.SetPoints(vtkPoints)
vtkPolyData.SetVerts(vtkCells)
num_points = self.xyz.shape[0]
vtk_data = converter.numpy_to_vtk(self.xyz)
vtkPoints.SetNumberOfPoints(num_points)
vtkPoints.SetData(vtk_data)
vtkCells.SetCells(num_points, converter.numpy_to_vtkIdTypeArray(self.np_cells, deep=1))
return (vtkPolyData, vtkPoints, vtkCells)
def get_vtk_color_cloud(self):
assert(self.intensity.shape[1] == 3)
(vtkPolyData, vtkPoints, vtkCells) = self.build_vtk_polydata()
self.intensity = self.intensity.astype(np.uint8)
vtk_color_data = converter.numpy_to_vtk(self.intensity)
vtk_color_data.SetName('ColorArray')
vtkPolyData.GetPointData().SetScalars(vtk_color_data)
vtkPolyData.GetPointData().SetActiveScalars('ColorArray')
mapper = vtk.vtkPolyDataMapper()
mapper.SetInputData(vtkPolyData)
vtkActor = vtk.vtkActor()
vtkActor.SetMapper(mapper)
return vtkActor
def get_vtk_cloud(self, zMin=-10.0,zMax=10.0):
assert( len(self.intensity.shape) == 1)
(vtkPolyData, vtkPoints, vtkCells) = self.build_vtk_polydata()
self.intensity == self.intensity.astype(np.float32)
vtk_intensity_data = converter.numpy_to_vtk(self.intensity)
vtk_intensity_data.SetName('DepthArray')
vtkPolyData.GetPointData().SetScalars(vtk_intensity_data)
num_points = self.xyz.shape[0]
#vtkDepth = vtk.vtkFloatArray()
#vtkDepth.SetName('DepthArray')
#vtkPolyData.GetPointData().SetScalars(vtkDepth)
#vtkDepth.SetVoidArray(self.intensity, num_points, 1)
vtkPolyData.GetPointData().SetActiveScalars('DepthArray')
mapper = vtk.vtkPolyDataMapper()
mapper.SetInput(vtkPolyData)
mapper.SetColorModeToDefault()
mapper.SetScalarRange(zMin, zMax)
mapper.SetScalarVisibility(1)
vtkActor = vtk.vtkActor()
vtkActor.SetMapper(mapper)
return vtkActor
############# sample callback setup ###############
class vtkTimerCallback():
def __init__(self):
pass
def execute(self,obj,event):
t = time.time()
data = 40*(random.random((60000,3))-0.5)
pointCloud = VtkPointCloud(data, data[:,2])
iren = obj
iren.GetRenderWindow().GetRenderers().GetFirstRenderer().RemoveActor(self.actor)
self.actor = pointCloud.get_vtk_cloud()
iren.GetRenderWindow().GetRenderers().GetFirstRenderer().AddActor(self.actor)
iren.GetRenderWindow().Render()
print time.time() - t
if __name__ == '__main__':
data = 40*(random.random((600,3))-0.5)
pointCloud = VtkPointCloud(data, data[:,2])
actor = pointCloud.get_vtk_cloud()
# Renderer
renderer = vtk.vtkRenderer()
renderer.AddActor(actor)
renderer.SetBackground(0.0, 0.0, 0.)
renderer.ResetCamera()
# Render Window
renderWindow = vtk.vtkRenderWindow()
renderWindow.SetSize(600,600)
renderWindow.AddRenderer(renderer)
# Interactor
renderWindowInteractor = vtk.vtkRenderWindowInteractor()
renderWindowInteractor.SetRenderWindow(renderWindow)
# Begin Interaction
renderWindow.Render()
renderWindowInteractor.Initialize()
cb = vtkTimerCallback()
cb.actor = actor
renderWindowInteractor.AddObserver('TimerEvent', cb.execute)
timerId = renderWindowInteractor.CreateRepeatingTimer(50)
renderWindowInteractor.Start()