def AddColoredPointCloudActor(self, pc):
"""Add a point cloud with colors from a given NumPy array
The NumPy array should have dimension Nx6 where the first three
dimensions correspond to X, Y and Z and the last three dimensions
correspond to R, G and B values (between 0 and 255)
"""
obj = VTKObject()
obj.CreateFromArray(pc[:, :3])
obj.AddColors(pc[:, 3:6].astype(np.uint8))
self.pointObjects.append(obj)
self.renderer.AddActor(obj.GetActor())
return obj
def AddShadedPointsActor(self, pc):
"""Add a point cloud with shaded points based on supplied normal vectors
The NumPy array should have dimension Nx6 where the first three
dimensions correspond to x, y and z and the last three dimensions
correspond to surface normals (nx, ny, nz)
"""
obj = VTKObject()
obj.CreateFromArray(pc[:, 0:3])
obj.AddNormals(pc[:, 3:6])
self.pointObjects.append(obj)
self.renderer.AddActor(obj.GetActor())
return obj
def AddPointCloudActor(self, pc):
"""Add a point cloud from a given NumPy array
The NumPy array should have dimension Nxd where d >= 3
If d>3, the points will be colored according to the last column
in the supplied array (values should be between 0 and 1, where
0 is black and 1 is white)
"""
obj = VTKObject()
obj.CreateFromArray(pc)
self.pointObjects.append(obj)
self.renderer.AddActor(obj.GetActor())
return obj
def AddNormalsActor(self, pc, scale):
"""Add a set of surface normals to the visualizer
The input is a NumPy array with dimension Nx6 with (x,y,z) and
(nx,ny,nz) values for the points and associated surface normals
The normals will be scaled according to given scale factor"""
obj = VTKObject()
obj.CreateFromArray(pc[:, 0:3])
obj.AddNormals(pc[:, 3:6])
obj.SetupPipelineHedgeHog(scale)
self.pointObjects.append(obj)
self.renderer.AddActor(obj.GetActor())
return obj