def AddPolyDataMeshActor(self, pd):
"Add a supplied vtkPolyData object to the visualizer"
obj = VTKObject()
obj.CreateFromPolyData(pd)
self.pointObjects.append(obj)
self.renderer.AddActor(obj.GetActor())
return obj
def AddPLYActor(self, filename):
"Load a mesh from a PLY file and add it to the visualizer"
obj = VTKObject()
obj.CreateFromPLY(filename)
self.pointObjects.append(obj)
self.renderer.AddActor(obj.GetActor())
return obj
def AddBox(self, bounds):
"Add a box witih the given bounds=[xmin,xmax,ymin,ymax,zmin,zmax]"
obj = VTKObject()
obj.CreateBox(bounds)
self.pointObjects.append(obj)
self.renderer.AddActor(obj.GetActor())
return obj
def AddLine(self, p1, p2):
"Add a 3D line from p1=[x1,y1,z1] to p2=[x2,y2,z2]"
obj = VTKObject()
obj.CreateLine(p1, p2)
self.pointObjects.append(obj)
self.renderer.AddActor(obj.GetActor())
return obj
def AddSphere(self, origin, r):
"Add a sphere with given origin (x,y,z) and radius r"
obj = VTKObject()
obj.CreateSphere(origin, r)
self.pointObjects.append(obj)
self.renderer.AddActor(obj.GetActor())
return obj
def AddCylinder(self, origin, r, h):
"Add a cylinder with given origin (x,y,z), radius r and height h"
obj = VTKObject()
obj.CreateCylinder(origin, r, h)
self.pointObjects.append(obj)
self.renderer.AddActor(obj.GetActor())
return obj
def AddActor(self, actor):
"Add a supplied vtkActor object to the visualizer"
obj = VTKObject()
obj.CreateFromActor(actor)
self.pointObjects.append(obj)
self.renderer.AddActor(obj.GetActor())
return obj
def AddPolygonActor(self, points, color=(255, 255, 255)):
obj = VTKObject()
obj.CreatePolygon(points)
obj.actor.GetProperty().SetColor(*color)
self.pointObjects.append(obj)
self.renderer.AddActor(obj.GetActor())
return obj
def AddAxesActor(self, length):
"Add coordinate system axes with specified length"
obj = VTKObject()
obj.CreateAxes(length)
self.pointObjects.append(obj)
self.renderer.AddActor(obj.GetActor())
return obj
def AddPlane(self, normal=None, origin=None):
"""Add a plane (optionally with a given normal vector and origin)
Note: SetActorScale can be used to scale the extent of the plane"""
obj = VTKObject()
obj.CreatePlane(normal, origin)
self.pointObjects.append(obj)
self.renderer.AddActor(obj.GetActor())
return obj
def AddTrajectoryActor(self, pose_matrices, scale=1):
"Add coordinate system axes with specified length"
obj = VTKObject()
obj.CreateAxesSimplified(scale)
obj.AddPoses(pose_matrices)
obj.SetupPipelinePose()
self.pointObjects.append(obj)
self.renderer.AddActor(obj.GetActor())
return obj
def AddTrianglesActor(self, pc, triangles):
"""Add mesh consists of triangles
Example:
viz.AddTrianglesActor(pc_3d, scipy.spatial.Delaunay(pc_2d).simplices)
"""
obj = VTKObject()
obj.CreateTriangles(pc, triangles)
obj.SetupPipelineMesh()
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 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 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