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import vtkAll as vtk from vtkNumpy import addNumpyToVtk from shallowCopy import shallowCopy import numpy as np
class DebugData(object):
def __init__(self): self.append = vtk.vtkAppendPolyData()
def write(self, filename): writer = vtk.vtkXMLPolyDataWriter() writer.SetInputConnection(self.append.GetOutputPort()) writer.SetFileName(filename) writer.Update()
def addPolyData(self, polyData, color=[1,1,1], extraLabels=None): ''' Add a vtkPolyData to the debug data. A color can be provided. If the extraLabels argument is used, it should be a list of tuples, each tuple is (labelName, labelValue) where labelName is a string and labelValue is an int or float. An array with labelName will be filled with labelValue and added to the poly data. ''' polyData = shallowCopy(polyData)
if color is not None: colorArray = np.empty((polyData.GetNumberOfPoints(), 3), dtype=np.uint8) colorArray[:,:] = np.array(color)*255 addNumpyToVtk(polyData, colorArray, 'RGB255')
if extraLabels is not None: for labelName, labelValue in extraLabels: extraArray = np.empty((polyData.GetNumberOfPoints(), 1), dtype=type(labelValue)) extraArray[:] = labelValue addNumpyToVtk(polyData, extraArray, labelName)
self.append.AddInput(polyData)
def addLine(self, p1, p2, radius=0.0, color=[1,1,1]):
line = vtk.vtkLineSource() line.SetPoint1(p1) line.SetPoint2(p2) line.Update()
if radius == 0.0: self.addPolyData(line.GetOutput(), color) else: tube = vtk.vtkTubeFilter() tube.SetRadius(radius) tube.SetNumberOfSides(24) tube.CappingOn() tube.SetInputConnection(line.GetOutputPort()) tube.Update() self.addPolyData(tube.GetOutput(), color)
def addFrame(self, frame, scale, tubeRadius=0.0):
origin = np.array([0.0, 0.0, 0.0]) axes = [[scale, 0.0, 0.0], [0.0, scale, 0.0], [0.0, 0.0, scale]] colors = [[1,0,0], [0,1,0], [0,0,1]] frame.TransformPoint(origin, origin) for axis, color in zip(axes, colors): frame.TransformVector(axis, axis) self.addLine(origin, origin+axis, radius=tubeRadius, color=color)
def addCircle(self, origin, normal, radius, color=[1,1,1]): self.addCone(origin, normal, radius, height=0, color=color, fill=False)
def addCone(self, origin, normal, radius, height, color=[1,1,1], fill=True): cone = vtk.vtkConeSource() cone.SetRadius(radius) cone.SetCenter(origin) cone.SetDirection(normal) cone.SetHeight(height) cone.SetResolution(32) if fill: cone.Update() self.addPolyData(cone.GetOutput(), color) else: edges = vtk.vtkExtractEdges() edges.AddInputConnection(cone.GetOutputPort()) edges.Update() self.addPolyData(edges.GetOutput(), color)
def addArrow(self, start, end, headRadius=0.05, tubeRadius=0.01, color=[1,1,1], startHead=False, endHead=True): normal = np.array(end) - np.array(start) normal = normal / np.linalg.norm(normal) if startHead: start = np.array(start) + headRadius * normal if endHead: end = np.array(end) - headRadius * normal self.addLine(start, end, radius=tubeRadius, color=color) if startHead: self.addCone(origin=start, normal=-normal, radius=headRadius, height=headRadius, color=color, fill=True) if endHead: self.addCone(origin=end, normal=normal, radius=headRadius, height=headRadius, color=color, fill=True)
def addSphere(self, center, radius=0.05, color=[1,1,1], resolution=24):
sphere = vtk.vtkSphereSource() sphere.SetCenter(center) sphere.SetThetaResolution(resolution) sphere.SetPhiResolution(resolution) sphere.SetRadius(radius) sphere.Update() self.addPolyData(sphere.GetOutput(), color)
def addCube(self, dimensions, center, color=[1,1,1], subdivisions=0):
bmin = np.array(center) - np.array(dimensions)/2.0 bmax = np.array(center) + np.array(dimensions)/2.0 cube = vtk.vtkTessellatedBoxSource() cube.SetBounds(bmin[0], bmax[0], bmin[1], bmax[1], bmin[2], bmax[2]) cube.SetLevel(subdivisions) cube.QuadsOn() cube.Update() self.addPolyData(cube.GetOutput(), color)
def addCylinder(self, center, axis, length, radius, color=[1,1,1]): axis = np.asarray(axis) / np.linalg.norm(axis) center = np.array(center) self.addLine(center - 0.5*length*axis, center + 0.5*length*axis, radius=radius, color=color)
def addCapsule(self, center, axis, length, radius, color=[1,1,1]): axis = np.asarray(axis) / np.linalg.norm(axis) center = np.array(center) self.addCylinder(center=center, axis=axis, radius=radius, length=length, color=color) self.addSphere(center=center-0.5*length*axis, radius=radius, color=color) self.addSphere(center=center+0.5*length*axis, radius=radius, color=color)
def addTorus(self, radius, thickness, resolution=30):
q = vtk.vtkSuperquadricSource() q.SetToroidal(1) q.SetSize(radius) q.SetThetaResolution(resolution) # thickness doesnt seem to match to Eucliean units. 0 is none. 1 is full. .1 is a good valve q.SetThickness(thickness) q.Update()
# rotate Torus so that the hole axis (internally y), is set to be z, which we use for valves transform = vtk.vtkTransform() transform.RotateWXYZ(90,1,0,0) transformFilter=vtk.vtkTransformPolyDataFilter() transformFilter.SetTransform(transform) transformFilter.SetInputConnection(q.GetOutputPort()) transformFilter.Update() self.addPolyData(transformFilter.GetOutput())
def addEllipsoid(self, center, radii, color=[1,1,1], alpha=1.0, resolution=24): """ Add an ellipsoid centered at [center] with x, y, and z principal axis radii given by radii = [x_scale, y_scale, z_scale] """ sphere = vtk.vtkSphereSource() sphere.SetCenter([0,0,0]) sphere.SetThetaResolution(resolution) sphere.SetPhiResolution(resolution) sphere.SetRadius(1.0) sphere.Update()
transform = vtk.vtkTransform() transform.Translate(center) transform.Scale(radii)
transformFilter = vtk.vtkTransformPolyDataFilter() transformFilter.SetTransform(transform) transformFilter.SetInputConnection(sphere.GetOutputPort()) transformFilter.Update() self.addPolyData(transformFilter.GetOutput(), color)
def getPolyData(self):
if self.append.GetNumberOfInputConnections(0): self.append.Update() return shallowCopy(self.append.GetOutput()) |