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package require vtk
package require vtkinteraction
vtkRenderWindow renWin
vtkRenderWindowInteractor iren
iren SetRenderWindow renWin
# Create objects
array set sscale {
s2 {0.7 0.7 0.7}
s3 {0.5 0.5 0.5}
}
array set scenter {
s2 {-0.25 0.25 0.0}
s3 { 0.4 -0.3 0.0}
}
array set scolors {
s2 {0.2 0.6 0.1}
s3 {0.1 0.2 0.6}
}
for {set sidx 1} {$sidx <= 3} {incr sidx} {
vtkSuperquadricSource s${sidx}
s${sidx} ToroidalOff
s${sidx} SetThetaResolution 20
s${sidx} SetPhiResolution 20
s${sidx} SetPhiRoundness [expr 0.7 + ($sidx-2)*0.4]
s${sidx} SetThetaRoundness [expr 0.85 + ($sidx-1)*0.4]
if [info exists sscale(s${sidx})] {
eval s${sidx} SetScale $sscale(s${sidx})
}
if [info exists scenter(s${sidx})] {
eval s${sidx} SetCenter $scenter(s${sidx})
}
s${sidx} Update
}
# Create renderers
for {set ridx 1} {$ridx <= 3} {incr ridx} {
vtkRenderer ren${ridx}
ren${ridx} SetViewport [expr ($ridx-1)/3.0] 0.0 [expr ($ridx)/3.0] 1.0
ren${ridx} SetBackground 0.7 0.8 1.0
set cam [ren${ridx} GetActiveCamera]
$cam SetPosition 1.7 1.4 1.7
renWin AddRenderer ren${ridx}
# renderer 1 has all 3 objects, render i has object 1 and i (i=2, 3)
# add actors (corresponding to the objects) to each renderer
# and ICP transforms from objects i or to 1.
# object 1 has feature edges too.
for {set sidx 1} {$sidx <= 3} {incr sidx} {
if {$ridx == 1 || $sidx == 1 || $ridx == $sidx} {
vtkPolyDataMapper ren${ridx}s${sidx}m
ren${ridx}s${sidx}m SetInputConnection [s${sidx} GetOutputPort]
vtkActor ren${ridx}s${sidx}a
ren${ridx}s${sidx}a SetMapper ren${ridx}s${sidx}m
set prop [ren${ridx}s${sidx}a GetProperty]
if [info exists scolors(s${sidx})] {
eval $prop SetColor $scolors(s${sidx})
}
if {$sidx == 1} {
$prop SetOpacity 0.2
vtkFeatureEdges ren${ridx}s${sidx}fe
ren${ridx}s${sidx}fe SetInputConnection [s${sidx} GetOutputPort]
ren${ridx}s${sidx}fe BoundaryEdgesOn
ren${ridx}s${sidx}fe ColoringOff
ren${ridx}s${sidx}fe ManifoldEdgesOff
vtkPolyDataMapper ren${ridx}s${sidx}fem
ren${ridx}s${sidx}fem SetInputConnection \
[ren${ridx}s${sidx}fe GetOutputPort]
ren${ridx}s${sidx}fem \
SetResolveCoincidentTopologyToPolygonOffset
vtkActor ren${ridx}s${sidx}fea
ren${ridx}s${sidx}fea SetMapper ren${ridx}s${sidx}fem
ren${ridx} AddActor ren${ridx}s${sidx}fea
}
ren${ridx} AddActor ren${ridx}s${sidx}a
}
if {$ridx > 1 && $ridx == $sidx} {
vtkIterativeClosestPointTransform ren${ridx}icp${sidx}
ren${ridx}icp${sidx} SetSource [s${sidx} GetOutput]
ren${ridx}icp${sidx} SetTarget [s1 GetOutput]
ren${ridx}icp${sidx} SetCheckMeanDistance 1
ren${ridx}icp${sidx} SetMaximumMeanDistance 0.001
ren${ridx}icp${sidx} SetMaximumNumberOfIterations 30
ren${ridx}icp${sidx} SetMaximumNumberOfLandmarks 50
ren${ridx}s${sidx}a SetUserTransform ren${ridx}icp${sidx}
}
}
}
ren3icp3 StartByMatchingCentroidsOn
renWin SetSize 400 100
renWin Render
catch {
iren AddObserver UserEvent {wm deiconify .vtkInteract}
}
wm withdraw .
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