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#!/usr/bin/env python
# -*- coding: utf-8 -*-
from vtkmodules.vtkCommonDataModel import vtkIterativeClosestPointTransform
from vtkmodules.vtkFiltersCore import vtkFeatureEdges
from vtkmodules.vtkFiltersSources import vtkSuperquadricSource
from vtkmodules.vtkRenderingCore import (
vtkActor,
vtkPolyDataMapper,
vtkRenderWindow,
vtkRenderWindowInteractor,
vtkRenderer,
)
import vtkmodules.vtkInteractionStyle
import vtkmodules.vtkRenderingFreeType
import vtkmodules.vtkRenderingOpenGL2
import vtkmodules.test.Testing
from vtkmodules.util.misc import vtkGetDataRoot
VTK_DATA_ROOT = vtkGetDataRoot()
class TestICPTransform(vtkmodules.test.Testing.vtkTest):
def testICPTransform(self):
renWin = vtkRenderWindow()
#iren = vtkRenderWindowInteractor()
#iren.SetRenderWindow(renWin)
# Create objects
sscale = {2:[0.7, 0.7, 0.7],
3:[0.5, 0.5, 0.5]}
scenter = {2:[-0.25, 0.25, 0.0],
3:[ 0.4, -0.3, 0.0]}
scolors = {2:[0.2, 0.6, 0.1],
3:[0.1, 0.2, 0.6]}
s = dict() # The super quadric sources
for sidx in range(1, 4):
s.update({sidx:vtkSuperquadricSource()})
s[sidx].ToroidalOff()
s[sidx].SetThetaResolution(20)
s[sidx].SetPhiResolution(20)
s[sidx].SetPhiRoundness(0.7 + (sidx - 2) * 0.4)
s[sidx].SetThetaRoundness(0.85 + (sidx - 1) * 0.4)
if sidx in sscale:
s[sidx].SetScale(sscale[sidx])
if sidx in scenter:
s[sidx].SetCenter(scenter[sidx])
s[sidx].Update()
ren = dict() # Renderers
sm = dict() # Mappers for the super quadric source
sa = dict() # Actors for the super quadric source
fe = dict() # Feature edges
fem = dict() # Feature edges mappers
fea = dict() # Feature edges actors
icp = dict() # Iterated closest point transforms
# Create the renderers
for ridx in range(1, 4):
ren.update({ridx: vtkRenderer()})
ren[ridx].SetViewport((ridx - 1) / 3.0, 0.0, ridx / 3.0, 1.0)
ren[ridx].SetBackground(0.7, 0.8, 1.0)
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 sidx in range(1, 4):
if ridx == 1 or sidx == 1 or ridx == sidx:
sm.update({ridx:{sidx:vtkPolyDataMapper()}})
sm[ridx][sidx].SetInputConnection(s[sidx].GetOutputPort())
sa.update({ridx:{sidx:vtkActor()}})
sa[ridx][sidx].SetMapper(sm[ridx][sidx])
prop = sa[ridx][sidx].GetProperty()
if sidx in scolors:
prop.SetColor(scolors[sidx])
if sidx == 1:
prop.SetOpacity(0.2)
fe.update({ridx:{sidx:vtkFeatureEdges()}})
src = s[sidx]
fe[ridx][sidx].SetInputConnection(src.GetOutputPort())
fe[ridx][sidx].BoundaryEdgesOn()
fe[ridx][sidx].ColoringOff()
fe[ridx][sidx].ManifoldEdgesOff()
fem.update({ridx:{sidx:vtkPolyDataMapper()}})
fem[ridx][sidx].SetInputConnection(fe[ridx][sidx].GetOutputPort())
fem[ridx][sidx].SetResolveCoincidentTopologyToPolygonOffset()
fea.update({ridx:{sidx:vtkActor()}})
fea[ridx][sidx].SetMapper(fem[ridx][sidx])
ren[ridx].AddActor(fea[ridx][sidx])
ren[ridx].AddActor(sa[ridx][sidx])
if ridx > 1 and ridx == sidx:
icp.update({ridx:{sidx:vtkIterativeClosestPointTransform()}})
icp[ridx][sidx].SetSource(s[sidx].GetOutput())
icp[ridx][sidx].SetTarget(s[1].GetOutput())
icp[ridx][sidx].SetCheckMeanDistance(1)
icp[ridx][sidx].SetMaximumMeanDistance(0.001)
icp[ridx][sidx].SetMaximumNumberOfIterations(30)
icp[ridx][sidx].SetMaximumNumberOfLandmarks(50)
sa[ridx][sidx].SetUserTransform(icp[ridx][sidx])
icp[3][3].StartByMatchingCentroidsOn()
renWin.SetSize(400, 100)
# render and interact with data
iRen = vtkRenderWindowInteractor()
iRen.SetRenderWindow(renWin);
renWin.Render()
img_file = "TestICPTransform.png"
vtkmodules.test.Testing.compareImage(iRen.GetRenderWindow(), vtkmodules.test.Testing.getAbsImagePath(img_file))
vtkmodules.test.Testing.interact()
if __name__ == "__main__":
vtkmodules.test.Testing.main([(TestICPTransform, 'test')])
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