Python vtk.vtkRenderer() Examples

def vis_segments(ind=1):
    renderer = vtk.vtkRenderer()
    seg_folder = os.path.join(params['base_dir'], "output/pcd_seg/" + str(ind).zfill(params["file_name_digits"])) + "/"
    seg_list = os.listdir(seg_folder)
    for seg in seg_list:
        if seg.split(".")[-1] == "txt":
            color_tup = (np.random.randint(1, 255, 3)).tolist()
            points_ls = list()
            jdcs_collection = cPickle.load(open(os.path.abspath(seg_folder + seg), 'rb'))
            if len(jdcs_collection) > 0:  # filter
                for jdc in jdcs_collection:
                    points_ls.extend(jdc)
            # print points_ls
            actor = vis_pcd_color_arr(np.array(points_ls), color_tup)
            renderer.AddActor(actor)
    vis_with_renderer(renderer) 

def vis_segments_only_chessboard_color(ind=1):
    renderer = vtk.vtkRenderer()
    seg_folder = os.path.join(params['base_dir'], "output/pcd_seg/" + str(ind).zfill(params["file_name_digits"])) + "/"
    seg_list = os.listdir(seg_folder)
    chessboard_file_name = \
        cPickle.load(open(os.path.join(params['base_dir'], "output/pcd_seg/") + str(ind).zfill(
            params["file_name_digits"]) + "_pcd_result.pkl", "r"))[
            -1].split("/")[-1]
    for seg in seg_list:
        if seg.split(".")[-1] == "txt":
            if seg == chessboard_file_name:
                color_tup = np.array([0, 255, 0])
            else:
                color_tup = np.array([0, 0, 0])

            points_ls = list()
            jdcs_collection = cPickle.load(open(os.path.abspath(seg_folder + seg), 'rb'))
            if len(jdcs_collection) > 0:  # filter
                for jdc in jdcs_collection:
                    points_ls.extend(jdc)
            # print points_ls
            actor = vis_pcd_color_arr(np.array(points_ls), color_tup)
            renderer.AddActor(actor)
    vis_with_renderer(renderer) 

def create_ren_list(self):
        """
        Create a list of the 4 renderers we use. One general view and 3 cartersian projections
        Returns:
            list: list of renderers
        """

        # viewport dimensions setup
        xmins = [0, 0.6, 0.6, 0.6]
        xmaxs = [0.6, 1, 1, 1]
        ymins = [0, 0, 0.33, 0.66]
        ymaxs = [1, 0.33, 0.66, 1]

        # create list of renderers, set vieport values
        ren_list = []
        for i in range(self.n_ren):
            # append each renderer to list of renderers
            ren_list.append(vtk.vtkRenderer())
            # add each renderer to window
            self.renwin.AddRenderer(ren_list[-1])
            # set viewport for each renderer
            ren_list[-1].SetViewport(xmins[i], ymins[i], xmaxs[i], ymaxs[i])

        return ren_list 

def viewer(pointclouds):
        assert all([isinstance(p, VtkPointCloud) for p in pointclouds])

        # Renderer
        renderer = vtk.vtkRenderer()
        renderer.SetBackground(1.0, 1.0, 1.0)

        for p in pointclouds:
            renderer.AddActor(p.vtkActor)
        renderer.ResetCamera()

        # Render Window
        renderWindow = vtk.vtkRenderWindow()
        renderWindow.AddRenderer(renderer)

        # Interactor
        renderWindowInteractor = vtk.vtkRenderWindowInteractor()
        renderWindowInteractor.SetRenderWindow(renderWindow)

        # Begin Interaction
        renderWindow.Render()
        renderWindow.SetWindowName("XYZ Data Viewer")

        renderWindowInteractor.Start() 

def make_render_window():

    #cone actor
    cone = vtk.vtkConeSource()
    coneMapper = vtk.vtkPolyDataMapper()
    coneMapper.SetInputConnection(cone.GetOutputPort())
    coneActor = vtk.vtkActor()
    coneActor.SetMapper(coneMapper)

    #text actor following camera
    text = vtk.vtkVectorText()
    text.SetText("Origin")
    textMapper = vtk.vtkPolyDataMapper()
    textMapper.SetInputConnection(text.GetOutputPort())
    textActor = vtk.vtkFollower()
    textActor.SetMapper(textMapper)

    ren = vtk.vtkRenderer()
    ren.AddActor(coneActor)
    ren.AddActor(textActor)
    textActor.SetCamera(ren.GetActiveCamera())

    renWin = vtk.vtkRenderWindow()
    renWin.AddRenderer(ren)
    return renWin 

def check_depth_peeling(number_of_peels=100, occlusion_ratio=0.0):
    """Check if depth peeling is available.

    Attempts to use depth peeling to see if it is available for the current
    environment. Returns ``True`` if depth peeling is available and has been
    successfully leveraged, otherwise ``False``.

    """
    # Try Depth Peeling with a basic scene
    source = vtk.vtkSphereSource()
    mapper = vtk.vtkPolyDataMapper()
    mapper.SetInputConnection(source.GetOutputPort())
    actor = vtk.vtkActor()
    actor.SetMapper(mapper)
    # requires opacity < 1
    actor.GetProperty().SetOpacity(0.5)
    renderer = vtk.vtkRenderer()
    renderWindow = vtk.vtkRenderWindow()
    renderWindow.AddRenderer(renderer)
    renderWindow.SetOffScreenRendering(True)
    renderWindow.SetAlphaBitPlanes(True)
    renderWindow.SetMultiSamples(0)
    renderer.AddActor(actor)
    renderer.SetUseDepthPeeling(True)
    renderer.SetMaximumNumberOfPeels(number_of_peels)
    renderer.SetOcclusionRatio(occlusion_ratio)
    renderWindow.Render()
    return renderer.GetLastRenderingUsedDepthPeeling() == 1 

def QVTKRenderWidgetConeExample():
    """A simple example that uses the QVTKRenderWindowInteractor class."""

    # every QT app needs an app
    app = QApplication(["QVTKRenderWindowInteractor"])

    # create the widget
    widget = QVTKRenderWindowInteractor()
    widget.Initialize()
    widget.Start()
    # if you dont want the 'q' key to exit comment this.
    widget.AddObserver("ExitEvent", lambda o, e, a=app: a.quit())

    ren = vtk.vtkRenderer()
    widget.GetRenderWindow().AddRenderer(ren)

    cone = vtk.vtkConeSource()
    cone.SetResolution(8)

    coneMapper = vtk.vtkPolyDataMapper()
    coneMapper.SetInputConnection(cone.GetOutputPort())

    coneActor = vtk.vtkActor()
    coneActor.SetMapper(coneMapper)

    ren.AddActor(coneActor)

    # show the widget
    widget.show()
    # start event processing
    app.exec_() 

def __init__(self, parent=None):
        "Create a wiget with a VTK Visualizer Control in it"
        self.pointObjects = []
        self.renderer = vtk.vtkRenderer()
        self.renderWidget = RenderWidget(self.renderer, parent)
        self.renderWindow = self.renderWidget.renderWindow
        self.widget = self.renderWidget.widget 

def __init__(self, renderer=None, parent=None):

        # Every QT app needs a QApplication
        self.app = QApplication.instance()
        if self.app is None:
            self.app = QApplication(sys.argv)

        # Create the widget
        if renderer is None:
            self.renderer = vtk.vtkRenderer()
        else:
            self.renderer = renderer

        self.widget = QVTKRenderWindowInteractor(parent)

        self.widget.Initialize
        self.widget.Start()

        # Set the interactor style
        self.widget.SetInteractorStyle(vtk.vtkInteractorStyleTrackballCamera())

        # Get the render window from the widget
        self.renderWindow = self.widget.GetRenderWindow()
        self.renderWindow.AddRenderer(self.renderer)

        # show the widget
        self.widget.show() 

def __init__(self, parent, opt_engine):
        QVTKRenderWindowInteractor.__init__(self, parent)
        self.opt_engine = opt_engine
        self.resetCamera = True

        self.renderer = vtk.vtkRenderer()
        self.GetRenderWindow().AddRenderer(self.renderer)
        self.interactor = self.GetRenderWindow().GetInteractor()

        self.create_actor()
        self.renderer.AddActor(self.actor)
        self.renderer.SetBackground(0, 0, 0) 

def __init__(self, h=800, w=600):
        self.renderer = vtk.vtkRenderer()
        self.renderer.SetBackground(0.1, 0.1, 0.1)

        # Add axes
        axes = vtk.vtkAxesActor()
        axes.GetXAxisCaptionActor2D().SetHeight(0.05)
        axes.GetYAxisCaptionActor2D().SetHeight(0.05)
        axes.GetZAxisCaptionActor2D().SetHeight(0.05)
        axes.SetCylinderRadius(0.03)
        axes.SetShaftTypeToCylinder()
        self.renderer.AddActor(axes)

        # Add render window
        self.renwin = vtk.vtkRenderWindow()
        self.renwin.SetWindowName("Point Cloud Viewer")
        self.renwin.SetSize(h, w)
        self.renwin.AddRenderer(self.renderer)

        # An interactor
        self.interactor = vtk.vtkRenderWindowInteractor()
        interstyle = vtk.vtkInteractorStyleTrackballCamera()
        self.interactor.SetInteractorStyle(interstyle)
        self.interactor.SetRenderWindow(self.renwin)

        self.camera_actors = [] 

def __init__(self, threadLock, actorWrapper, axis=True,):
        super(VTKVisualisation, self).__init__()

        self.threadLock = threadLock

        self.ren = vtk.vtkRenderer()
        self.ren.AddActor(actorWrapper.actor)

        self.axesActor = vtk.vtkAxesActor()
        self.axesActor.AxisLabelsOff()
        self.axesActor.SetTotalLength(1, 1, 1)
        self.ren.AddActor(self.axesActor)

        self.renWin = vtk.vtkRenderWindow()
        self.renWin.AddRenderer(self.ren)

        ## IREN
        self.iren = vtk.vtkRenderWindowInteractor()
        self.iren.SetRenderWindow(self.renWin)
        self.iren.Initialize()

        self.style = vtk.vtkInteractorStyleTrackballCamera()
        self.iren.SetInteractorStyle(self.style)

        self.iren.AddObserver("TimerEvent", self.update_visualisation)
        dt = 30 # ms
        timer_id = self.iren.CreateRepeatingTimer(dt) 

def __init__(self):
        self.ren = vtk.vtkRenderer()
        self.renWin = vtk.vtkRenderWindow()
        self.renWin.AddRenderer(self.ren)
        self.iren = vtk.vtkRenderWindowInteractor()
        self.iren.SetRenderWindow(self.renWin)

        self.lut = vtk.vtkLookupTable()
        self.lut.SetHueRange(0.6, 0.6)
        self.lut.SetSaturationRange(.5, .5)
        self.lut.SetValueRange(0.2, 1.0)
        self.lut.SetNumberOfColors(256)
        self.lut.Build() 

def make_ren_win(self):
        import vtk
        ren = vtk.vtkRenderer()
        ren_win = vtk.vtkRenderWindow()
        ren_win.AddRenderer(ren)
        return ren_win 

def run(self):
        renderer = vtk.vtkRenderer()
        renderer.SetBackground(0, 0, 0)

        camera = vtk.vtkCamera()
        camera.SetPosition((1, -1, -2));
        camera.SetViewUp((0, -1, 0));
        camera.SetFocalPoint((0, 0, 2));
        renderer.SetActiveCamera(camera)

        renwin = vtk.vtkRenderWindow()
        renwin.SetWindowName("Point Cloud Viewer")
        renwin.SetSize(800,600)
        renwin.AddRenderer(renderer)

        interactor = vtk.vtkRenderWindowInteractor()
        interstyle = vtk.vtkInteractorStyleTrackballCamera()
        interactor.SetInteractorStyle(interstyle)
        interactor.SetRenderWindow(renwin)

        interactor.Initialize()

        cb = vtkTimerCallback(self.cinematic, self.render_path, self.clear_points)
        cb.queue = self.queue

        interactor.AddObserver('TimerEvent', cb.execute)
        timerId = interactor.CreateRepeatingTimer(100);

        #start the interaction and timer
        interactor.Start() 

def visualize_prediction(pointcloud, colors, poses=None, renwin=None):
    """ render point cloud and cameras """

    renderer = vtk.vtkRenderer()
    renderer.SetBackground(0, 0, 0)

    pointcloud_actor = create_pointcloud_actor(points=pointcloud, colors=colors)
    pointcloud_actor.GetProperty().SetPointSize(2)
    renderer.AddActor(pointcloud_actor)

    for pose in poses:
        R, t = pose[:3, :3], pose[:3, 3]
        cam_actor = create_camera_actor(R,t)
        cam_actor.GetProperty().SetColor((255, 255, 0))
        renderer.AddActor(cam_actor)

    camera = vtk.vtkCamera()
    camera.SetPosition((1, -1, -2));
    camera.SetViewUp((0, -1, 0));
    camera.SetFocalPoint((0, 0, 2));

    renderer.SetActiveCamera(camera)
    renwin = vtk.vtkRenderWindow()

    renwin.SetWindowName("Point Cloud Viewer")
    renwin.SetSize(800,600)
    renwin.AddRenderer(renderer)
 
    # An interactor
    interactor = vtk.vtkRenderWindowInteractor()
    interstyle = vtk.vtkInteractorStyleTrackballCamera()
    interactor.SetInteractorStyle(interstyle)
    interactor.SetRenderWindow(renwin)

    # Render and interact
    renwin.Render()
    interactor.Initialize()
    interactor.Start() 

def QVTKRenderWidgetConeExample():
    """A simple example that uses the QVTKRenderWindowInteractor class."""

    # every QT app needs an app
    app = QApplication(['QVTKRenderWindowInteractor'])

    # create the widget
    widget = QVTKRenderWindowInteractor()
    widget.Initialize()
    widget.Start()
    # if you don't want the 'q' key to exit comment this.
    widget.AddObserver("ExitEvent", lambda o, e, a=app: a.quit())

    ren = vtk.vtkRenderer()
    widget.GetRenderWindow().AddRenderer(ren)

    cone = vtk.vtkConeSource()
    cone.SetResolution(8)

    coneMapper = vtk.vtkPolyDataMapper()
    coneMapper.SetInputConnection(cone.GetOutputPort())

    coneActor = vtk.vtkActor()
    coneActor.SetMapper(coneMapper)

    ren.AddActor(coneActor)

    # show the widget
    widget.show()
    # start event processing
    app.exec_() 

def __init__(self, background=(0.15, 0.15, 0.15), total_time_steps=None, timer_rate=60, gif_file=None):
        self.ren = vtk.vtkRenderer()
        self.ren.SetBackground(background[0], background[1], background[2])
        self.ren_win = vtk.vtkRenderWindow()
        self.ren_win.AddRenderer(self.ren)
        self.iren = vtk.vtkRenderWindowInteractor()
        self.iren.SetRenderWindow(self.ren_win)
        self.iren.SetInteractorStyle(vtk.vtkInteractorStyleTrackballCamera())
        self.actor_list = []
        self.mapper_list = []
        self.source_list = []
        self.screenshot_count = 0
        self.timer_rate = timer_rate
        self.gif_data = []
        if gif_file is not None:
            try:
                assert type(gif_file) is str
            except AssertionError:
                gif_file = str(gif_file)
            self.gif_file = gif_file
        else:
            self.gif_file = None

        if total_time_steps is not None:
            assert type(total_time_steps) is int
            self.timer_count = 0
            self.total_time_steps = total_time_steps 

def display_from_actor(actor):
    renderer = vtkRenderer()
    renderWindow = vtkRenderWindow()
    renderWindow.AddRenderer(renderer)

    renderer.AddActor(actor)
    # enable user interface interactor
    iren = vtkRenderWindowInteractor()
    iren.SetRenderWindow(renderWindow)
    iren.Initialize()
    renderWindow.Render()
    iren.Start() 

def __init__(self, parent=None):
        super(QVTKWidget, self).__init__(parent)
        self._enable_axis = False
        self._Iren.SetInteractorStyle (vtkInteractorStyleTrackballCamera ())

        self.renderer = vtkRenderer()
        self.renderer.GradientBackgroundOn()
        self.renderer.SetBackground2(255.0,255.0,255.0)
        self.renderer.SetBackground(37/255.0, 85/255.0,152/255.0)

        self.GetRenderWindow().AddRenderer(self.renderer)
        self.Initialize()
        self.Start()
        self.add_axes() 

def QVTKRenderWidgetConeExample():
    """A simple example that uses the QVTKRenderWindowInteractor class."""

    # every QT app needs an app
    app = QtGui.QApplication(['QVTKRenderWindowInteractor'])

    # create the widget
    widget = QVTKRenderWindowInteractor()
    widget.Initialize()
    widget.Start()
    # if you dont want the 'q' key to exit comment this.
    widget.AddObserver("ExitEvent", lambda o, e, a=app: a.quit())

    ren = vtkRenderer()
    widget.GetRenderWindow().AddRenderer(ren)

    cone = vtkConeSource()
    cone.SetResolution(8)

    coneMapper = vtkPolyDataMapper()
    coneMapper.SetInput(cone.GetOutput())

    coneActor = vtkActor()
    coneActor.SetMapper(coneMapper)

    ren.AddActor(coneActor)

    # show the widget
    widget.show()
    # start event processing
    app.exec_() 

def __init__(self, parent, opt_engine):
        QVTKRenderWindowInteractor.__init__(self, parent)
        self.opt_engine = opt_engine

        self.renderer = vtk.vtkRenderer()
        self.GetRenderWindow().AddRenderer(self.renderer)
        self.interactor = self.GetRenderWindow().GetInteractor()

        self.create_actor()
        self.renderer.AddActor(self.actor)
        self.renderer.SetBackground(0, 0, 0) 

def __init__(self):
        self.renderer = vtk.vtkRenderer()
        self.renderer.SetBackground(0.5, 0.5, 0.5)
        self.renderer.ResetCamera()

        axes_actor = vtk.vtkAxesActor()
        axes_actor.AxisLabelsOff()
        self.renderer.AddActor(axes_actor)

        self.window = vtk.vtkRenderWindow()
        self.window.AddRenderer(self.renderer)

        self.interactor = vtk.vtkRenderWindowInteractor()
        self.interactor.SetInteractorStyle(vtk.vtkInteractorStyleTrackballCamera())
        self.interactor.SetRenderWindow(self.window)

        self.camera = vtk.vtkCamera()
        self.camera.SetViewUp(0.0, -1.0, 0.0)
        self.camera.SetPosition(0.0, 0.0, -5)
        self.camera.SetFocalPoint(0.0, 0.0, 0.0)
        # self.camera.SetClippingRange(0.0, 100000)

        self.renderer.SetActiveCamera(self.camera) 

def vis_csv_pcd(ind=1, color_style="monochrome"):
    pcd_arr = np.genfromtxt(
        os.path.join(params['base_dir'], "pcd/" + str(ind).zfill(params["file_name_digits"])) + ".csv", delimiter=",",
        skip_header=1)
    # actor = vis_3D_points(pcd_arr, color_style="intens")
    actor = vis_3D_points(pcd_arr, color_style=color_style)
    renderer = vtk.vtkRenderer()
    renderer.AddActor(actor)
    vis_with_renderer(renderer) 

def create_render_window(actors, callbacks, **kwargs):
    """ Creates VTK render window with an interactor.

    :param actors: list of VTK actors
    :type actors: list, tuple
    :param callbacks: callback functions for registering custom events
    :type callbacks: dict
    """
    # Get keyword arguments
    figure_size = kwargs.get('figure_size', (800, 600))
    camera_position = kwargs.get('camera_position', (0, 0, 100))

    # Find camera focal point
    center_points = []
    for actor in actors:
        center_points.append(actor.GetCenter())
    camera_focal_point = linalg.vector_mean(*center_points)

    # Create camera
    camera = vtk.vtkCamera()
    camera.SetPosition(*camera_position)
    camera.SetFocalPoint(*camera_focal_point)

    # Create renderer
    renderer = vtk.vtkRenderer()
    renderer.SetActiveCamera(camera)
    renderer.SetBackground(1.0, 1.0, 1.0)

    # Add actors to the scene
    for actor in actors:
        renderer.AddActor(actor)

    # Render window
    render_window = vtk.vtkRenderWindow()
    render_window.AddRenderer(renderer)
    render_window.SetSize(*figure_size)

    # Render window interactor
    window_interactor = vtk.vtkRenderWindowInteractor()
    window_interactor.SetRenderWindow(render_window)

    # Add event observers
    for cb in callbacks:
        window_interactor.AddObserver(cb, callbacks[cb][0], callbacks[cb][1])  # cb name, cb function ref, cb priority

    # Render actors
    render_window.Render()

    # Set window name after render() is called
    render_window.SetWindowName("geomdl")

    # Use trackball camera
    interactor_style = vtk.vtkInteractorStyleTrackballCamera()
    window_interactor.SetInteractorStyle(interactor_style)

    # Start interactor
    window_interactor.Start()

    # Return window interactor instance
    return window_interactor 

def vtk_basic( actors, embed=False, magnification=1.0 ):
    """
    Create a window, renderer, interactor, add the actors and start the thing
    
    Parameters
    ----------
    actors :  list of vtkActors
    
    Returns
    -------
    nothing
    """     
    
    # create a rendering window and renderer
    ren = vtk.vtkRenderer()
    renWin = vtk.vtkRenderWindow()
    renWin.AddRenderer(ren)
    renWin.SetSize(600,600)
    # ren.SetBackground( 1, 1, 1)
 
    # create a renderwindowinteractor
    iren = vtk.vtkRenderWindowInteractor()
    iren.SetRenderWindow(renWin)

    for a in actors:

        move( a, np.dot(Ry(-180),Rx(-180)) )
        
        # assign actor to the renderer
        ren.AddActor(a )
    
    # render
    renWin.Render()

    if embed:
        renWin.SetSize(300,300)
        grabber = vtk.vtkWindowToImageFilter()
        grabber.SetInput( renWin )
        grabber.SetMagnification( magnification )
        grabber.Update()
        
        writer = vtk.vtkPNGWriter()
        writer.SetInput( grabber.GetOutput() )
        writer.SetFileName( "screenshot.png" )
        writer.Write()
        return display.Image("screenshot.png")
    else:   
        # enable user interface interactor
        iren.Initialize()
        iren.Start() 

def show_pcd_ndarray(array_data, color_arr=[0, 255, 0]):
        all_rows = array_data.shape[0]
        Colors = vtk.vtkUnsignedCharArray()
        Colors.SetNumberOfComponents(3)
        Colors.SetName("Colors")

        Points = vtk.vtkPoints()
        Vertices = vtk.vtkCellArray()

        for k in xrange(all_rows):
            point = array_data[k, :]
            id = Points.InsertNextPoint(point[0], point[1], point[2])
            Vertices.InsertNextCell(1)
            Vertices.InsertCellPoint(id)
            if vtk.VTK_MAJOR_VERSION > 6:
                Colors.InsertNextTuple(color_arr)
            else:
                Colors.InsertNextTupleValue(color_arr)

            dis_tmp = np.sqrt((point ** 2).sum(0))
            # Colors.InsertNextTupleValue([0,255-dis_tmp/max_dist*255,0])
            # Colors.InsertNextTupleValue([255-abs(point[0]/x_max*255),255-abs(point[1]/y_max*255),255-abs(point[2]/z_max*255)])
            # Colors.InsertNextTupleValue([255-abs(point[0]/x_max*255),255,255])

        polydata = vtk.vtkPolyData()
        polydata.SetPoints(Points)
        polydata.SetVerts(Vertices)
        polydata.GetPointData().SetScalars(Colors)
        polydata.Modified()

        mapper = vtk.vtkPolyDataMapper()
        if vtk.VTK_MAJOR_VERSION <= 5:
            mapper.SetInput(polydata)
        else:
            mapper.SetInputData(polydata)
        mapper.SetColorModeToDefault()
        actor = vtk.vtkActor()
        actor.SetMapper(mapper)
        actor.GetProperty().SetPointSize(5)

        # Renderer
        renderer = vtk.vtkRenderer()
        renderer.AddActor(actor)
        renderer.SetBackground(.2, .3, .4)
        renderer.ResetCamera()

        # Render Window
        renderWindow = vtk.vtkRenderWindow()
        renderWindow.AddRenderer(renderer)

        # Interactor
        renderWindowInteractor = vtk.vtkRenderWindowInteractor()
        renderWindowInteractor.SetRenderWindow(renderWindow)

        # Begin Interaction
        renderWindow.Render()
        renderWindowInteractor.Start()


# determine whether a segment is the potential chessboard's point cloud