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上一篇绘制点云的博文中#xff0c;使用的vtkCameraOrientationWidget来绘制的坐标轴#xff0c;最近又学习到两种新的坐标轴绘制形式。
vtkOrientationMarkerWidget vtkAxesActor
单独使用vtkAxesActor能够绘制出坐标轴#xff0c;但是会随着鼠标操作旋转和平移时…背景
上一篇绘制点云的博文中使用的vtkCameraOrientationWidget来绘制的坐标轴最近又学习到两种新的坐标轴绘制形式。
vtkOrientationMarkerWidget vtkAxesActor
单独使用vtkAxesActor能够绘制出坐标轴但是会随着鼠标操作旋转和平移时在三维窗口中移动。搭配vtkOrientationMarkerWidget 的话能够在三维窗口的widget中再放置一个小的widget专门放置vtkAxesActor可以达到停留在窗口左下角只随着鼠标旋转的目的。
在头文件中定义vtkOrientationMarkerWidget 的对象 vtkSmartPointervtkOrientationMarkerWidget markerOrientationWidget;void QVtkDemo2::testVtk3D()
{//创建着色器对象vtkSmartPointervtkRenderer g_vtkRenderer vtkSmartPointervtkRenderer::New();//设置背景颜色g_vtkRenderer-SetBackground(.1, .2, .4);//创建point对象vtkSmartPointervtkPoints g_vtkPoints vtkSmartPointervtkPoints::New();g_vtkPoints-SetNumberOfPoints(200);//创建cell对象vtkSmartPointervtkCellArray g_vtkVertices vtkSmartPointervtkCellArray::New();vtkIdType id[1];//随机生成200个点float minz VTK_FLOAT_MAX, maxz VTK_FLOAT_MIN;for (int i 0; i 200; i){float x rand() % 10;float y rand() % 10;float z rand() % 10;//提前申请了points的数量使用set比insert速度更快g_vtkPoints-SetPoint(i, x, y, z);id[0] i;g_vtkVertices-InsertNextCell(1, id);if (z maxz){maxz z;}if (z minz){minz z;}}//创建poly对象vtkSmartPointervtkPolyData g_vtkpolyData vtkSmartPointervtkPolyData::New();g_vtkpolyData-SetPoints(g_vtkPoints);g_vtkpolyData-SetVerts(g_vtkVertices);vtkSmartPointervtkVertexGlyphFilter g_glyphFilter vtkSmartPointervtkVertexGlyphFilter::New();g_glyphFilter-SetInputData(g_vtkpolyData);g_glyphFilter-Update();vtkSmartPointervtkElevationFilter g_elevationFilter vtkSmartPointervtkElevationFilter::New();g_elevationFilter-SetInputConnection(g_glyphFilter-GetOutputPort());g_elevationFilter-SetLowPoint(0, 0, minz);g_elevationFilter-SetHighPoint(0, 0, maxz);//创建polyMappervtkSmartPointervtkPolyDataMapper g_vtkpointsMapper vtkSmartPointervtkPolyDataMapper::New();g_vtkpointsMapper-SetInputConnection(g_elevationFilter-GetOutputPort());//创建ActorvtkSmartPointervtkActor g_vtkpointsActor vtkSmartPointervtkActor::New();g_vtkpointsActor-SetMapper(g_vtkpointsMapper);g_vtkpointsActor-GetProperty()-SetPointSize(3);//设置点的大小g_vtkRenderer-AddActor(g_vtkpointsActor);vtkNewvtkLookupTable lut vtkNewvtkLookupTable::vtkNew();lut-SetNumberOfTableValues(7);lut-SetHueRange(0.0, 0.67);lut-SetTableRange(minz, maxz);lut-Build();vtkNewvtkScalarBarActor colorBar vtkNewvtkScalarBarActor::vtkNew();colorBar-SetLookupTable(lut);colorBar-SetNumberOfLabels(7);colorBar-SetBarRatio(0.10);colorBar-SetUnconstrainedFontSize(0.05);colorBar-SetMaximumHeightInPixels(100);colorBar-SetDisplayPosition(500, 80);g_vtkRenderer-AddActor2D(colorBar);//根据点云的包围盒寻找最佳的显示视点位置g_vtkRenderer-ResetCamera();//ui中的绘制窗口添加定义的着色器ui.openGLWidget-renderWindow()-AddRenderer(g_vtkRenderer);//开始三维渲染ui.openGLWidget-renderWindow()-Render();//绘制坐标轴vtkSmartPointervtkAxesActor axes_actor vtkSmartPointervtkAxesActor::New();axes_actor-SetPosition(0, 0, 0);axes_actor-SetTotalLength(50, 50, 50);//axes_actor-SetScale(5.0);//axes_actor-SetShaftType(0);//axes_actor-SetCylinderRadius(0.1);//axes_actor-SetConeRadius(0.3);//axes_actor-SetAxisLabels(1);//axes_actor-SetTipType(0); //坐标轴顶部为圆锥体axes_actor-GetXAxisShaftProperty()-SetColor(1, 0, 1);axes_actor-GetXAxisTipProperty()-SetColor(1, 0, 1);axes_actor-GetZAxisShaftProperty()-SetColor(1, 1, 0);axes_actor-GetZAxisTipProperty()-SetColor(1, 1, 0);markerOrientationWidget vtkSmartPointervtkOrientationMarkerWidget::New();markerOrientationWidget-SetOrientationMarker(axes_actor);markerOrientationWidget-SetInteractor(ui.openGLWidget-interactor());markerOrientationWidget-SetCurrentRenderer(g_vtkRenderer);markerOrientationWidget-SetDefaultRenderer(g_vtkRenderer);markerOrientationWidget-SetViewport(0.0, 0.0, 0.2, 0.2);markerOrientationWidget-SetEnabled(1);markerOrientationWidget-SetZoom(1.2);markerOrientationWidget-SetInteractive(false);return;
}可以为三维空间添加一个网格底面如图所示 只需要在上述代码中创建一个新的Actor以及对应的Mapper和PlaneSource然后向renderer中添加一个额外的Actor并通过vtkCamera来设定我们当前的视角提升观感
void QVtkDemo2::testVtk3D()
{//创建着色器对象vtkSmartPointervtkRenderer g_vtkRenderer vtkSmartPointervtkRenderer::New();//设置背景颜色g_vtkRenderer-SetBackground(.1, .2, .4);//创建point对象vtkSmartPointervtkPoints g_vtkPoints vtkSmartPointervtkPoints::New();g_vtkPoints-SetNumberOfPoints(200);//创建cell对象vtkSmartPointervtkCellArray g_vtkVertices vtkSmartPointervtkCellArray::New();vtkIdType id[1];//随机生成200个点float minz VTK_FLOAT_MAX, maxz VTK_FLOAT_MIN;for (int i 0; i 200; i){float x rand() % 10;float y rand() % 10;float z rand() % 10;//提前申请了points的数量使用set比insert速度更快g_vtkPoints-SetPoint(i, x, y, z);id[0] i;g_vtkVertices-InsertNextCell(1, id);if (z maxz){maxz z;}if (z minz){minz z;}}//创建poly对象vtkSmartPointervtkPolyData g_vtkpolyData vtkSmartPointervtkPolyData::New();g_vtkpolyData-SetPoints(g_vtkPoints);g_vtkpolyData-SetVerts(g_vtkVertices);vtkSmartPointervtkVertexGlyphFilter g_glyphFilter vtkSmartPointervtkVertexGlyphFilter::New();g_glyphFilter-SetInputData(g_vtkpolyData);g_glyphFilter-Update();vtkSmartPointervtkElevationFilter g_elevationFilter vtkSmartPointervtkElevationFilter::New();g_elevationFilter-SetInputConnection(g_glyphFilter-GetOutputPort());g_elevationFilter-SetLowPoint(0, 0, minz);g_elevationFilter-SetHighPoint(0, 0, maxz);//创建polyMappervtkSmartPointervtkPolyDataMapper g_vtkpointsMapper vtkSmartPointervtkPolyDataMapper::New();g_vtkpointsMapper-SetInputConnection(g_elevationFilter-GetOutputPort());//创建ActorvtkSmartPointervtkActor g_vtkpointsActor vtkSmartPointervtkActor::New();g_vtkpointsActor-SetMapper(g_vtkpointsMapper);g_vtkpointsActor-GetProperty()-SetPointSize(3);//设置点的大小g_vtkRenderer-AddActor(g_vtkpointsActor);vtkNewvtkLookupTable lut vtkNewvtkLookupTable::vtkNew();lut-SetNumberOfTableValues(7);lut-SetHueRange(0.0, 0.67);lut-SetTableRange(minz, maxz);lut-Build();vtkNewvtkScalarBarActor colorBar vtkNewvtkScalarBarActor::vtkNew();colorBar-SetLookupTable(lut);colorBar-SetNumberOfLabels(7);colorBar-SetBarRatio(0.10);colorBar-SetUnconstrainedFontSize(0.05);colorBar-SetMaximumHeightInPixels(100);colorBar-SetDisplayPosition(500, 80);g_vtkRenderer-AddActor2D(colorBar);//定义一个平面vtkSmartPointervtkPlaneSource mReferencePlaneSource;vtkSmartPointervtkPolyDataMapper mReferencePlaneMapper;vtkSmartPointervtkActor mReferencePlaneActor;//添加平面mReferencePlaneSource vtkSmartPointervtkPlaneSource::New();mReferencePlaneMapper vtkSmartPointervtkPolyDataMapper::New();mReferencePlaneActor vtkSmartPointervtkActor::New();mReferencePlaneSource-SetXResolution(20);mReferencePlaneSource-SetYResolution(20);mReferencePlaneSource-SetOrigin(-10.0, -10.0, -6.0); //根据视野范围来调整mReferencePlaneSource-SetPoint1(10.0, -10.0, -6.0);mReferencePlaneSource-SetPoint2(-10.0, 10.0, -6.0);mReferencePlaneMapper-SetInputConnection(mReferencePlaneSource-GetOutputPort());mReferencePlaneActor-SetMapper(mReferencePlaneMapper);mReferencePlaneActor-GetProperty()-SetRepresentationToWireframe();mReferencePlaneActor-GetProperty()-SetColor(0.5, 1.0, 1.0);mReferencePlaneActor-SetVisibility(true);g_vtkRenderer-AddActor(mReferencePlaneActor);vtkSmartPointervtkCamera _vtk_icamera vtkSmartPointervtkCamera::New();_vtk_icamera-SetPosition(50.0, 50.0, 30.0);_vtk_icamera-SetFocalPoint(0.0, 0.0, 0.0);_vtk_icamera-SetViewUp(0.0, 0.0, 1.0);_vtk_icamera-ComputeViewPlaneNormal();if (_vtk_icamera){g_vtkRenderer-SetActiveCamera(_vtk_icamera);g_vtkRenderer-ResetCamera();}//根据点云的包围盒寻找最佳的显示视点位置//g_vtkRenderer-ResetCamera();//ui中的绘制窗口添加定义的着色器ui.openGLWidget-renderWindow()-AddRenderer(g_vtkRenderer);//开始三维渲染ui.openGLWidget-renderWindow()-Render();//绘制坐标轴vtkSmartPointervtkAxesActor axes_actor vtkSmartPointervtkAxesActor::New();axes_actor-SetPosition(0, 0, 0);axes_actor-SetTotalLength(50, 50, 50);//axes_actor-SetScale(5.0);//axes_actor-SetShaftType(0);//axes_actor-SetCylinderRadius(0.1);//axes_actor-SetConeRadius(0.3);//axes_actor-SetAxisLabels(1);//axes_actor-SetTipType(0); //坐标轴顶部为圆锥体axes_actor-GetXAxisShaftProperty()-SetColor(1, 0, 1);axes_actor-GetXAxisTipProperty()-SetColor(1, 0, 1);axes_actor-GetZAxisShaftProperty()-SetColor(1, 1, 0);axes_actor-GetZAxisTipProperty()-SetColor(1, 1, 0);markerOrientationWidget vtkSmartPointervtkOrientationMarkerWidget::New();markerOrientationWidget-SetOrientationMarker(axes_actor);markerOrientationWidget-SetInteractor(ui.openGLWidget-interactor());markerOrientationWidget-SetCurrentRenderer(g_vtkRenderer);markerOrientationWidget-SetDefaultRenderer(g_vtkRenderer);markerOrientationWidget-SetViewport(0.0, 0.0, 0.2, 0.2);markerOrientationWidget-SetEnabled(1);markerOrientationWidget-SetZoom(1.2);markerOrientationWidget-SetInteractive(false);return;
}vtkCubeAxesActor
下图是matlab的三维显示想要绘制网格状的坐标轴并标注坐标VTK提供了vtkCubeAxesActor vtkCubeAxesActor作为一类Actor, 因此我们只需要定义好vtkCubeAxesActor的参数然后添加到Renderer中即可
void QVtkDemo2::testVtk3D()
{//创建着色器对象vtkSmartPointervtkRenderer g_vtkRenderer vtkSmartPointervtkRenderer::New();//设置背景颜色g_vtkRenderer-SetBackground(.1, .2, .4);//创建point对象vtkSmartPointervtkPoints g_vtkPoints vtkSmartPointervtkPoints::New();g_vtkPoints-SetNumberOfPoints(200);//创建cell对象vtkSmartPointervtkCellArray g_vtkVertices vtkSmartPointervtkCellArray::New();vtkIdType id[1];//随机生成200个点float minz VTK_FLOAT_MAX, maxz VTK_FLOAT_MIN;for (int i 0; i 200; i){float x rand() % 10;float y rand() % 10;float z rand() % 10;//提前申请了points的数量使用set比insert速度更快g_vtkPoints-SetPoint(i, x, y, z);id[0] i;g_vtkVertices-InsertNextCell(1, id);if (z maxz){maxz z;}if (z minz){minz z;}}//创建poly对象vtkSmartPointervtkPolyData g_vtkpolyData vtkSmartPointervtkPolyData::New();g_vtkpolyData-SetPoints(g_vtkPoints);g_vtkpolyData-SetVerts(g_vtkVertices);vtkSmartPointervtkVertexGlyphFilter g_glyphFilter vtkSmartPointervtkVertexGlyphFilter::New();g_glyphFilter-SetInputData(g_vtkpolyData);g_glyphFilter-Update();vtkSmartPointervtkElevationFilter g_elevationFilter vtkSmartPointervtkElevationFilter::New();g_elevationFilter-SetInputConnection(g_glyphFilter-GetOutputPort());g_elevationFilter-SetLowPoint(0, 0, minz);g_elevationFilter-SetHighPoint(0, 0, maxz);//创建polyMappervtkSmartPointervtkPolyDataMapper g_vtkpointsMapper vtkSmartPointervtkPolyDataMapper::New();g_vtkpointsMapper-SetInputConnection(g_elevationFilter-GetOutputPort());//创建ActorvtkSmartPointervtkActor g_vtkpointsActor vtkSmartPointervtkActor::New();g_vtkpointsActor-SetMapper(g_vtkpointsMapper);g_vtkpointsActor-GetProperty()-SetPointSize(3);//设置点的大小g_vtkRenderer-AddActor(g_vtkpointsActor);vtkNewvtkLookupTable lut vtkNewvtkLookupTable::vtkNew();lut-SetNumberOfTableValues(7);lut-SetHueRange(0.0, 0.67);lut-SetTableRange(minz, maxz);lut-Build();vtkNewvtkScalarBarActor colorBar vtkNewvtkScalarBarActor::vtkNew();colorBar-SetLookupTable(lut);colorBar-SetNumberOfLabels(7);colorBar-SetBarRatio(0.10);colorBar-SetUnconstrainedFontSize(0.05);colorBar-SetMaximumHeightInPixels(100);colorBar-SetDisplayPosition(500, 80);g_vtkRenderer-AddActor2D(colorBar);//vtkCubeAxesvtkSmartPointervtkCubeAxesActor cubeAxes vtkSmartPointervtkCubeAxesActor::New();auto activeCamera g_vtkRenderer-GetActiveCamera();cubeAxes-SetCamera(activeCamera);double bounds[6] { 0.0, 10.0, 0.0, 10.0, 0.0, 10.0 };cubeAxes-SetBounds(bounds);cubeAxes-SetXTitle(X-Axis);cubeAxes-SetYTitle(Y-Axis);cubeAxes-SetZTitle(Z-Axis);cubeAxes-GetTitleTextProperty(0)-SetColor(1.0, 0.0, 1.0);cubeAxes-GetLabelTextProperty(0)-SetColor(1.0, 0.0, 1.0);cubeAxes-GetTitleTextProperty(1)-SetColor(0.0, 1.0, 0.0);cubeAxes-GetLabelTextProperty(1)-SetColor(0.0, 1.0, 0.0);cubeAxes-GetTitleTextProperty(2)-SetColor(1.0, 1.0, 0.0);cubeAxes-GetLabelTextProperty(2)-SetColor(1.0, 1.0, 0.0);cubeAxes-SetVisibility(1);cubeAxes-SetXAxisRange(0, 10.0);cubeAxes-SetYAxisRange(0.0, 10.0);cubeAxes-SetZAxisRange(0.0, 10.0);cubeAxes-DrawXGridlinesOn();cubeAxes-DrawYGridlinesOn();cubeAxes-DrawZGridlinesOn();cubeAxes-SetDrawXInnerGridlines(0);cubeAxes-SetDrawYInnerGridlines(0);cubeAxes-SetDrawZInnerGridlines(0);cubeAxes-XAxisMinorTickVisibilityOff();cubeAxes-YAxisMinorTickVisibilityOff();cubeAxes-ZAxisMinorTickVisibilityOff();cubeAxes-SetScreenSize(30.0);cubeAxes-SetLabelOffset(20.0);cubeAxes-SetGridLineLocation(2);cubeAxes-SetTickLocation(1);cubeAxes-SetFlyMode(0);g_vtkRenderer-AddActor(cubeAxes);vtkSmartPointervtkCamera _vtk_icamera vtkSmartPointervtkCamera::New();_vtk_icamera-SetPosition(50.0, 50.0, 30.0);_vtk_icamera-SetFocalPoint(0.0, 0.0, 0.0);_vtk_icamera-SetViewUp(0.0, 0.0, 1.0);_vtk_icamera-ComputeViewPlaneNormal();if (_vtk_icamera){g_vtkRenderer-SetActiveCamera(_vtk_icamera);g_vtkRenderer-ResetCamera();}//根据点云的包围盒寻找最佳的显示视点位置//g_vtkRenderer-ResetCamera();//ui中的绘制窗口添加定义的着色器ui.openGLWidget-renderWindow()-AddRenderer(g_vtkRenderer);//开始三维渲染ui.openGLWidget-renderWindow()-Render();//绘制坐标轴vtkSmartPointervtkAxesActor axes_actor vtkSmartPointervtkAxesActor::New();axes_actor-SetPosition(0, 0, 0);axes_actor-SetTotalLength(50, 50, 50);//axes_actor-SetScale(5.0);//axes_actor-SetShaftType(0);//axes_actor-SetCylinderRadius(0.1);//axes_actor-SetConeRadius(0.3);//axes_actor-SetAxisLabels(1);//axes_actor-SetTipType(0); //坐标轴顶部为圆锥体axes_actor-GetXAxisShaftProperty()-SetColor(1, 0, 1);axes_actor-GetXAxisTipProperty()-SetColor(1, 0, 1);axes_actor-GetZAxisShaftProperty()-SetColor(1, 1, 0);axes_actor-GetZAxisTipProperty()-SetColor(1, 1, 0);markerOrientationWidget vtkSmartPointervtkOrientationMarkerWidget::New();markerOrientationWidget-SetOrientationMarker(axes_actor);markerOrientationWidget-SetInteractor(ui.openGLWidget-interactor());markerOrientationWidget-SetCurrentRenderer(g_vtkRenderer);markerOrientationWidget-SetDefaultRenderer(g_vtkRenderer);markerOrientationWidget-SetViewport(0.0, 0.0, 0.2, 0.2);markerOrientationWidget-SetEnabled(1);markerOrientationWidget-SetZoom(1.2);markerOrientationWidget-SetInteractive(false);return;
}带灰度纹理点云的三维显示
