/// <summary>
/// Rotates volume along given axis.
/// </summary>
/// <param name="volume"></param>
/// <param name="angles"></param>
public static void RotateData(ref vtkImageData volume, double[] angles)
{
// Rotation along image center
double[] center = volume.GetExtent().Divide(2);
// Dimensions of rotated image
int[] outExtent = volume.GetExtent().Multiply(1.1).Round().ToInt32();
// Rotation parameters
var rotate = new vtkTransform();
rotate.Translate(center[1], center[3], center[5]);
rotate.RotateX(angles[0]);
rotate.RotateY(angles[1]);
rotate.RotateZ(angles[2]); // z angle should be 0
rotate.Translate(-center[1], -center[3], -center[5]);
// Perform rotation
var slice = new vtkImageReslice();
slice.SetInput(volume);
slice.SetResliceTransform(rotate);
slice.SetInterpolationModeToCubic();
slice.SetOutputSpacing(volume.GetSpacing()[0], volume.GetSpacing()[1], volume.GetSpacing()[2]);
slice.SetOutputOrigin(volume.GetOrigin()[0], volume.GetOrigin()[1], volume.GetOrigin()[2]);
slice.SetOutputExtent(outExtent[0], outExtent[1], outExtent[2], outExtent[3], outExtent[4], outExtent[5]);
}
/// <summary>
/// Update the 2D visualization when the plane moved.
/// </summary>
/// <param name="plane">PlaneWidget which changed the coordinates.</param>
public void PlaneMoved(vtkImagePlaneWidget plane)
{
vtkImageReslice reslice = vtkImageReslice.New();
vtkTransform transform = vtkTransform.New();
transform.PostMultiply();
//TODO wyznaczenie centrum okna
double[] center = { 75, 100, 0 };
transform.Translate(-center[0], -center[1], -center[2]);
transform.RotateZ(_orientation);
transform.Translate(+center[0], +center[1], +center[2]);
transform.Update();
reslice.SetInput(plane.GetResliceOutput());
reslice.SetResliceTransform(transform);
reslice.Update();
//
vtkImageData viewerInputData;
viewerInputData = reslice.GetOutput();
_lastData = viewerInputData;
_viewer.SetInput(viewerInputData);
//
//_viewer.SetInput(reslice.GetOutput());
UpdateViewer();
}
private void RotateImage(RotationOperation operation)
{
vtkImageReslice reslice = vtkImageReslice.New();
vtkTransform transform = vtkTransform.New();
transform.PostMultiply();
double[] center = { 75, 100, 0 };
transform.Translate(-center[0], -center[1], -center[2]);
if (operation == RotationOperation.Forward)
{
transform.RotateZ(90);
}
else if (operation == RotationOperation.Back)
{
transform.RotateZ(-90);
}
transform.Translate(+center[0], +center[1], +center[2]);
transform.Update();
reslice.SetInput(_viewer.GetInput());
reslice.SetResliceTransform(transform);
reslice.Update();
_viewer.SetInput(reslice.GetOutput());
UpdateViewer();
}
//TODO
public void DrawingModeRepaint()
{
if (_lastData == null)
{
return;
}
vtkImageReslice reslice = vtkImageReslice.New();
vtkTransform transform = vtkTransform.New();
transform.PostMultiply();
//TODO wyznaczenie centrum okna
double[] center = { 75, 100, 0 };
transform.Translate(-center[0], -center[1], -center[2]);
transform.RotateZ(_orientation);
transform.Translate(+center[0], +center[1], +center[2]);
transform.Update();
reslice.SetInput(_lastData);
reslice.SetResliceTransform(transform);
reslice.Update();
vtkImageData viewerInputData;
if (!DrawingEnabled)
{
viewerInputData = reslice.GetOutput();
}
else
{
var resliceOutput = reslice.GetOutput();
var sizeArray = resliceOutput.GetDimensions();
vtkImageCanvasSource2D imageCanvas = vtkImageCanvasSource2D.New();
imageCanvas.SetScalarTypeToUnsignedChar();
imageCanvas.SetExtent(0, sizeArray[0], 0, sizeArray[1], 0, 0);
imageCanvas.DrawImage(0, 0, resliceOutput);
DrawingUtils.Draw(imageCanvas, DrawingInfo);
imageCanvas.Update();
viewerInputData = imageCanvas.GetOutput();
}
_viewer.SetInput(viewerInputData);
UpdateViewer();
}
public Cone(ARenderable parent)
: base(parent)
{
Name = "Cone";
cone = vtkConeSource.New();
cone.SetAngle(10);
cone.SetRadius(0.2);
cone.SetHeight(0.5);
cone.SetResolution(20);
move = vtkTransform.New();
move.Translate(_random.NextDouble(), _random.NextDouble(), _random.NextDouble());
moveFilter = vtkTransformPolyDataFilter.New();
moveFilter.SetTransform(move);
moveFilter.SetInputConnection(cone.GetOutputPort());
mapper = vtkPolyDataMapper.New();
mapper.SetInputConnection(moveFilter.GetOutputPort());
vtkActor actor = vtkActor.New();
actor.SetMapper(mapper);
Actors = new ObservableCollection <vtkActor>();
Actors.Add(actor);
}
public Sphere(ARenderable parent)
: base(parent)
{
Name = "Sphere";
sphere = vtkSphereSource.New();
sphere.SetThetaResolution(8);
sphere.SetPhiResolution(16);
shrink = vtkShrinkPolyData.New();
shrink.SetInputConnection(sphere.GetOutputPort());
shrink.SetShrinkFactor(0.9);
move = vtkTransform.New();
move.Translate(_random.NextDouble(), _random.NextDouble(), _random.NextDouble());
moveFilter = vtkTransformPolyDataFilter.New();
moveFilter.SetTransform(move);
moveFilter.SetInputConnection(shrink.GetOutputPort());
mapper = vtkPolyDataMapper.New();
mapper.SetInputConnection(moveFilter.GetOutputPort());
Actors = new ObservableCollection <vtkActor>();
// The actor links the data pipeline to the rendering subsystem
vtkActor actor = vtkActor.New();
actor.SetMapper(mapper);
actor.GetProperty().SetColor(1, 0, 0);
Actors.Add(actor);
}
public void UpdatePosition_OLD(double[] endPoint, double[] startPoint)
{
double[] normalizedX = new double[3];
double[] normalizedY = new double[3];
double[] normalizedZ = new double[3];
// The X axis is a vector from start to end
Subtract(endPoint, startPoint, normalizedX);
double length = vtkMath.Norm(VTKUtil.ConvertIntPtr(normalizedX));
vtkMath.Normalize(VTKUtil.ConvertIntPtr(normalizedX));
// The Z axis is an arbitrary vecotr cross X
double[] arbitrary = new double[3];
arbitrary[0] = vtkMath.Random(-10, 10);
arbitrary[1] = vtkMath.Random(-10, 10);
arbitrary[2] = vtkMath.Random(-10, 10);
// TODO FIX ME
vtkMath.Cross(VTKUtil.ConvertIntPtr(normalizedX), VTKUtil.ConvertIntPtr(arbitrary), VTKUtil.ConvertIntPtr(normalizedZ));
vtkMath.Normalize(VTKUtil.ConvertIntPtr(normalizedZ));
// The Y axis is Z cross X
// TODO FIX ME
vtkMath.Cross(VTKUtil.ConvertIntPtr(normalizedZ), VTKUtil.ConvertIntPtr(normalizedX), VTKUtil.ConvertIntPtr(normalizedY));
vtkMatrix4x4 matrix = vtkMatrix4x4.New();
// Create the direction cosine matrix
matrix.Identity();
for (int i = 0; i < 3; i++)
{
matrix.SetElement(i, 0, normalizedX[i]);
matrix.SetElement(i, 1, normalizedY[i]);
matrix.SetElement(i, 2, normalizedZ[i]);
}
// Apply the transforms
vtkTransform transform = vtkTransform.New();
transform.Translate(VTKUtil.ConvertIntPtr(startPoint));
transform.Concatenate(matrix);
//length = 500;
transform.Scale(length, length, length);
// Transform the polydata
//vtkTransformPolyDataFilter transformPD = new vtkTransformPolyDataFilter();
//transformPD.SetTransform(transform);
//transformPD.SetInputConnection(_arrowSource.GetOutputPort());
_arrowSource.Update();
_mapper.SetInput(_arrowSource.GetOutput());
_arrowActor.SetUserMatrix(transform.GetMatrix());
_arrowActor.SetMapper(_mapper);
}
static public vtkAlgorithmOutput genFrustumCone(double total_dis, double end_radius,
double distance, bool is_reverse)
{
vtkConeSource cone = vtkConeSource.New();
cone.SetHeight(total_dis * 1.2);
cone.SetRadius(end_radius * 1.2);
cone.SetCenter(0, 0, total_dis * 0.4);
cone.SetResolution(80);
cone.SetDirection(0, 0, 1);
cone.Update();
vtkPlane plane = vtkPlane.New();
plane.SetOrigin(0, 0, 0);
plane.SetNormal(0, 0, 1);
vtkClipPolyData clipPolyData = vtkClipPolyData.New();
clipPolyData.SetInputConnection(cone.GetOutputPort());
clipPolyData.SetClipFunction(plane);
clipPolyData.GenerateClippedOutputOn();
clipPolyData.Update();
vtkPlane plane2 = vtkPlane.New();
plane2.SetOrigin(0, 0, distance);
plane2.SetNormal(0, 0, -1);
vtkClipPolyData clipPolyData2 = vtkClipPolyData.New();
clipPolyData2.SetInputConnection(clipPolyData.GetOutputPort());
clipPolyData2.SetClipFunction(plane2);
clipPolyData2.GenerateClippedOutputOn();
clipPolyData2.Update();
if (is_reverse)
{
vtkTransform transform = vtkTransform.New();
transform.RotateWXYZ(180, 0, 1, 0);
transform.Translate(0, 0, -distance);
vtkTransformPolyDataFilter transFilter = vtkTransformPolyDataFilter.New();
transFilter.SetInputConnection(clipPolyData2.GetOutputPort());
transFilter.SetTransform(transform); //use vtkTransform (or maybe vtkLinearTransform)
transFilter.Update();
return(transFilter.GetOutputPort());
}
return(clipPolyData2.GetOutputPort());
}
/// <summary>
/// 进行2D转换
/// </summary>
/// <param name="polyData"></param>
/// <param name="info"></param>
/// <returns></returns>
private static vtkPolyData Extrude2DSection(vtkPolyData polyData, ModelingBaseInfo info)
{
vtkPolyDataMapper mapper = vtkPolyDataMapper.New();
vtkTransformFilter transFilter = vtkTransformFilter.New();
vtkTransform transform = vtkTransform.New();
transform.RotateX(-90); // 旋转到xoy面上
transform.RotateY(info.Angle); //顺时针为正逆时针为负
// transform.Translate(info.BaseCoordinate.X, info.BaseCoordinate.Y, info.BaseCoordinate.Z);//先旋转后平移
transform.Translate(info.BaseCoordinate.X, info.BaseCoordinate.Z, info.BaseCoordinate.Y); //先旋转后平移
transFilter.SetTransform(transform);
transFilter.SetInput(polyData);
return(transFilter.GetPolyDataOutput());
}
public void SetPosition(double[] position)
{
if (position == null)
{
return;
}
this.Position = position;
vtkTransform transform = vtkTransform.New();
transform.Translate(position[0], position[1], position[2]);
SetUserTransform(transform: transform);
transform.Dispose();
}
private void Axes()
{
vtkSphereSource sphereSource = vtkSphereSource.New();
sphereSource.SetCenter(0.0, 0.0, 0.0);
sphereSource.SetRadius(0.5);
//create a mapper
vtkPolyDataMapper sphereMapper = vtkPolyDataMapper.New();
sphereMapper.SetInputConnection(sphereSource.GetOutputPort());
// create an actor
vtkActor sphereActor = vtkActor.New();
sphereActor.SetMapper(sphereMapper);
// a renderer and render window
vtkRenderWindow renderWindow = renderWindowControl1.RenderWindow;
vtkRenderer renderer = renderWindow.GetRenderers().GetFirstRenderer();
renderer.SetBackground(0.2, 0.3, 0.4);
// add the actors to the scene
renderer.AddActor(sphereActor);
vtkAxesActor axes = vtkAxesActor.New();
// The axes are positioned with a user transform
vtkTransform transform = vtkTransform.New();
transform.Translate(0.75, 0.0, 0.0);
axes.SetUserTransform(transform);
// properties of the axes labels can be set as follows
// this sets the x axis label to red
// axes.GetXAxisCaptionActor2D().GetCaptionTextProperty().SetColor(1,0,0);
// the actual text of the axis label can be changed:
// axes.SetXAxisLabelText("test");
renderer.AddActor(axes);
// we need to call Render() for the whole renderWindow,
// because vtkAxesActor uses an overlayed renderer for the axes label
// in total we have now two renderer
renderWindow.Render();
}
static public vtkProp3D genActor(List <GaussianCluster> data)
{
vtkProperty pro = new vtkProperty();
// 默认颜色
pro.SetColor(config.cone_color[0], config.cone_color[1],
config.cone_color[2]);
pro.SetOpacity(0.4);
vtkAppendPolyData polydata = vtkAppendPolyData.New();
for (int i = 1; i < data.Count; i++)
{
var cluster = data[i];
System.Windows.Forms.MessageBox.Show("cluster.start_radius:" + cluster.start_radius.ToString() +
"cluster.distance:" + cluster.distance.ToString() +
"cluster.is_foucs:" + cluster.is_foucs.ToString() +
"cluster.foucs_radius:" + cluster.foucs_radius.ToString());
vtkTransform transform = vtkTransform.New();
transform.Translate(cluster.coordinate.pos.x, cluster.coordinate.pos.y, cluster.coordinate.pos.z);
transform.RotateWXYZ(cluster.coordinate.rotate_theta, cluster.coordinate.rotate_axis.x,
cluster.coordinate.rotate_axis.y, cluster.coordinate.rotate_axis.z);
vtkTransformPolyDataFilter transFilter = vtkTransformPolyDataFilter.New();
transFilter.SetInputConnection(combiFrustumCone(cluster.start_radius,
1, cluster.angle, true, 0.01));
transFilter.SetTransform(transform);
transFilter.Update();
polydata.AddInputConnection(transFilter.GetOutputPort());
}
vtkPolyDataMapper mapper = vtkPolyDataMapper.New();
mapper.SetInputConnection(polydata.GetOutputPort());
mapper.ScalarVisibilityOff();
// The actor links the data pipeline to the rendering subsystem
vtkActor actor = vtkActor.New();
actor.SetProperty(pro);
actor.SetMapper(mapper);
return(actor);
}
/// <summary>
/// 进行二维结构的转换
/// </summary>
/// <param name="polyData"></param>
/// <param name="info"></param>
/// <returns></returns>
private static vtkActor FormActor2D(vtkPolyData polyData, ModelingBaseInfo info)
{//
vtkActor actor = vtkActor.New();
vtkPolyDataMapper mapper = vtkPolyDataMapper.New();
vtkTransformFilter transFilter = vtkTransformFilter.New();
vtkTransform transform = vtkTransform.New();
transform.RotateX(-90); // 旋转到xoy面上
transform.RotateY(info.Angle); //顺时针为正逆时针为负
transform.Translate(info.BaseCoordinate.X, info.BaseCoordinate.Y, info.BaseCoordinate.Z); //先旋转后平移
// transform.Translate(info.BaseCoordinate.X, info.BaseCoordinate.Z,info.BaseCoordinate.Y );//先旋转后平移
transFilter.SetTransform(transform);
transFilter.SetInput(polyData);
mapper.SetInputConnection(transFilter.GetOutputPort());
actor.SetMapper(mapper);
return(actor);
}
static public vtkAlgorithmOutput combiFrustumCone(double start_radius, double distance,
double angle, bool is_foucs, double foucs_radius)
{
double tanArc = Math.Tan(Math.PI * angle / 180);
double origin_dis = start_radius / tanArc;
if (is_foucs) // 缩小
{
double origin_foucs_dis = foucs_radius / tanArc;
double fouce_dis = origin_dis - origin_foucs_dis;
if (distance > fouce_dis) //缩小到焦点后放大
{
vtkAppendPolyData polydata = vtkAppendPolyData.New();
polydata.AddInputConnection(genFrustumCone(origin_dis, start_radius, fouce_dis, false));
vtkTransform transform = vtkTransform.New();
transform.Translate(0, 0, fouce_dis);
vtkTransformPolyDataFilter transFilter = vtkTransformPolyDataFilter.New();
origin_dis = origin_foucs_dis + distance - fouce_dis;
transFilter.SetInputConnection(genFrustumCone(origin_dis, origin_dis * tanArc, distance - fouce_dis, true));
transFilter.SetTransform(transform); //use vtkTransform (or maybe vtkLinearTransform)
transFilter.Update();
polydata.AddInputConnection(transFilter.GetOutputPort());
polydata.Update();
return(polydata.GetOutputPort());
}
else
{
return(genFrustumCone(origin_dis, start_radius, distance, false));
}
}
else // 放大
{
double total_dis = origin_dis + distance;
double end_radius = total_dis * tanArc;
return(genFrustumCone(total_dis, end_radius, distance, true));
}
}
static public vtkProp3D genUserActor(CompontData data, vtkAlgorithmOutput vtkAlgorithmOutput,
vtkProperty pro)
{
vtkTransform transform = vtkTransform.New();
// 用户自定义平移旋转 (先移动后旋转)
transform.Translate(data.coor.pos.x, data.coor.pos.y, data.coor.pos.z);
transform.RotateWXYZ(data.coor.rotate_theta, data.coor.rotate_axis.x, data.coor.rotate_axis.y, data.coor.rotate_axis.z);
vtkTransformPolyDataFilter transFilter = vtkTransformPolyDataFilter.New();
transFilter.SetInputConnection(vtkAlgorithmOutput);
transFilter.SetTransform(transform); //use vtkTransform (or maybe vtkLinearTransform)
transFilter.Update();
//vtkShrinkPolyData shrink = vtkShrinkPolyData.New();
//shrink.SetInputConnection(transFilter.GetOutputPort());
//shrink.SetShrinkFactor(1);
// 改
//vtkSTLWriter writer = vtkSTLWriter.New();
//calPolyData(polyData, 0.01);
//writer.SetInputConnection(transFilter.GetOutputPort());
//writer.SetFileName("test.stl");
//writer.Update();
vtkPolyDataMapper mapper = vtkPolyDataMapper.New();
mapper.SetInputConnection(transFilter.GetOutputPort());
mapper.ScalarVisibilityOff();
// The actor links the data pipeline to the rendering subsystem
vtkActor actor = vtkActor.New();
actor.SetProperty(pro);
actor.SetMapper(mapper);
return(actor);
}
/// <summary>
/// 进行三维结构的转换
/// </summary>
/// <param name="degree"></param>
/// <param name="polyData"></param>
/// <param name="info"></param>
/// <returns></returns>
private static vtkPolyData Extrude3DSection(float degree, vtkPolyData polyData, ModelingBaseInfo info)
{
//进行拉伸以构造的三维实体
vtkRotationalExtrusionFilter extrude = vtkRotationalExtrusionFilter.New();
extrude.SetInput(polyData);
extrude.SetResolution(80);
extrude.SetAngle(degree);//旋转
extrude.CappingOn();
vtkPolyDataNormals normals = vtkPolyDataNormals.New();
normals.SetInput(extrude.GetOutput());
normals.SetFeatureAngle(100);
//进行转换
vtkTransform transform = vtkTransform.New();
transform.RotateX(info.Angle); //逆时针为正，顺时针为负
transform.Translate(info.BaseCoordinate.X, info.BaseCoordinate.Y, info.BaseCoordinate.Z); //先旋转后平移
vtkTransformFilter transFilter = vtkTransformFilter.New();
transFilter.SetTransform(transform);
transFilter.SetInput(normals.GetOutput());
//vtkTriangleFilter filter = vtkTriangleFilter.New();
//filter.SetInput(transFilter.GetOutput());
//return filter.GetPolyDataInput(0);
vtkCleanPolyData clearPolydata = vtkCleanPolyData.New();//清除重合的点和片
clearPolydata.SetInput(transFilter.GetOutput());
return(clearPolydata.GetOutput());
//return transFilter.GetPolyDataOutput();
}
private void TransformAxes(vtkAxesActor axes, Position position)
{
vtkTransform transform = new vtkTransform();
transform.Translate(position.X, position.Y, position.Z);
transform.RotateWXYZ(position.A, 0, 0, 1);
transform.RotateWXYZ(position.B, 0, 1, 0);
transform.RotateWXYZ(position.C, 1, 0, 0);
axes.SetUserTransform(transform);
}
/// <summary>
/// The main entry method called by the CSharp driver
/// </summary>
/// <param name="argv"></param>
public static void AVprobeComb(String [] argv)
{
//Prefix Content is: ""
// create planes[]
// Create the RenderWindow, Renderer and both Actors[]
//[]
ren1 = vtkRenderer.New();
renWin = vtkRenderWindow.New();
renWin.AddRenderer((vtkRenderer)ren1);
iren = new vtkRenderWindowInteractor();
iren.SetRenderWindow((vtkRenderWindow)renWin);
// create pipeline[]
//[]
pl3d = new vtkPLOT3DReader();
pl3d.SetXYZFileName((string)"" + (VTK_DATA_ROOT.ToString()) + "/Data/combxyz.bin");
pl3d.SetQFileName((string)"" + (VTK_DATA_ROOT.ToString()) + "/Data/combq.bin");
pl3d.SetScalarFunctionNumber((int)100);
pl3d.SetVectorFunctionNumber((int)202);
pl3d.Update();
plane = new vtkPlaneSource();
plane.SetResolution((int)50,(int)50);
transP1 = new vtkTransform();
transP1.Translate((double)3.7,(double)0.0,(double)28.37);
transP1.Scale((double)5,(double)5,(double)5);
transP1.RotateY((double)90);
tpd1 = new vtkTransformPolyDataFilter();
tpd1.SetInputConnection((vtkAlgorithmOutput)plane.GetOutputPort());
tpd1.SetTransform((vtkAbstractTransform)transP1);
outTpd1 = new vtkOutlineFilter();
outTpd1.SetInputConnection((vtkAlgorithmOutput)tpd1.GetOutputPort());
mapTpd1 = vtkPolyDataMapper.New();
mapTpd1.SetInputConnection((vtkAlgorithmOutput)outTpd1.GetOutputPort());
tpd1Actor = new vtkActor();
tpd1Actor.SetMapper((vtkMapper)mapTpd1);
tpd1Actor.GetProperty().SetColor((double)0,(double)0,(double)0);
transP2 = new vtkTransform();
transP2.Translate((double)9.2,(double)0.0,(double)31.20);
transP2.Scale((double)5,(double)5,(double)5);
transP2.RotateY((double)90);
tpd2 = new vtkTransformPolyDataFilter();
tpd2.SetInputConnection((vtkAlgorithmOutput)plane.GetOutputPort());
tpd2.SetTransform((vtkAbstractTransform)transP2);
outTpd2 = new vtkOutlineFilter();
outTpd2.SetInputConnection((vtkAlgorithmOutput)tpd2.GetOutputPort());
mapTpd2 = vtkPolyDataMapper.New();
mapTpd2.SetInputConnection((vtkAlgorithmOutput)outTpd2.GetOutputPort());
tpd2Actor = new vtkActor();
tpd2Actor.SetMapper((vtkMapper)mapTpd2);
tpd2Actor.GetProperty().SetColor((double)0,(double)0,(double)0);
transP3 = new vtkTransform();
transP3.Translate((double)13.27,(double)0.0,(double)33.30);
transP3.Scale((double)5,(double)5,(double)5);
transP3.RotateY((double)90);
tpd3 = new vtkTransformPolyDataFilter();
tpd3.SetInputConnection((vtkAlgorithmOutput)plane.GetOutputPort());
tpd3.SetTransform((vtkAbstractTransform)transP3);
outTpd3 = new vtkOutlineFilter();
outTpd3.SetInputConnection((vtkAlgorithmOutput)tpd3.GetOutputPort());
mapTpd3 = vtkPolyDataMapper.New();
mapTpd3.SetInputConnection((vtkAlgorithmOutput)outTpd3.GetOutputPort());
tpd3Actor = new vtkActor();
tpd3Actor.SetMapper((vtkMapper)mapTpd3);
tpd3Actor.GetProperty().SetColor((double)0,(double)0,(double)0);
appendF = new vtkAppendPolyData();
appendF.AddInput((vtkPolyData)tpd1.GetOutput());
appendF.AddInput((vtkPolyData)tpd2.GetOutput());
appendF.AddInput((vtkPolyData)tpd3.GetOutput());
probe = new vtkProbeFilter();
probe.SetInputConnection((vtkAlgorithmOutput)appendF.GetOutputPort());
probe.SetSource((vtkDataObject)pl3d.GetOutput());
contour = new vtkContourFilter();
contour.SetInputConnection((vtkAlgorithmOutput)probe.GetOutputPort());
contour.GenerateValues((int)50,(double)((vtkDataSet)pl3d.GetOutput()).GetScalarRange()[0],
(double)((vtkDataSet)pl3d.GetOutput()).GetScalarRange()[1]);
contourMapper = vtkPolyDataMapper.New();
contourMapper.SetInputConnection((vtkAlgorithmOutput)contour.GetOutputPort());
contourMapper.SetScalarRange((double)((vtkDataSet)pl3d.GetOutput()).GetScalarRange()[0],
(double)((vtkDataSet)pl3d.GetOutput()).GetScalarRange()[1]);
planeActor = new vtkActor();
planeActor.SetMapper((vtkMapper)contourMapper);
outline = new vtkStructuredGridOutlineFilter();
outline.SetInputConnection((vtkAlgorithmOutput)pl3d.GetOutputPort());
outlineMapper = vtkPolyDataMapper.New();
outlineMapper.SetInputConnection((vtkAlgorithmOutput)outline.GetOutputPort());
outlineActor = new vtkActor();
outlineActor.SetMapper((vtkMapper)outlineMapper);
outlineActor.GetProperty().SetColor((double)0,(double)0,(double)0);
ren1.AddActor((vtkProp)outlineActor);
ren1.AddActor((vtkProp)planeActor);
ren1.AddActor((vtkProp)tpd1Actor);
ren1.AddActor((vtkProp)tpd2Actor);
ren1.AddActor((vtkProp)tpd3Actor);
ren1.SetBackground((double)1,(double)1,(double)1);
renWin.SetSize((int)400,(int)400);
cam1 = ren1.GetActiveCamera();
cam1.SetClippingRange((double)3.95297,(double)50);
cam1.SetFocalPoint((double)8.88908,(double)0.595038,(double)29.3342);
cam1.SetPosition((double)-12.3332,(double)31.7479,(double)41.2387);
cam1.SetViewUp((double)0.060772,(double)-0.319905,(double)0.945498);
iren.Initialize();
// prevent the tk window from showing up then start the event loop[]
//deleteAllVTKObjects();
}
public void SetTranslation()
{
vtkTransform.Translate(translateX, translateY, translateZ);
}
/// <summary>
/// Rotates 3D vtk volume around x and y axes.
/// </summary>
/// <param name="input"></param>
/// <param name="angle"></param>
/// <param name="axis"></param>
/// <param name="out_extent"></param>
/// <returns></returns>
public static vtkImageData rotate_sample(vtkImageData input, double angle, int axis, int out_extent = 0)
{
//get input data dimensions
int[] dims = input.GetExtent();
//Compute centers
int[] centers = new int[] { (dims[1] + dims[0]) / 2, (dims[3] + dims[2]) / 2, (dims[5] + dims[4]) / 2 };
//Set rotation axis
int[] axes = new int[3];
axes[axis] = 1;
int[] new_dims = new int[] { dims[0], dims[1], dims[2], dims[3], dims[4], dims[5] };
int[] new_centers = new int[] { centers[0], centers[1], centers[2] };
//Compute new sample dimensions
if (axis == 0)
{
new_dims[3] = (int)(Math.Cos(Math.Abs(angle / 180) * Math.PI) * new_dims[3] + Math.Sin(Math.Abs(angle / 180) * Math.PI) * new_dims[5]);
new_dims[5] = (int)(Math.Sin(Math.Abs(angle / 180) * Math.PI) * new_dims[3] + Math.Cos(Math.Abs(angle / 180) * Math.PI) * new_dims[5]);
new_centers[1] = (Math.Abs(new_dims[3]) + Math.Abs(new_dims[2])) / 2;
new_centers[2] = (Math.Abs(new_dims[5]) + Math.Abs(new_dims[4])) / 2;
}
if (axis == 1)
{
new_dims[1] = (int)(Math.Cos(Math.Abs(angle / 180) * Math.PI) * new_dims[1] + Math.Sin(Math.Abs(angle / 180) * Math.PI) * new_dims[5]);
new_dims[5] = (int)(Math.Sin(Math.Abs(angle / 180) * Math.PI) * new_dims[1] + Math.Cos(Math.Abs(angle / 180) * Math.PI) * new_dims[5]);
new_centers[0] = (Math.Abs(new_dims[0]) + Math.Abs(new_dims[1])) / 2;
new_centers[2] = (Math.Abs(new_dims[5]) + Math.Abs(new_dims[4])) / 2;
}
//Image transformation
vtkTransform transform = vtkTransform.New();
transform.Translate(centers[0], centers[1], centers[2]);
transform.RotateWXYZ(angle, axes[0], axes[1], axes[2]);
if (out_extent == 0)
{
transform.Translate(-centers[0], -centers[1], -centers[2]);
}
else
{
transform.Translate(-new_centers[0], -new_centers[1], -new_centers[2]);
}
//Console.ReadKey();
transform.Update();
//Compute new data extent
int[] diff = new int[] { new_dims[1] - dims[1], new_dims[3] - dims[3], new_dims[5] - dims[5] };
new_dims[0] += diff[0] / 2; new_dims[1] -= diff[0] / 2;
new_dims[2] += diff[1] / 2; new_dims[3] -= diff[1] / 2;
new_dims[4] += diff[2] / 2; new_dims[5] -= diff[2] / 2;
//Image reslicing
vtkImageReslice rotater = vtkImageReslice.New();
rotater.SetInput(input);
rotater.SetInformationInput(input);
rotater.SetResliceTransform(transform);
rotater.SetInterpolationModeToCubic();
//rotater.SetInterpolationModeToLinear();
if (out_extent == 1)
{
rotater.SetOutputSpacing(input.GetSpacing()[0], input.GetSpacing()[1], input.GetSpacing()[2]);
rotater.SetOutputOrigin(input.GetOrigin()[0], input.GetOrigin()[1], input.GetOrigin()[2]);
rotater.SetOutputExtent(new_dims[0], new_dims[1], new_dims[2], new_dims[3], new_dims[4], new_dims[5]);
}
rotater.Update();
vtkImageData output = vtkImageData.New();
output.DeepCopy(rotater.GetOutput());
rotater.Dispose();
transform.Dispose();
return(output);
}
/// <summary>
/// The main entry method called by the CSharp driver
/// </summary>
/// <param name="argv"></param>
public static void AVprobeComb(String [] argv)
{
//Prefix Content is: ""
// create planes[]
// Create the RenderWindow, Renderer and both Actors[]
//[]
ren1 = vtkRenderer.New();
renWin = vtkRenderWindow.New();
renWin.SetMultiSamples(0);
renWin.AddRenderer((vtkRenderer)ren1);
iren = new vtkRenderWindowInteractor();
iren.SetRenderWindow((vtkRenderWindow)renWin);
// create pipeline[]
//[]
pl3d = new vtkMultiBlockPLOT3DReader();
pl3d.SetXYZFileName((string)"" + (VTK_DATA_ROOT.ToString()) + "/Data/combxyz.bin");
pl3d.SetQFileName((string)"" + (VTK_DATA_ROOT.ToString()) + "/Data/combq.bin");
pl3d.SetScalarFunctionNumber((int)100);
pl3d.SetVectorFunctionNumber((int)202);
pl3d.Update();
plane = new vtkPlaneSource();
plane.SetResolution((int)50, (int)50);
transP1 = new vtkTransform();
transP1.Translate((double)3.7, (double)0.0, (double)28.37);
transP1.Scale((double)5, (double)5, (double)5);
transP1.RotateY((double)90);
tpd1 = new vtkTransformPolyDataFilter();
tpd1.SetInputConnection((vtkAlgorithmOutput)plane.GetOutputPort());
tpd1.SetTransform((vtkAbstractTransform)transP1);
outTpd1 = new vtkOutlineFilter();
outTpd1.SetInputConnection((vtkAlgorithmOutput)tpd1.GetOutputPort());
mapTpd1 = vtkPolyDataMapper.New();
mapTpd1.SetInputConnection((vtkAlgorithmOutput)outTpd1.GetOutputPort());
tpd1Actor = new vtkActor();
tpd1Actor.SetMapper((vtkMapper)mapTpd1);
tpd1Actor.GetProperty().SetColor((double)0, (double)0, (double)0);
transP2 = new vtkTransform();
transP2.Translate((double)9.2, (double)0.0, (double)31.20);
transP2.Scale((double)5, (double)5, (double)5);
transP2.RotateY((double)90);
tpd2 = new vtkTransformPolyDataFilter();
tpd2.SetInputConnection((vtkAlgorithmOutput)plane.GetOutputPort());
tpd2.SetTransform((vtkAbstractTransform)transP2);
outTpd2 = new vtkOutlineFilter();
outTpd2.SetInputConnection((vtkAlgorithmOutput)tpd2.GetOutputPort());
mapTpd2 = vtkPolyDataMapper.New();
mapTpd2.SetInputConnection((vtkAlgorithmOutput)outTpd2.GetOutputPort());
tpd2Actor = new vtkActor();
tpd2Actor.SetMapper((vtkMapper)mapTpd2);
tpd2Actor.GetProperty().SetColor((double)0, (double)0, (double)0);
transP3 = new vtkTransform();
transP3.Translate((double)13.27, (double)0.0, (double)33.30);
transP3.Scale((double)5, (double)5, (double)5);
transP3.RotateY((double)90);
tpd3 = new vtkTransformPolyDataFilter();
tpd3.SetInputConnection((vtkAlgorithmOutput)plane.GetOutputPort());
tpd3.SetTransform((vtkAbstractTransform)transP3);
outTpd3 = new vtkOutlineFilter();
outTpd3.SetInputConnection((vtkAlgorithmOutput)tpd3.GetOutputPort());
mapTpd3 = vtkPolyDataMapper.New();
mapTpd3.SetInputConnection((vtkAlgorithmOutput)outTpd3.GetOutputPort());
tpd3Actor = new vtkActor();
tpd3Actor.SetMapper((vtkMapper)mapTpd3);
tpd3Actor.GetProperty().SetColor((double)0, (double)0, (double)0);
appendF = new vtkAppendPolyData();
appendF.AddInputConnection(tpd1.GetOutputPort());
appendF.AddInputConnection(tpd2.GetOutputPort());
appendF.AddInputConnection(tpd3.GetOutputPort());
probe = new vtkProbeFilter();
probe.SetInputConnection((vtkAlgorithmOutput)appendF.GetOutputPort());
probe.SetSourceData((vtkDataSet)pl3d.GetOutput().GetBlock(0));
contour = new vtkContourFilter();
contour.SetInputConnection((vtkAlgorithmOutput)probe.GetOutputPort());
contour.GenerateValues((int)50, (double)((vtkDataSet)pl3d.GetOutput().GetBlock(0)).GetScalarRange()[0],
(double)((vtkDataSet)pl3d.GetOutput().GetBlock(0)).GetScalarRange()[1]);
contourMapper = vtkPolyDataMapper.New();
contourMapper.SetInputConnection((vtkAlgorithmOutput)contour.GetOutputPort());
contourMapper.SetScalarRange((double)((vtkDataSet)pl3d.GetOutput().GetBlock(0)).GetScalarRange()[0],
(double)((vtkDataSet)pl3d.GetOutput().GetBlock(0)).GetScalarRange()[1]);
planeActor = new vtkActor();
planeActor.SetMapper((vtkMapper)contourMapper);
outline = new vtkStructuredGridOutlineFilter();
outline.SetInputData((vtkDataSet)pl3d.GetOutput().GetBlock(0));
outlineMapper = vtkPolyDataMapper.New();
outlineMapper.SetInputConnection((vtkAlgorithmOutput)outline.GetOutputPort());
outlineActor = new vtkActor();
outlineActor.SetMapper((vtkMapper)outlineMapper);
outlineActor.GetProperty().SetColor((double)0, (double)0, (double)0);
ren1.AddActor((vtkProp)outlineActor);
ren1.AddActor((vtkProp)planeActor);
ren1.AddActor((vtkProp)tpd1Actor);
ren1.AddActor((vtkProp)tpd2Actor);
ren1.AddActor((vtkProp)tpd3Actor);
ren1.SetBackground((double)1, (double)1, (double)1);
renWin.SetSize((int)400, (int)400);
cam1 = ren1.GetActiveCamera();
cam1.SetClippingRange((double)3.95297, (double)50);
cam1.SetFocalPoint((double)8.88908, (double)0.595038, (double)29.3342);
cam1.SetPosition((double)-12.3332, (double)31.7479, (double)41.2387);
cam1.SetViewUp((double)0.060772, (double)-0.319905, (double)0.945498);
iren.Initialize();
// prevent the tk window from showing up then start the event loop[]
//deleteAllVTKObjects();
}
private void OrientedArrow()
{
//Create an arrow.
vtkArrowSource arrowSource = vtkArrowSource.New();
// Generate a random start and end point
vtkMath.RandomSeed(8775070);
double[] startPoint = new double[] {
vtkMath.Random(-10, 10),
vtkMath.Random(-10, 10),
vtkMath.Random(-10, 10)
};
double[] endPoint = new double[] {
vtkMath.Random(-10, 10),
vtkMath.Random(-10, 10),
vtkMath.Random(-10, 10)
};
// Compute a basis
double[] normalizedX = new double[3];
double[] normalizedY = new double[3];
double[] normalizedZ = new double[3];
// The X axis is a vector from start to end
myMath.Subtract(endPoint, startPoint, ref normalizedX);
double length = myMath.Norm(normalizedX);
myMath.Normalize(ref normalizedX);
// The Z axis is an arbitrary vector cross X
double[] arbitrary = new double[] {
vtkMath.Random(-10, 10),
vtkMath.Random(-10, 10),
vtkMath.Random(-10, 10)
};
myMath.Cross(normalizedX, arbitrary, ref normalizedZ);
myMath.Normalize(ref normalizedZ);
// The Y axis is Z cross X
myMath.Cross(normalizedZ, normalizedX, ref normalizedY);
vtkMatrix4x4 matrix = vtkMatrix4x4.New();
// Create the direction cosine matrix
matrix.Identity();
for (int i = 0; i < 3; i++)
{
matrix.SetElement(i, 0, normalizedX[i]);
matrix.SetElement(i, 1, normalizedY[i]);
matrix.SetElement(i, 2, normalizedZ[i]);
}
// Apply the transforms
vtkTransform transform = vtkTransform.New();
transform.Translate(startPoint[0], startPoint[1], startPoint[2]);
transform.Concatenate(matrix);
transform.Scale(length, length, length);
//Create a mapper and actor for the arrow
vtkPolyDataMapper mapper = vtkPolyDataMapper.New();
vtkActor actor = vtkActor.New();
#if USER_MATRIX
mapper.SetInputConnection(arrowSource.GetOutputPort());
actor.SetUserMatrix(transform.GetMatrix());
#else
// Transform the polydata
vtkTransformPolyDataFilter transformPD = vtkTransformPolyDataFilter.New();
transformPD.SetTransform(transform);
transformPD.SetInputConnection(arrowSource.GetOutputPort());
mapper.SetInputConnection(transformPD.GetOutputPort());
#endif
actor.SetMapper(mapper);
// Create spheres for start and end point
vtkSphereSource sphereStartSource = vtkSphereSource.New();
sphereStartSource.SetCenter(startPoint[0], startPoint[1], startPoint[2]);
vtkPolyDataMapper sphereStartMapper = vtkPolyDataMapper.New();
sphereStartMapper.SetInputConnection(sphereStartSource.GetOutputPort());
vtkActor sphereStart = vtkActor.New();
sphereStart.SetMapper(sphereStartMapper);
sphereStart.GetProperty().SetColor(1.0, 1.0, .3);
vtkSphereSource sphereEndSource = vtkSphereSource.New();
sphereEndSource.SetCenter(endPoint[0], endPoint[1], endPoint[2]);
vtkPolyDataMapper sphereEndMapper = vtkPolyDataMapper.New();
sphereEndMapper.SetInputConnection(sphereEndSource.GetOutputPort());
vtkActor sphereEnd = vtkActor.New();
sphereEnd.SetMapper(sphereEndMapper);
sphereEnd.GetProperty().SetColor(1.0, .3, .3);
vtkRenderWindow renderWindow = myRenderWindowControl.RenderWindow;
vtkRenderer renderer = renderWindow.GetRenderers().GetFirstRenderer();
renderer.SetBackground(0.2, 0.3, 0.4);
renderer.AddActor(actor);
renderer.AddActor(sphereStart);
renderer.AddActor(sphereEnd);
renderer.ResetCamera();
}
static public vtkProp3D genFieldActor(FieldBase data)
{
int N_width = data.Ex.Count;
int M_depth = data.Ex.Count;
double ds = data.ds_x;
double width = N_width * ds;
double depth = M_depth * ds;
vtkImageData img = vtkImageData.New();
img.SetDimensions(N_width, M_depth, 1);
img.SetSpacing(0.01 * ds / 0.01, 0.01 * ds / 0.01, 1);
img.SetScalarTypeToDouble();
img.SetNumberOfScalarComponents(1);
double max = -100000000, min = 0;
List <List <Complex> > tempEH = null;
int content = 1;
bool isPhs = false;
bool isLinear = true;
const double dB_RABNGE = 60;
switch (content)
{
case 0:
tempEH = data.Ex;
break;
case 1:
tempEH = data.Ey;
break;
case 2:
tempEH = data.Ez;
break;
case 3:
tempEH = data.Hx;
break;
case 4:
tempEH = data.Hy;
break;
case 5:
tempEH = data.Hz;
break;
default:
break;
}
double[] data_tmp = new double[M_depth * N_width];
int count = 0;
for (int j = 0; j < M_depth; j++)
{
for (int i = 0; i < N_width; i++)
{
double tempD;
Complex temp;
temp = tempEH[i][j];
if (isPhs)
{
if (temp.real != 0)
{
tempD = Math.Atan2(temp.imag, temp.real);
}
else
{
tempD = 0;
}
}
else
{
tempD = Math.Pow((temp.real * temp.real + temp.imag * temp.imag), 0.5);
}
if (!isLinear && !isPhs)
{
tempD = 20 * Math.Log(tempD + 0.000000001);
if (min > tempD)
{
min = tempD;
}
if (max < tempD)
{
max = tempD;
}
}
else
{
if (max < tempD)
{
max = tempD;
}
if (min > tempD)
{
min = tempD;
}
}
data_tmp[count++] = tempD;
}
}
//ptr = img.GetScalarPointer();
vtkLookupTable colorTable = vtkLookupTable.New();
if (!isLinear && !isPhs)
{
min = max - dB_RABNGE;
}
if (!isPhs)
{
for (int i = 0; i < N_width * M_depth * 1; i++)
{
data_tmp[i] = max - data_tmp[i];
}
colorTable.SetRange(0, max - min);
}
else
{
colorTable.SetRange(min, max);
}
IntPtr ptr = img.GetScalarPointer();
System.Runtime.InteropServices.Marshal.Copy(data_tmp, 0, ptr, M_depth * N_width);
colorTable.Build();
vtkImageMapToColors colorMap = vtkImageMapToColors.New();
colorMap.SetInput(img);
colorMap.SetLookupTable(colorTable);
colorMap.Update();
vtkTransform transform = vtkTransform.New();
transform.Translate(data.coordinate.pos.x, data.coordinate.pos.y, data.coordinate.pos.z);
transform.RotateWXYZ(data.coordinate.rotate_theta, data.coordinate.rotate_axis.x,
data.coordinate.rotate_axis.y, data.coordinate.rotate_axis.z);
transform.Translate(-width / 2, -depth / 2, 0);
vtkImageActor actor = vtkImageActor.New();
actor.SetInput(colorMap.GetOutput());
actor.SetUserTransform(transform);
return(actor);
}
private void TransformRobotPart(vtkActor part, Position shift, Position position)
{
vtkTransform transform = new vtkTransform();
transform.Translate(position.X, position.Y, position.Z);
transform.RotateWXYZ(position.A, 0, 0, 1);
transform.RotateWXYZ(position.B, 0, 1, 0);
transform.RotateWXYZ(position.C, 1, 0, 0);
if (part == robot1part7)
transform.RotateWXYZ(11.5, 0, 0, 1);
transform.RotateWXYZ(shift.C, 1, 0, 0);
transform.RotateWXYZ(shift.B, 0, 1, 0);
transform.RotateWXYZ(shift.A, 0, 0, 1);
transform.Translate(shift.X, shift.Y, shift.Z);
part.SetUserTransform(transform);
}