3dtof_viewer/pyvtksample.py

# -*- coding: utf-8 -*-
import numpy
from PyQt5 import QtCore
from PyQt5.QtWidgets import QWidget, QVBoxLayout
import vtk
from vtk.qt.QVTKRenderWindowInteractor import QVTKRenderWindowInteractor
from numpy import random
import threading

class VtkPointCloud:
    def __init__(self, zMin=-10.0, zMax=10.0, maxNumPoints=1e7):
        self.maxNumPoints = maxNumPoints
        self.vtkPolyData = vtk.vtkPolyData()
        self.clearPoints()
        mapper = vtk.vtkPolyDataMapper()
        mapper.SetInputData(self.vtkPolyData)
        mapper.SetColorModeToDefault()
        mapper.SetScalarRange(zMin, zMax)
        mapper.SetScalarVisibility(1)
        self.vtkActor = vtk.vtkActor()
        self.vtkActor.SetMapper(mapper)
        self.vtkActor.GetProperty().SetPointSize(1)

    def addPoint(self, point):
        if self.vtkPoints.GetNumberOfPoints() < self.maxNumPoints:
            pointId = self.vtkPoints.InsertNextPoint(point[:])
            self.vtkDepth.InsertNextValue(point[2])
            self.vtkCells.InsertNextCell(1)
            self.vtkCells.InsertCellPoint(pointId)
        else:
            r = random.randint(0, self.maxNumPoints)
            self.vtkPoints.SetPoint(r, point[:])
        self.vtkCells.Modified()
        self.vtkPoints.Modified()
        self.vtkDepth.Modified()

    def clearPoints(self):
        self.vtkPoints = vtk.vtkPoints()
        self.vtkCells = vtk.vtkCellArray()
        self.vtkDepth = vtk.vtkDoubleArray()
        self.vtkDepth.SetName('DepthArray')
        self.vtkPolyData.SetPoints(self.vtkPoints)
        self.vtkPolyData.SetVerts(self.vtkCells)
        self.vtkPolyData.GetPointData().SetScalars(self.vtkDepth)
        self.vtkPolyData.GetPointData().SetActiveScalars('DepthArray')

class VtkPointCloudCanvas(QWidget):
    def __init__(self, *args, **kwargs):
        super(VtkPointCloudCanvas, self).__init__(*args, **kwargs)
        self.lock_=threading.RLock()

        self._layout = QVBoxLayout()
        self.setLayout(self._layout)
        self._vtk_widget = QVTKRenderWindowInteractor(self)
        self._vtk_widget.SetInteractorStyle(vtk.vtkInteractorStyleTrackballCamera())  # 设置交互方式==常用的方式 移动摄像机

        self._layout.addWidget(self._vtk_widget)

        self._render = vtk.vtkRenderer()
        self._vtk_widget.GetRenderWindow().AddRenderer(self._render)
        self._iren = self._vtk_widget.GetRenderWindow().GetInteractor()

        self._point_cloud = VtkPointCloud()

        self._render.AddActor(self._point_cloud.vtkActor)

        self.show()
        self._iren.Initialize()

        #self.timer = QtCore.QTimer()
        #self.timer.timeout.connect(window.updatePointCloud)
        #self.timer.start(1000)

    def ShowCloud(self,cloud:numpy.array):
        self.lock_.acquire()
        self._point_cloud.clearPoints()
        for point in cloud:
            self._point_cloud.addPoint(point)
        self.lock_.release()
    def updatePointCloud(self):
        pass
        '''
        self.lock_.acquire()
        self._vtk_widget.GetRenderWindow().Render()
        self.lock_.release()'''

if __name__ == '__main__':
    from PyQt5.QtWidgets import QApplication
    import sys
    app = QApplication(sys.argv)
    window = VtkPointCloudCanvas()

    cloud=[]
    for k in range(1000000):
        point = 20 * (random.rand(3) - 0.5)
        cloud.append(point)
    window.ShowCloud(numpy.array(cloud))

    sys.exit(app.exec_())