FEAT: Adding color and opacity changing capabilities for imstkGeometry.

FEAT: Adding color for text
ENH: Enabling Depth peeling in vtkViewer for proper rendering of opacity.
ENH: Removing unwanted functions from imstkInteractorStyle

Base/Geometry/imstkGeometry.cpp

@@ -31,6 +31,7 @@ Geometry::print() const
     LOG(INFO) << "Position: " << "(" << m_position.x() << ", " << m_position.y() << ", " << m_position.z() << ")";
     LOG(INFO) << "Orientation:\n" << m_orientation.toRotationMatrix();
     LOG(INFO) << "Scaling: " << m_scaling;
+    LOG(INFO) << "Color: " << m_color;
 }
 
 void
@@ -178,6 +179,11 @@ Geometry::resetConfiguration()
 	m_configurationModified = true;
 }
 
+void 
+Geometry::setColorProperty(double r, double g, double b, double a)
+{
+    m_color.setValue(r, g, b, a);
+}
 
 const std::string
 Geometry::getTypeName() const

Base/Geometry/imstkGeometry.h

@@ -24,6 +24,7 @@
 
 #include "g3log/g3log.hpp"
 #include "imstkMath.h"
+#include "imstkColor.h"
 
 // Eigen
 #include <Eigen/Geometry> 
@@ -134,31 +135,59 @@ public:
     ///
     const std::string getTypeName() const;
 
-	///
-	/// \brief Returns true if one of position, orientation or scaling is modified
-	///
-	bool isConfigurationModified() const { return m_configurationModified; }
+	  ///
+	  /// \brief Returns true if one of position, orientation or scaling is modified
+	  ///
+	  bool isConfigurationModified() const { return m_configurationModified; }
 
-	///
-	/// \brief Sets the state of configuration modified to desired value
-	///
-	void setConfigurationModified(const bool state)
-	{
+	  ///
+	  /// \brief Sets the state of configuration modified to desired value
+	  ///
+	  void setConfigurationModified(const bool state)
+	  {
 		m_configurationModified = state;
-	}
-
-	///
-	/// \brief Reset the geometric configuration to identity
-	///
-	void resetConfiguration();
-
-	///
-	/// \brief
-	///
-	const AffineTransform3d& getEigenTransform() const
-	{
+	  }
+
+	  ///
+	  /// \brief Reset the geometric configuration to identity
+	  ///
+	  void resetConfiguration();
+
+	  ///
+	  /// \brief
+	  ///
+	  const AffineTransform3d& getEigenTransform() const
+	  {
 		return m_transform;
-	}
+	  }
+    
+    ///
+    /// \brief
+    ///
+    void setColorProperty(double r, double g, double b, double a);
+
+    ///
+    /// \brief
+    ///
+    imstk::Color getGeometryColor()
+    {
+        return m_color;
+    }
+
+    ///
+    /// \brief
+    ///
+    void setWireFrameMode(bool wireFrameModeOn)
+    {
+        m_wireframeMode = wireFrameModeOn;
+    }
+
+    ///
+    /// \brief
+    bool getWireFrameMode()
+    {
+        return m_wireframeMode;
+    }
 
 protected:
 
@@ -170,10 +199,13 @@ protected:
              const Quatd& orientation = Quatd::Identity()) :
         m_type(type),
         m_position(position),
-		m_orientation(orientation), m_transform()
-	{
-		m_transform.setIdentity();
-	}
+		    m_orientation(orientation), 
+        m_transform(),
+        m_color(1.,1.,1.),
+        m_wireframeMode(false)
+	    {
+		    m_transform.setIdentity();
+	    }
 
     Type m_type; ///> Geometry type
 
@@ -181,9 +213,11 @@ protected:
     Quatd  m_orientation; ///> orientation
     double m_scaling = 1; ///> Scaling
 
-	AffineTransform3d m_transform; ///> Compounded transform of the geometry
+	  AffineTransform3d m_transform; ///> Compounded transform of the geometry
+    imstk::Color    m_color;
 
-	bool m_configurationModified = true; // true if one of position, orientation or scaling is modified
+	  bool m_configurationModified = true; // true if one of position, orientation or scaling is modified
+    bool m_wireframeMode;
 };
 
 } //imstk

Base/Rendering/RenderDelegate/imstkRenderDelegate.cpp

@@ -41,6 +41,7 @@
 #include "vtkPolyDataMapper.h"
 #include "vtkPolyDataNormals.h"
 #include "vtkTransform.h"
+#include "vtkProperty.h"
 
 namespace imstk
 {
@@ -106,6 +107,8 @@ RenderDelegate::setActorMapper(vtkAlgorithmOutput *source)
     mapper->SetInputConnection(normalGen->GetOutputPort());
 
     m_actor->SetMapper(mapper);
+    this->setColorAndOpacity();
+    this->setWireFrameMode();
 }
 
 vtkSmartPointer<vtkActor>
@@ -121,6 +124,23 @@ RenderDelegate::update()
     this->updateActorTransform();
 }
 
+void
+RenderDelegate::setColorAndOpacity()
+{
+    imstk::Color geomColor = this->getGeometry()->getGeometryColor();
+    this->m_actor->GetProperty()->SetColor(geomColor.r, geomColor.g, geomColor.b);
+    this->m_actor->GetProperty()->SetOpacity(geomColor.a);
+}
+
+void 
+RenderDelegate::setWireFrameMode()
+{
+    if (this->getGeometry()->getWireFrameMode())
+        this->m_actor->GetProperty()->SetRepresentationToWireframe();
+    else
+        this->m_actor->GetProperty()->SetRepresentationToSurface();
+}
+
 void
 RenderDelegate::setVtkTrasnformFromEigen(const AffineTransform3d& t)
 {

Base/Rendering/RenderDelegate/imstkRenderDelegate.h

@@ -78,10 +78,20 @@ public:
     ///
     void updateActorTransform();
 
-	///
-	/// \brief
-	///
-	void setVtkTrasnformFromEigen(const AffineTransform3d& t);
+	  ///
+	  /// \brief
+	  ///
+	  void setVtkTrasnformFromEigen(const AffineTransform3d& t);
+
+    ///
+    /// \brief
+    ///
+    void setColorAndOpacity();
+
+    ///
+    /// \brief
+    ///
+    void setWireFrameMode();
 
 protected:
     ///

Base/Rendering/RenderDelegate/imstkSurfaceMeshRenderDelegate.cpp

@@ -30,6 +30,7 @@
 #include <vtkImageReader2.h>
 #include <vtkTexture.h>
 #include <vtkProperty.h>
+#include <vtkPolyDataNormals.h>
 
 #include "g3log/g3log.hpp"
 
@@ -69,6 +70,10 @@ SurfaceMeshRenderDelegate::SurfaceMeshRenderDelegate(std::shared_ptr<SurfaceMesh
     polydata->SetPoints(points);
     polydata->SetPolys(triangles);
 
+   /* auto normalGen = vtkSmartPointer<vtkPolyDataNormals>::New();
+    normalGen->SetInputData(polydata);
+    normalGen->SplittingOff();*/
+
     // Mapper
     auto mapper = vtkSmartPointer<vtkPolyDataMapper>::New();
     mapper->SetInputData(polydata);
@@ -129,6 +134,9 @@ SurfaceMeshRenderDelegate::SurfaceMeshRenderDelegate(std::shared_ptr<SurfaceMesh
     // Actor
     m_actor->SetMapper(mapper);
 
+    this->setColorAndOpacity();
+    this->setWireFrameMode();
+
     // Transform
     this->updateActorTransform();
 }

Base/Rendering/RenderDelegate/imstkSurfaceMeshRenderDelegate.h

@@ -51,10 +51,10 @@ public:
     ///
     SurfaceMeshRenderDelegate(std::shared_ptr<SurfaceMesh>SurfaceMesh);
 
-	///
-	/// \brief
-	///	
-	void mapVertices();
+    ///
+    /// \brief
+    ///	
+    void mapVertices();
 
 
     ///

Base/Rendering/imstkRenderer.cpp

@@ -115,6 +115,7 @@ Renderer::setup(Mode mode)
         }
 
         m_vtkRenderer->SetActiveCamera(m_defaultVtkCamera);
+        m_vtkRenderer->SetUseDepthPeeling(true);
     }
     else if( mode == Mode::DEBUG && m_currentMode != Mode::DEBUG )
     {
@@ -131,6 +132,7 @@ Renderer::setup(Mode mode)
 
         m_vtkRenderer->SetActiveCamera(m_defaultVtkCamera);
         m_vtkRenderer->ResetCamera();
+        m_vtkRenderer->SetUseDepthPeeling(true);
     }
     else if ( mode == Mode::SIMULATION && m_currentMode != Mode::SIMULATION )
     {
@@ -149,6 +151,10 @@ Renderer::setup(Mode mode)
 
         m_vtkRenderer->SetActiveCamera(m_sceneVtkCamera);
         m_vtkRenderer->ResetCameraClippingRange();
+
+        
+        // Choose to use depth peeling (if supported) (initial value is 0 (false)):
+        m_vtkRenderer->SetUseDepthPeeling(true);
     }
 
     m_currentMode = mode;
@@ -167,7 +173,7 @@ Renderer::updateSceneCamera(std::shared_ptr<Camera> imstkCam)
     m_sceneVtkCamera->SetFocalPoint(f[0], f[1], f[2]);
     m_sceneVtkCamera->SetViewUp(v[0], v[1], v[2]);
     m_sceneVtkCamera->SetViewAngle(imstkCam->getViewAngle());
-	m_sceneVtkCamera->Zoom(imstkCam->getZoomFactor());
+	  m_sceneVtkCamera->Zoom(imstkCam->getZoomFactor());
 }
 
 void

Base/SimulationManager/imstkInteractorStyle.cpp

@@ -51,236 +51,236 @@ namespace imstk
 {
 
 vtkStandardNewMacro(InteractorStyle);
-
-bool 
-InteractorStyle::parseLogFileAndCalculateMetrics(std::string filename, vtkSmartPointer<vtkPoints> outPoints,
-    vtkSmartPointer<vtkFloatArray> outVelocities,
-    vtkSmartPointer<vtkFloatArray> outAccelerations,
-    vtkSmartPointer<vtkFloatArray> outJerks)
-{
-    // open logger file
-    fstream fstr(filename.c_str(), fstream::in);
-    if (!fstr.is_open() || !fstr.good() || fstr.eof())
-    {
-        LOG(WARNING) << "ERROR opening " << filename ;
-        return false;
-    }
-
-    // parse logger file
-    double min = MAX_D;
-    double max = MIN_D;
-    char line[1024];
-    while (fstr.good())
-    {
-        fstr.getline(line, 1024);
-        if (line[0] == '\0') continue;
-
-        char *ptr;
-        double x = 0.0, y = 0.0, z = 0.0;
-        int columnNumber = 0;
-        bool reTokenise = false;
-
-        if (strncmp(line, ",", 1) == 0)
-        {
-            ptr = nullptr;
-            reTokenise = true;
-        }
-        else
-        {
-            ptr = strtok(line, ",");
-        }
-
-        // Read columns
-        while (columnNumber < 4)
-        {
-            if (ptr != nullptr)
-            {
-                if (columnNumber == 1)
-                {
-                    x = atof(ptr);
-                }
-                else if (columnNumber == 2)
-                {
-                    y = atof(ptr);
-                }
-                else if (columnNumber == 3)
-                {
-                    z = atof(ptr);
-                }
-            }
-
-            if (reTokenise == false)
-            {
-                ptr = strtok(NULL, ",");
-            }
-            else
-            {
-                ptr = strtok(line, ",");
-                reTokenise = false;
-            }
-            columnNumber++;
-        }
-
-        // Add points or velocities
-        if (line[0] == 'P')
-        {
-            outPoints->InsertNextPoint(x, y, z);
-        }
-        else if (line[0] == 'V')
-        {
-            auto norm = Vec3d(x, y, z).norm();
-            outVelocities->InsertNextValue(norm);
-        }
-    }
-
-    auto numpts = outPoints->GetNumberOfPoints();
-    auto numdata = outVelocities->GetNumberOfValues();
-    if (numpts != numdata)
-    {
-        LOG(WARNING) << "ERROR reading " << filename << " : inconsistant number of points & velocity "
-            << "(" << numpts << " & " << numdata << ")";
-        return false;
-    }
-
-    //Calculate accelerations and jerks for each point
-    for (auto index = 0; index < numpts; index++)
-    {
-
-        if (index < 2 || index >= numpts - 2)
-        {
-            //Ignoring the boundary points
-            outJerks->InsertNextTuple3(0., 0., 0.);
-            if (index == 0 || index == numpts - 1)
-                outAccelerations->InsertNextTuple3(0., 0., 0.);
-            continue;
-        }
-
-		    Vec3d x(0., 0., 0.);
-		    Vec3d x_min1(0., 0., 0.);
-		    Vec3d x_min2(0., 0., 0.);
-		    Vec3d x_plus1(0., 0., 0.);
-		    Vec3d x_plus2(0., 0., 0.);
-
-        outPoints->GetPoint(index, x.data());
-
-
-        auto newInd = index - 1;
-        outPoints->GetPoint(newInd, x_min1.data());
-
-        newInd = index - 2;
-        outPoints->GetPoint(newInd, x_min2.data());
-
-        newInd = index + 1;
-        outPoints->GetPoint(newInd, x_plus1.data());
-
-        newInd = index + 2;
-        outPoints->GetPoint(newInd, x_plus2.data());
-        
-        //acceleration calculated as a second central derivative of position wrt time, h=1
-        auto acceleration = x_plus1 - 2 * x + x_min1;
-        //jerk calculated as the third derivative of position wrt time, h=1
-        auto jerk = 0.5*(x_plus2 - x_min2 - 2 * x_plus1 + 2 * x_min1);
-
-        LOG(INFO) << index << ", acceleration: " << acceleration << ", jerk: " << jerk;
-
-        outAccelerations->InsertNextTuple3(acceleration[0], acceleration[1], acceleration[2]);
-        outJerks->InsertNextTuple3(jerk[0], jerk[1], jerk[2]);
-    }
-
-    return true;
-}
-
-void
-InteractorStyle::displayPath(std::string deviceName)
-{
-    auto points = vtkSmartPointer<vtkPoints>::New();
-    auto dataArray = vtkSmartPointer<vtkFloatArray>::New();
-    dataArray->SetName("Velocity");
-    auto accelArray = vtkSmartPointer<vtkFloatArray>::New();
-    accelArray->SetName("Acceleration");
-    accelArray->SetNumberOfComponents(3);
-    auto jerkArray = vtkSmartPointer<vtkFloatArray>::New();
-    jerkArray->SetName("Jerk");
-    jerkArray->SetNumberOfComponents(3);
-    
-    // Precalculate all the metrics from device's log file
-    if (!parseLogFileAndCalculateMetrics(deviceName + ".log", points, dataArray, accelArray, jerkArray))
-        return;
-
-    // Set up spline points
-    auto polyData = vtkSmartPointer<vtkPolyData>::New();
-    polyData->SetPoints( points );
-    polyData->GetPointData()->AddArray( dataArray );
-    polyData->GetPointData()->SetActiveScalars("Velocity");
-
-    // Set up curves between adjacent points
-    auto numpts = points->GetNumberOfPoints();
-    polyData->Allocate( numpts-1 );
-    for (vtkIdType i = 0; i <  numpts-1; ++i)
-    {
-        vtkIdType ii[2];
-        ii[0] = i;
-        ii[1] = i+1;
-        polyData->InsertNextCell( VTK_LINE, 2, ii );
-    }
-
-    auto writer = vtkSmartPointer<vtkXMLPolyDataWriter>::New();
-    writer->SetFileName((deviceName+".vtp").c_str());
-    writer->SetInputData(polyData);
-    writer->SetDataModeToAscii();
-    writer->Write();
-
-    // Lookup Table
-    double velocityRange[2];
-    dataArray->GetRange(velocityRange);
-    LOG(INFO) << "Velocity Norms range: " << velocityRange[0] << " " << velocityRange[1];
-    auto colors = vtkSmartPointer<vtkColorTransferFunction>::New();
-    colors->AddRGBPoint(velocityRange[0], 1, 0, 0);
-    colors->AddRGBPoint((velocityRange[1]-velocityRange[0])/3, 1, 0.5, 0);
-    colors->AddRGBPoint((velocityRange[1]-velocityRange[0])*2/3, 1, 1, 0);
-    colors->AddRGBPoint(velocityRange[1], 0, 1, 0);
-    colors->SetColorSpaceToRGB();
-
-    // Setup actor and mapper
-    auto mapper = vtkSmartPointer<vtkPolyDataMapper>::New();
-    mapper->SetInputData(polyData);
-    mapper->SetScalarRange(velocityRange[0], velocityRange[1]);
-    mapper->SetLookupTable(colors);
-    mapper->ScalarVisibilityOn();
-
-    auto actor = vtkSmartPointer<vtkActor>::New();
-    actor->SetMapper(mapper);
-
-
-    //Add actor for jerk glyphs
-    vtkSmartPointer<vtkArrowSource> arrow =
-        vtkSmartPointer<vtkArrowSource>::New();
-    polyData->GetPointData()->SetVectors(jerkArray);
-    vtkSmartPointer<vtkGlyph3D> glyphs =
-        vtkSmartPointer<vtkGlyph3D>::New();
-    glyphs->SetInputData(polyData);
-    glyphs->SetSourceConnection(arrow->GetOutputPort());
-    glyphs->ScalingOn();
-    glyphs->SetScaleModeToScaleByVector();
-    glyphs->SetColorModeToColorByVector();
-    glyphs->OrientOn();
-    glyphs->ClampingOff();
-    glyphs->SetVectorModeToUseVector();
-    glyphs->SetIndexModeToOff();
-
-    vtkSmartPointer<vtkPolyDataMapper> glyphMapper =
-        vtkSmartPointer<vtkPolyDataMapper>::New();
-    glyphMapper->SetInputConnection(glyphs->GetOutputPort());
-    glyphMapper->ScalarVisibilityOff();
-
-    vtkSmartPointer<vtkActor> glyphActor =
-        vtkSmartPointer<vtkActor>::New();
-    glyphActor->SetMapper(glyphMapper);
-    glyphActor->GetProperty()->SetColor(0., 0., 1.);
-
-    m_simManager->getViewer()->getCurrentRenderer()->getVtkRenderer()->AddActor(actor);
-    m_simManager->getViewer()->getCurrentRenderer()->getVtkRenderer()->AddActor(glyphActor);
-}
+//
+//bool 
+//InteractorStyle::parseLogFileAndCalculateMetrics(std::string filename, vtkSmartPointer<vtkPoints> outPoints,
+//    vtkSmartPointer<vtkFloatArray> outVelocities,
+//    vtkSmartPointer<vtkFloatArray> outAccelerations,
+//    vtkSmartPointer<vtkFloatArray> outJerks)
+//{
+//    // open logger file
+//    fstream fstr(filename.c_str(), fstream::in);
+//    if (!fstr.is_open() || !fstr.good() || fstr.eof())
+//    {
+//        LOG(WARNING) << "ERROR opening " << filename ;
+//        return false;
+//    }
+//
+//    // parse logger file
+//    double min = MAX_D;
+//    double max = MIN_D;
+//    char line[1024];
+//    while (fstr.good())
+//    {
+//        fstr.getline(line, 1024);
+//        if (line[0] == '\0') continue;
+//
+//        char *ptr;
+//        double x = 0.0, y = 0.0, z = 0.0;
+//        int columnNumber = 0;
+//        bool reTokenise = false;
+//
+//        if (strncmp(line, ",", 1) == 0)
+//        {
+//            ptr = nullptr;
+//            reTokenise = true;
+//        }
+//        else
+//        {
+//            ptr = strtok(line, ",");
+//        }
+//
+//        // Read columns
+//        while (columnNumber < 4)
+//        {
+//            if (ptr != nullptr)
+//            {
+//                if (columnNumber == 1)
+//                {
+//                    x = atof(ptr);
+//                }
+//                else if (columnNumber == 2)
+//                {
+//                    y = atof(ptr);
+//                }
+//                else if (columnNumber == 3)
+//                {
+//                    z = atof(ptr);
+//                }
+//            }
+//
+//            if (reTokenise == false)
+//            {
+//                ptr = strtok(NULL, ",");
+//            }
+//            else
+//            {
+//                ptr = strtok(line, ",");
+//                reTokenise = false;
+//            }
+//            columnNumber++;
+//        }
+//
+//        // Add points or velocities
+//        if (line[0] == 'P')
+//        {
+//            outPoints->InsertNextPoint(x, y, z);
+//        }
+//        else if (line[0] == 'V')
+//        {
+//            auto norm = Vec3d(x, y, z).norm();
+//            outVelocities->InsertNextValue(norm);
+//        }
+//    }
+//
+//    auto numpts = outPoints->GetNumberOfPoints();
+//    auto numdata = outVelocities->GetNumberOfValues();
+//    if (numpts != numdata)
+//    {
+//        LOG(WARNING) << "ERROR reading " << filename << " : inconsistant number of points & velocity "