diff --git a/Examples/LaparoscopicCamera/main.cpp b/Examples/LaparoscopicCamera/main.cpp
index ead6d80a16a327b79ee43cd63326f5f994652cf9..c45a079c7eb4af9b6d2f8b0f06cdf7485ae35918 100644
--- a/Examples/LaparoscopicCamera/main.cpp
+++ b/Examples/LaparoscopicCamera/main.cpp
@@ -52,11 +52,52 @@
#include "VTKRendering/VTKViewer.h"
#include "vtkWindowToImageFilter.h"
#include "vtkPNGWriter.h"
+#include "vtkChartXY.h"
+#include "vtkContextScene.h"
+#include "vtkContextActor.h"
+#include "vtkFloatArray.h"
+#include "vtkPlotPoints.h"
+#include "vtkTable.h"
+#include "vtkNew.h"
+#include "vtkAxis.h"
#define SPACE_EXPLORER_DEVICE true
+///
+/// \brief Create camera navigation scene
+///
bool createCameraNavigationScene(std::shared_ptr<SDK> sdk, char* fileName)
{
+ //-------------------------------------------------------
+ // Create scene actor 1: plane
+ //-------------------------------------------------------
+ auto staticSimulator = std::make_shared<DefaultSimulator>(sdk->getErrorLog());
+
+ // create a static plane scene object of given normal and position
+ auto staticObject = std::make_shared<StaticSceneObject>();
+
+ auto plane = std::make_shared<PlaneCollisionModel>(
+ core::Vec3d(0.0, -0.01, 0.0),
+ core::Vec3d(0.0, 1.0, 0.0));
+ plane->getPlaneModel()->setWidth(5);
+ staticObject->setModel(plane);
+
+ auto planeRendDetail = std::make_shared<RenderDetail>(SIMMEDTK_RENDER_FACES);
+
+ Color grey(0.32, 0.32, 0.32, 1.0);
+
+ planeRendDetail->setAmbientColor(grey);
+ planeRendDetail->setDiffuseColor(grey);
+ planeRendDetail->setSpecularColor(grey);
+ planeRendDetail->setShininess(50.0);
+
+ plane->getPlaneModel()->setRenderDetail(planeRendDetail);
+
+ sdk->addSceneActor(staticObject, staticSimulator);
+
+ //-------------------------------------------------------
+ // Create targets
+ //-------------------------------------------------------
auto meshRenderDetail = std::make_shared<RenderDetail>(SIMMEDTK_RENDER_NORMALS);
meshRenderDetail->setAmbientColor(Color(0.2, 0.2, 0.2, 1.0));
@@ -89,82 +130,108 @@ bool createCameraNavigationScene(std::shared_ptr<SDK> sdk, char* fileName)
return true;
}
-int main(int ac, char** av)
+///
+/// \brief Add a 2D overlay of target markers on a 3D scene
+///
+void add2DOverlay(std::shared_ptr<VTKViewer> vtkViewer)
{
- initVTKRendering();
- initIODelegates();
- const bool useVTKRenderer = true;
+ vtkNew<vtkChartXY> chart;
+ vtkNew<vtkContextScene> chartScene;
+ vtkNew<vtkContextActor> chartActor;
- auto sdk = SDK::createStandardSDK();
+ // configure the chart
+ chart->SetAutoSize(true);
+ chart->SetSize(vtkRectf(0.0, 0.0, 300, 200));
- //-------------------------------------------------------
- // Create scene actor 1: plane
- //-------------------------------------------------------
- auto staticSimulator = std::make_shared<DefaultSimulator>(sdk->getErrorLog());
+ chart->GetAxis(0)->SetGridVisible(false);
+ chart->GetAxis(1)->SetGridVisible(false);
- // create a static plane scene object of given normal and position
- auto staticObject = std::make_shared<StaticSceneObject>();
+ chart->GetAxis(0)->SetAxisVisible(false);
+ chart->GetAxis(1)->SetAxisVisible(false);
- auto plane = std::make_shared<PlaneCollisionModel>(
- core::Vec3d(0.0, -0.01, 0.0),
- core::Vec3d(0.0, 1.0, 0.0));
- plane->getPlaneModel()->setWidth(5);
- if (ac > 2)
- plane->getPlaneModel()->setWidth(atof(av[2]));
- staticObject->setModel(plane);
+ chart->GetAxis(0)->SetTicksVisible(false);
+ chart->GetAxis(1)->SetTicksVisible(false);
- auto planeRendDetail = std::make_shared<RenderDetail>(SIMMEDTK_RENDER_FACES);
+ chart->GetAxis(0)->SetLabelsVisible(false);
+ chart->GetAxis(1)->SetLabelsVisible(false);
- Color grey(0.32, 0.32, 0.32, 1.0);
+ chart->GetAxis(0)->SetTitle("");
+ chart->GetAxis(1)->SetTitle("");
- planeRendDetail->setAmbientColor(grey);
- planeRendDetail->setDiffuseColor(grey);
- planeRendDetail->setSpecularColor(grey);
- planeRendDetail->setShininess(50.0);
+ chartScene->AddItem(chart.GetPointer());
+ chartActor->SetScene(chartScene.GetPointer());
- plane->getPlaneModel()->setRenderDetail(planeRendDetail);
+ //Add both to the renderer
+ vtkViewer->addChartActor(chartActor.GetPointer(), chartScene.GetPointer());
- sdk->addSceneActor(staticObject, staticSimulator);
+ // Create a table with some points in it...
+ vtkNew<vtkTable> table;
- //-------------------------------------------------------
- // Create camera navigation scene
- //-------------------------------------------------------
+ vtkNew<vtkFloatArray> arrX;
+ arrX->SetName("X Axis");
+ table->AddColumn(arrX.GetPointer());
- createCameraNavigationScene(sdk, "./Target.vtk");
+ vtkNew<vtkFloatArray> arrC;
+ arrC->SetName("Cosine");
+ table->AddColumn(arrC.GetPointer());
- //-------------------------------------------------------
- // Set up the viewer
- //-------------------------------------------------------
+ vtkNew<vtkFloatArray> arrS;
+ arrS->SetName("Sine");
+ table->AddColumn(arrS.GetPointer());
- auto viewer = sdk->getViewerInstance();
+ vtkNew<vtkFloatArray> arrT;
+ arrT->SetName("Tan");
+ table->AddColumn(arrT.GetPointer());
- viewer->setViewerRenderDetail(
- SIMMEDTK_VIEWERRENDER_GLOBALAXIS
- | SIMMEDTK_VIEWERRENDER_FADEBACKGROUND
- | SIMMEDTK_DISABLE_MOUSE_INTERACTION
- );
+ // Test charting with a few more points...
+ int numPoints = 100;
+ float range = 10.0;
+ double xRange[2] = { 0.0, range };
+ double yRange[2] = { 0.0, range };
- // Get Scene
- auto scene = sdk->getScene(0);
- viewer->registerScene(scene, SMRENDERTARGET_SCREEN, "Collision pipeline demo");
+ int s;
+ float radius = range / 6;
+ float inc = 2*radius / (numPoints - 1);
+ table->SetNumberOfRows(numPoints);
+ /*chart->GetAxis(0)->SetRange(xRange);
+ chart->GetAxis(1)->SetRange(yRange);*/
- // Setup Scene lighting
- auto light1 = Light::getDefaultLighting();
- light1->lightPos.setPosition(core::Vec3d(-25.0, 10.0, 10.0));
- scene->addLight(light1);
+ /*chart->GetAxis(0)->SetUnscaledRange(xRange);
+ chart->GetAxis(1)->SetUnscaledRange(yRange);*/
- auto light2 = Light::getDefaultLighting();
- light2->lightPos.setPosition(core::Vec3d(25.0, 10.0, 10.0));
- scene->addLight(light2);
+ for (int i = 0; i < numPoints; ++i)
+ {
+ if (sin(i * 44 / (7 * numPoints)) < 0)
+ s = -1;
+ else
+ s = 1;
+
+ table->SetValue(i, 0, range / 2 + i*inc*s);
+ table->SetValue(i, 1, range / 2 + radius*cos(i * 22.0 / (7 * numPoints)));
+ table->SetValue(i, 2, range / 2 + radius*sin(i * 22.0 / (7 * numPoints)));
+ }
- auto light3 = Light::getDefaultLighting();
- light3->lightPos.setPosition(core::Vec3d(0.0, 25.0, 0.0));
- scene->addLight(light3);
+ // Add multiple line plots, setting the colors etc
+ vtkPlot *points = chart->AddPlot(vtkChart::LINE);
+ points->SetInputData(table.GetPointer(), 2, 1);
+ points->SetColor(0, 0, 0, 255);
+ points->SetWidth(1.0);
+
+ /*vtkPlotPoints::SafeDownCast(points)->SetMarkerStyle(vtkPlotPoints::CROSS);
+ points = chart->AddPlot(vtkChart::LINE);
+ points->SetInputData(table.GetPointer(), 0, 2);
+ points->SetColor(0, 0, 0, 255);
+ points->SetWidth(1.0);*/
+}
+
+///
+/// \brief Create a Laparoscopic camera controller and connect
+/// it to the vtk viewer
+///
+std::shared_ptr<LaparoscopicCameraCoupler> addCameraController(std::shared_ptr<SDK> sdk)
+{
+ auto viewer = sdk->getViewerInstance();
- //-------------------------------------------------------
- // Create a Laparoscopic camera controller and connect
- // it to the vtk viewer
- //-------------------------------------------------------
auto camClient = std::make_shared<VRPNForceDevice>();
std::shared_ptr<VRPNDeviceServer> server;
std::string input;
@@ -214,13 +281,64 @@ int main(int ac, char** av)
sdk->registerModule(server);
}
- // Enable screenshot
- camController->enableScreenCapture();
- vtkViewer->setScreenCaptureData(camController->getScreenCaptureData());
+ return camController;
+}
+
+int main(int ac, char** av)
+{
+ initVTKRendering();
+ initIODelegates();
+ const bool useVTKRenderer = true;
+
+ auto sdk = SDK::createStandardSDK();
+
+ // Create camera navigation scene
+ createCameraNavigationScene(sdk, "./Target.vtk");
//-------------------------------------------------------
- // Run the SDK
+ // Set up the viewer
//-------------------------------------------------------
+
+ auto viewer = sdk->getViewerInstance();
+
+ viewer->setViewerRenderDetail(
+ SIMMEDTK_VIEWERRENDER_GLOBALAXIS
+ | SIMMEDTK_VIEWERRENDER_FADEBACKGROUND
+ | SIMMEDTK_DISABLE_MOUSE_INTERACTION
+ );
+
+ // Get Scene
+ auto scene = sdk->getScene(0);
+ viewer->registerScene(scene, SMRENDERTARGET_SCREEN, "Collision pipeline demo");
+
+ // Setup Scene lighting
+ auto light1 = Light::getDefaultLighting();
+ light1->lightPos.setPosition(core::Vec3d(-25.0, 10.0, 10.0));
+ scene->addLight(light1);
+
+ auto light2 = Light::getDefaultLighting();
+ light2->lightPos.setPosition(core::Vec3d(25.0, 10.0, 10.0));
+ scene->addLight(light2);
+
+ auto light3 = Light::getDefaultLighting();
+ light3->lightPos.setPosition(core::Vec3d(0.0, 25.0, 0.0));
+ scene->addLight(light3);
+
+ //-------------------------------------------------------
+
+ // add a camera controller
+ std::shared_ptr<LaparoscopicCameraCoupler> camController = addCameraController(sdk);
+
+ // Enable screenshot capture
+ //camController->enableScreenCapture();
+
+ std::shared_ptr<VTKViewer> vtkViewer = std::static_pointer_cast<VTKViewer>(viewer);
+ //vtkViewer->setScreenCaptureData(camController->getScreenCaptureData());
+
+ // Add a 2D overlay on the 3D scene
+ add2DOverlay(vtkViewer);
+
+ // Run the SDK
sdk->run();
//cleanup
diff --git a/VTKRendering/VTKViewer.cpp b/VTKRendering/VTKViewer.cpp
index 7fae7d5f370f5153c6139b35e9e7ba48e37e6b02..68e94871b349cbf34a75e0e07b90e5a24408968c 100644
--- a/VTKRendering/VTKViewer.cpp
+++ b/VTKRendering/VTKViewer.cpp
@@ -73,25 +73,25 @@ public:
updateCamera();
}
- if (this->screenCaptureData != nullptr)
- {
- if (this->screenCaptureData->triggerScreenCapture)
- {
- //this->screenCaptureData->windowToImageFilter->Update();
+ //if (this->screenCaptureData != nullptr)
+ //{
+ // if (this->screenCaptureData->triggerScreenCapture)
+ // {
+ // //this->screenCaptureData->windowToImageFilter->Update();
- std::string captureName = "screenShot-"
- + std::to_string(this->screenCaptureData->screenShotNumber)
- + ".png";
+ // std::string captureName = "screenShot-"
+ // + std::to_string(this->screenCaptureData->screenShotNumber)
+ // + ".png";
- this->screenCaptureData->pngWriter->SetFileName(
- captureName.data());
+ // this->screenCaptureData->pngWriter->SetFileName(
+ // captureName.data());
- this->screenCaptureData->pngWriter->Write();
+ // this->screenCaptureData->pngWriter->Write();
- this->screenCaptureData->screenShotNumber++;
- this->screenCaptureData->triggerScreenCapture = false;
- }
- }
+ // this->screenCaptureData->screenShotNumber++;
+ // this->screenCaptureData->triggerScreenCapture = false;
+ // }
+ //}
this->renderWindow->Render();
}
@@ -340,7 +340,7 @@ public:
vtkNew<vtkRenderWindow> renderWindow;
vtkNew<vtkRenderWindowInteractor> renderWindowInteractor;
std::shared_ptr<cameraConfigurationData> cameraControllerData;
- std::shared_ptr<screenShotData> screenCaptureData;
+ //std::shared_ptr<screenShotData> screenCaptureData;
};
VTKViewer::VTKViewer() : renderer(Core::make_unique<VTKRenderer> (this))
@@ -382,15 +382,25 @@ void VTKViewer::setCameraControllerData(std::shared_ptr<cameraConfigurationData>
renderer->cameraControllerData = camData;
}
-void VTKViewer::setScreenCaptureData(std::shared_ptr<screenShotData> data)
+//void VTKViewer::setScreenCaptureData(std::shared_ptr<screenShotData> data)
+//{
+// renderer->screenCaptureData = data;
+//
+// renderer->screenCaptureData->windowToImageFilter->SetInput(
+// this->renderer->getRenderWindow());
+//}
+
+void VTKViewer::addChartActor(vtkContextActor* chartActor, vtkContextScene* chartScene)
{
- renderer->screenCaptureData = data;
+ vtkRenderer* rendererVtk =
+ this->renderer->getRenderWindow()->GetRenderers()->GetFirstRenderer();
+
+ rendererVtk->AddActor(chartActor);
- renderer->screenCaptureData->windowToImageFilter->SetInput(
- this->renderer->getRenderWindow());
+ chartScene->SetRenderer(rendererVtk);
}
-void VTKViewer::initRenderingContext()
+void VTKViewer::initResources()
{
this->renderer->addRenderer();
}
diff --git a/VTKRendering/VTKViewer.h b/VTKRendering/VTKViewer.h
index 89bf5ffa986753f5e8d5758aeac6a65fc54b355e..3aaab8345ea30935e96870c63e5bc21fa703acd5 100644
--- a/VTKRendering/VTKViewer.h
+++ b/VTKRendering/VTKViewer.h
@@ -93,16 +93,14 @@ public:
void setCameraControllerData(std::shared_ptr<cameraConfigurationData> camData);
///
- /// \brief Set the data realted to screen capture
+ /// \brief Set the data related to screen capture
///
- void setScreenCaptureData(std::shared_ptr<screenShotData> data);
+ //void setScreenCaptureData(std::shared_ptr<screenShotData> data);
///
/// \brief Add chart actor to the renderer
///
- void addChartActor(
- std::shared_ptr<vtkContextActor> chartActor,
- std::shared_ptr<vtkContextScene> chartScene);
+ void addChartActor(vtkContextActor* chartActor, vtkContextScene* chartScene);
protected:
///
diff --git a/VirtualTools/LaparoscopicCameraCoupler.cpp b/VirtualTools/LaparoscopicCameraCoupler.cpp
index 54cec32f3df9aa15a68154424f3dd47b2789ac4d..2e64a6a8fd9eaa64cde030d3231946fe93fbbe1d 100644
--- a/VirtualTools/LaparoscopicCameraCoupler.cpp
+++ b/VirtualTools/LaparoscopicCameraCoupler.cpp
@@ -155,10 +155,10 @@ void LaparoscopicCameraCoupler::exec()
this->terminate();
}
- if (this->inputDevice->getButton(0))
+ /*if (this->inputDevice->getButton(0))
{
- this->screenCaptureData->triggerScreenCapture = true;
- }
+ this->screenCaptureData->triggerScreenCapture = true;
+ }*/
std::this_thread::sleep_for(poolDelay);
}
@@ -251,12 +251,12 @@ void LaparoscopicCameraCoupler::setBendingRadius(const double val)
bendingRadius = val;
}
-std::shared_ptr<screenShotData> LaparoscopicCameraCoupler::getScreenCaptureData()
-{
- return screenCaptureData;
-}
-
-void LaparoscopicCameraCoupler::enableScreenCapture()
-{
- this->screenCaptureData = std::make_shared<screenShotData>();
-}
\ No newline at end of file
+//std::shared_ptr<screenShotData> LaparoscopicCameraCoupler::getScreenCaptureData()
+//{
+// return screenCaptureData;
+//}
+//
+//void LaparoscopicCameraCoupler::enableScreenCapture()
+//{
+// this->screenCaptureData = std::make_shared<screenShotData>();
+//}
\ No newline at end of file
diff --git a/VirtualTools/LaparoscopicCameraCoupler.h b/VirtualTools/LaparoscopicCameraCoupler.h
index a944016196381bfa9aceb747762a60e8f719f399..850afd0d1e46d415a5ac107fec512818e3e71f10 100644
--- a/VirtualTools/LaparoscopicCameraCoupler.h
+++ b/VirtualTools/LaparoscopicCameraCoupler.h
@@ -50,34 +50,34 @@ struct cameraConfigurationData
~cameraConfigurationData(){};
};
-struct screenShotData
-{
- std::shared_ptr<vtkWindowToImageFilter> windowToImageFilter;
- std::shared_ptr<vtkPNGWriter> pngWriter;
- bool triggerScreenCapture;
- int screenShotNumber;
-
- screenShotData() : triggerScreenCapture(false), screenShotNumber(0)
- {
- windowToImageFilter = std::make_shared<vtkWindowToImageFilter>();
-
- windowToImageFilter->SetMagnification(3); //set the resolution of the output
- //image (3 times the current resolution
- // of vtk render window)
-
- windowToImageFilter->SetInputBufferTypeToRGBA(); //also record the alpha
- // (transparency) channel
-
- windowToImageFilter->ReadFrontBufferOff(); // read from the back buffer
-
- windowToImageFilter->Update();
-
- pngWriter = std::make_shared<vtkPNGWriter>();
- pngWriter->SetInputConnection(windowToImageFilter->GetOutputPort());
- };
-
- ~screenShotData(){};
-};
+//struct screenShotData
+//{
+// std::shared_ptr<vtkWindowToImageFilter> windowToImageFilter;
+// std::shared_ptr<vtkPNGWriter> pngWriter;
+// bool triggerScreenCapture;
+// int screenShotNumber;
+//
+// screenShotData() : triggerScreenCapture(false), screenShotNumber(0)
+// {
+// windowToImageFilter = std::make_shared<vtkWindowToImageFilter>();
+//
+// windowToImageFilter->SetMagnification(1); // set the resolution of the output
+// // image
+//
+// windowToImageFilter->SetInputBufferTypeToRGBA(); // also record the alpha
+// // (transparency) channel
+//
+// windowToImageFilter->ReadFrontBufferOff(); // read from the back buffer
+//
+// windowToImageFilter->Update();
+//
+// pngWriter = std::make_shared<vtkPNGWriter>();
+//
+// pngWriter->SetInputConnection(windowToImageFilter->GetOutputPort());
+// };
+//
+// ~screenShotData(){};
+//};
class LaparoscopicCameraCoupler : public Module
{
@@ -217,12 +217,12 @@ public:
void setBendingRadius(const double val);
///
- /// \brief
+ /// \brief Get the screen capture related data
///
- std::shared_ptr<screenShotData> getScreenCaptureData();
+ //std::shared_ptr<screenShotData> getScreenCaptureData();
///
- /// \brief
+ /// \brief Initializes screen capture capability
///
void enableScreenCapture();
@@ -268,7 +268,7 @@ private:
std::shared_ptr<cameraConfigurationData> cameraPosOrientData;//!< camera config data
- std::shared_ptr<screenShotData> screenCaptureData;
+ //std::shared_ptr<screenShotData> screenCaptureData;
std::shared_ptr<vtkWindowToImageFilter> windowToImageFilter;
};