TransformPipeline
VTKExamples/Cxx/PolyData/TransformPipeline
Description
This example demonstrate how to connect a transformation for keeping coordinate one actor relative to another. I used a robotic arm because it's good example used originally by James D. Foley in book: Computer Graphics: Principles and Practice in C. Someone who read this book may want to know how to make it in VTK.
Code
TransformPipeline.cxx
//This example describes the transformation pipeline. Robotic arm was used to demonstrate an example.
#include <vtkCylinderSource.h>
#include <vtkPolyDataMapper.h>
#include <vtkActor.h>
#include <vtkProperty.h>
#include <vtkTransform.h>
#include <vtkRenderer.h>
#include <vtkRenderWindow.h>
#include <vtkRenderWindowInteractor.h>
#include <vtkSmartPointer.h>
int main (int, char *[])
{
vtkSmartPointer<vtkRenderer> ren1 = vtkSmartPointer<vtkRenderer>::New();
ren1->SetBackground( 0.1, 0.2, 0.4 );
vtkSmartPointer<vtkRenderWindow> renWin = vtkSmartPointer<vtkRenderWindow>::New();
renWin->AddRenderer(ren1);
renWin->SetSize(600, 600);
renWin->SetWindowName("Robotic Arm");
vtkSmartPointer<vtkRenderWindowInteractor> iren = vtkSmartPointer<vtkRenderWindowInteractor>::New();
iren->SetRenderWindow(renWin);
//arm
vtkSmartPointer<vtkCylinderSource> arm = vtkSmartPointer<vtkCylinderSource>::New();
arm->SetRadius(8);
arm->SetHeight(20);
arm->SetResolution(20);
vtkSmartPointer<vtkPolyDataMapper> armMapper = vtkSmartPointer<vtkPolyDataMapper>::New();
armMapper->SetInputConnection(arm->GetOutputPort());
vtkSmartPointer<vtkTransform> armTransform = vtkSmartPointer<vtkTransform>::New();
vtkSmartPointer<vtkActor> armActor = vtkSmartPointer<vtkActor>::New();
armActor->SetUserTransform(armTransform);
armActor->SetMapper(armMapper);
armActor->GetProperty()->SetColor(0.7,0.6,0.3);
//forearm
vtkSmartPointer<vtkCylinderSource> forearm = vtkSmartPointer<vtkCylinderSource>::New();
forearm->SetRadius(6);
forearm->SetHeight(15);
forearm->SetResolution(20);
forearm->SetCenter(*(arm->GetCenter()),*(arm->GetCenter()+1)+forearm->GetHeight(),*(arm->GetCenter()+2));
vtkSmartPointer<vtkPolyDataMapper> forearmMapper = vtkSmartPointer<vtkPolyDataMapper>::New();
forearmMapper->SetInputConnection(forearm->GetOutputPort());
vtkSmartPointer<vtkTransform> forearmTransform = vtkSmartPointer<vtkTransform>::New();
forearmTransform->SetInput(armTransform);
vtkSmartPointer<vtkActor> forearmActor = vtkSmartPointer<vtkActor>::New();
forearmActor->SetUserTransform(forearmTransform);
forearmActor->SetMapper(forearmMapper);
forearmActor->GetProperty()->SetColor(0.1,0.2,0.9);
//hand
vtkSmartPointer<vtkCylinderSource> hand = vtkSmartPointer<vtkCylinderSource>::New();
hand->SetRadius(4);
hand->SetHeight(10);
hand->SetResolution(20);
hand->SetCenter(*(forearm->GetCenter()),*(forearm->GetCenter()+1)+hand->GetHeight(),*(forearm->GetCenter()+2));
vtkSmartPointer<vtkPolyDataMapper> handMapper = vtkSmartPointer<vtkPolyDataMapper>::New();
handMapper->SetInputConnection(hand->GetOutputPort());
vtkSmartPointer<vtkTransform> handTransform = vtkSmartPointer<vtkTransform>::New();
handTransform->SetInput(forearmTransform);
vtkSmartPointer<vtkActor> handActor = vtkSmartPointer<vtkActor>::New();
handActor->SetUserTransform(handTransform);
handActor->SetMapper(handMapper);
handActor->GetProperty()->SetColor(0.6,0.9,0.1);
ren1->AddActor(armActor);
ren1->AddActor(forearmActor);
ren1->AddActor(handActor);
renWin->Render();
//execution of robot arm motion
for (int i = 0; i <45; i++)
{
armTransform->Identity();
armTransform->RotateZ(-i);
renWin->Render();
}
//execution of robot forearm motion
for (int i = 0; i <45; i++)
{
forearmTransform->Identity();
forearmTransform->RotateZ(i);
renWin->Render();
}
iren->Initialize();
iren->Start();
return EXIT_SUCCESS;
}
CMakeLists.txt
cmake_minimum_required(VERSION 2.8)
PROJECT(TransformPipeline)
find_package(VTK REQUIRED)
include(${VTK_USE_FILE})
add_executable(TransformPipeline MACOSX_BUNDLE TransformPipeline.cxx)
target_link_libraries(TransformPipeline ${VTK_LIBRARIES})
Download and Build TransformPipeline
Click here to download TransformPipeline and its CMakeLists.txt file. Once the tarball TransformPipeline.tar has been downloaded and extracted,
cd TransformPipeline/build
If VTK is installed:
cmake ..
If VTK is not installed but compiled on your system, you will need to specify the path to your VTK build:
cmake -DVTK_DIR:PATH=/home/me/vtk_build ..
Build the project:
make
and run it:
./TransformPipeline
WINDOWS USERS PLEASE NOTE: Be sure to add the VTK bin directory to your path. This will resolve the VTK dll's at run time.