Hi all, Following David's suggestion, I came up with the code attached that turns the starting data file (rgb.txt, of the type [X Y Z R G B] (the first three vector columns specify the location of the single point and the last three one its color in RGB space)) into a parsed vtp format. Unfortunately, when I try to open the VTP file in Paraview (after applying a Glyph filter) the results are not what I expect, i.e. one point red, one point green, two points blue.
I would greatly appreciate if someone could help me put reading correctly the VTP file, I should admit that I'm not very familiar with the use of vtp files in Paraview, Cheers Giulio -----Messaggio originale----- Da: David Doria [mailto:daviddo...@gmail.com] Inviato: giovedì 23 febbraio 2012 02:48 A: giulio.re...@unisalento.it Cc: paraview@paraview.org Oggetto: Re: [Paraview] 3D point cloud with color >> I have been working with 3D stereo reconstruction. So, I have huge 3d point clouds co-registered with color in this format [X Y Z R G B] (the first three vector columns specify the location of the single point and the last three one its color in RGB space). I have been trying to display the data in Paraview without success. >> >> >> >> I use the table to points filter to show the 3D coordinates but then I do not know how to specify the color of each single point using its RGB components. Can you please help me out? If you're more comfortable in c++ you could use VTK to parse the file, construct a polydata, and then write a vtp file. Here are the examples you'd need: http://www.vtk.org/Wiki/VTK/Examples/Cxx/InfoVis/ReadDelimitedFile http://www.vtk.org/Wiki/VTK/Examples/Cxx/IO/WriteVTP Then Paraview can easily read this vtp file. David
#include <vtkSmartPointer.h>
#include <vtkProperty.h>
#include <vtkPolyDataMapper.h>
#include <vtkActor.h>
#include <vtkDelimitedTextReader.h>
#include <vtkDoubleArray.h>
#include <vtkTable.h>
#include <vtkPointData.h>
#include <vtkRenderWindow.h>
#include <vtkRenderWindowInteractor.h>
#include <vtkRenderer.h>
#include <vtkVertexGlyphFilter.h>
#include <vtkCellArray.h>
#include <vtkPoints.h>
#include <vtkXMLPolyDataWriter.h>
#include <vtkPolyData.h>
#include <vtkSmartPointer.h>
int main(int argc, char* argv[])
{
// Verify input arguments
if(argc != 2)
{
std::cout << "Usage: " << argv[0]
<< " Filename(.txt)" << std::endl;
return EXIT_FAILURE;
}
std::string inputFilename = argv[1];
vtkSmartPointer<vtkDelimitedTextReader> reader =
vtkSmartPointer<vtkDelimitedTextReader>::New();
reader->SetFileName(inputFilename.c_str());
reader->DetectNumericColumnsOn();
reader->SetFieldDelimiterCharacters(" ");
reader->Update();
vtkTable* table = reader->GetOutput();
vtkSmartPointer<vtkPoints> points =
vtkSmartPointer<vtkPoints>::New();
vtkSmartPointer<vtkDoubleArray> normals =
vtkSmartPointer<vtkDoubleArray>::New();
normals->SetNumberOfComponents(3); //3d normals (ie x,y,z)
std::cout << "Table has " << table->GetNumberOfRows()
<< " rows." << std::endl;
std::cout << "Table has " << table->GetNumberOfColumns()
<< " columns." << std::endl;
for(vtkIdType i = 0; i < table->GetNumberOfRows(); i++)
{
std::cout << "x: " << (table->GetValue(i,0)).ToDouble()
<< " y: " << (table->GetValue(i,1)).ToDouble()
<< " z: " << (table->GetValue(i,2)).ToDouble();
points->InsertNextPoint((table->GetValue(i,0)).ToDouble(),
(table->GetValue(i,1)).ToDouble(),
(table->GetValue(i,2)).ToDouble());
double n[3];
n[0] = (table->GetValue(i,3)).ToDouble();
n[1] = (table->GetValue(i,4)).ToDouble();
n[2] = (table->GetValue(i,5)).ToDouble();
std::cout << " n: " << n[0] << " " << n[1] << " " << n[2] << std::endl;
normals->InsertNextTuple(n);
}
std::cout << "There are " << points->GetNumberOfPoints()
<< " points." << std::endl;
vtkSmartPointer<vtkPolyData> polydata =
vtkSmartPointer<vtkPolyData>::New();
polydata->SetPoints(points);
polydata->GetPointData()->SetNormals(normals);
vtkSmartPointer<vtkVertexGlyphFilter> glyphFilter =
vtkSmartPointer<vtkVertexGlyphFilter>::New();
#if VTK_MAJOR_VERSION <= 5
glyphFilter->SetInputConnection(polydata->GetProducerPort());
#else
glyphFilter->SetInputData(polydata);
#endif
glyphFilter->Update();
// Write the file
vtkSmartPointer<vtkXMLPolyDataWriter> writer =
vtkSmartPointer<vtkXMLPolyDataWriter>::New();
writer->SetFileName("test.vtp");
#if VTK_MAJOR_VERSION <= 5
writer->SetInput(polydata);
#else
writer->SetInputData(polydata);
#endif
// Optional - set the mode. The default is binary.
//writer->SetDataModeToBinary();
//writer->SetDataModeToAscii();
writer->Write();
// Visualize
vtkSmartPointer<vtkPolyDataMapper> mapper =
vtkSmartPointer<vtkPolyDataMapper>::New();
mapper->SetInputConnection(glyphFilter->GetOutputPort());
vtkSmartPointer<vtkActor> actor =
vtkSmartPointer<vtkActor>::New();
actor->SetMapper(mapper);
actor->GetProperty()->SetPointSize(3);
actor->GetProperty()->SetColor(0,1,0);
vtkSmartPointer<vtkRenderer> renderer =
vtkSmartPointer<vtkRenderer>::New();
vtkSmartPointer<vtkRenderWindow> renderWindow =
vtkSmartPointer<vtkRenderWindow>::New();
renderWindow->AddRenderer(renderer);
vtkSmartPointer<vtkRenderWindowInteractor> renderWindowInteractor =
vtkSmartPointer<vtkRenderWindowInteractor>::New();
renderWindowInteractor->SetRenderWindow(renderWindow);
renderer->AddActor(actor);
renderer->SetBackground(1.0, 1.0, 1.0); // Background color green
renderWindow->Render();
renderWindowInteractor->Start();
return EXIT_SUCCESS;
}0.0 0.0 0.0 255 0 0 1.0 0.0 0.0 0 255 0 0.0 1.0 0.0 0 0 255 1.0 1.0 0.0 0 0 255
test.vtp
Description: Binary data
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