Python VTK -- Can we get the mesh rendered from the colorized point cloud

Support
7

Great appreciate the examples. I think the code is working so far but some small problems still exist such as

  1. Point distance is large in some region (we can still see some wide space between points in the edge). For some dense point cloud, this problem is more obvious and I am thinking another method to first reconstruct the point cloud surface and assign the color. But it seems not working well, as shown in fig. 1.
  2. I try with generating with the mesh with point index and triangular mesh, but it seems not working well and I am not sure if this is the problem that I didn’t change the property of the mesh, as shown in fig. 2.
  3. When we get close to the object, we can see the artifacts on the dense mesh grid. I am thinking maybe using OpenGL texture mapping might be another possible solution?
  4. I am thinking about using stl and look up table to assign the color vector to the points.

Any improvements are welcomed. Thanks again.

I have finished the code:

demo_2
demo_2.jpg871×597 157 KB

demo_1
demo_1.jpg921×679 202 KB

demo
demo.jpg1199×820 703 KB

9

# Load the data object
‘’’
pcd: object of pcd
pc: point coordinates, M x 3
pc_color: color vectors, M x 3
img_color: color image for textured mapping
‘’’

test = BTL_GL.BTL_GL()
pcd, pc, pc_color, MeshGrid, img_color = test.GL_NonFlat()

# Define the points polydata
points = vtk.vtkPoints()
for i in range(len(pc)):
points.InsertNextPoint(pc[i, 0], pc[i, 1], pc[i, 2])
polydata = vtk.vtkPolyData()
polydata.SetPoints(points)

# Define the color to the polydata
colors = vtk.vtkUnsignedCharArray()
colors.SetNumberOfComponents(3)
colors.SetNumberOfTuples(polydata.GetNumberOfPoints())
for i in range(len(pc_color)):
colors.InsertTuple3(i, pc_color[i, 0], pc_color[i, 1], pc_color[i, 2])

# Connect the point object to the color object
polydata.GetPointData().SetScalars(colors)

# Define the VertexGlyphFilter
vgf = vtk.vtkVertexGlyphFilter()
vgf.SetInputData(polydata)
vgf.Update()
pcd = vgf.GetOutput()

# Define the mapper
point_mapper = vtk.vtkPolyDataMapper()
point_mapper.SetInputData(pcd)

# Define the actor
actor = vtk.vtkActor()
actor.SetMapper(point_mapper)
actor.GetProperty().SetPointSize(10)
actor.GetProperty().RenderPointsAsSpheresOn()

ren = vtk.vtkRenderer()
ren.SetBackground(.2, .3, .4)
ren.AddActor(actor)

renWin = vtk.vtkRenderWindow()
renWin.AddRenderer(ren)

# Interactor
renderWindowInteractor = vtk.vtkRenderWindowInteractor()
renderWindowInteractor.SetRenderWindow(renWin)

# Begin Interaction
renWin.Render()
renderWindowInteractor.Start()