[vtkusers] Color each object independantly with vtkProgrammableGlyphFilter

[robert09]

Hi, 

I would like to use VTk for the visualisation of an Octree containing both
occupancy and NDT data. The main problem that I am having is that I cannot
seem to get each voxel (cuboid) coloured independently.  All cuboids are
shown at the correct position and is the correct size. My Code is structured
as follows.

    cubedata = []
    points = vtk.vtkPoints()
    colors = vtk.vtkUnsignedCharArray()
    colors.SetNumberOfComponents(3)
    colors.SetName("Colors")
    index = 0
    for k, node in enumerate(tree):
        if (node.occupancy  > 0) and node.isLeaf:
            node.get_cube_display_data(minHeight,
maxHeigth,index,points,colors,cubedata)
            index+=1
    
    def Glyph():
        ptId = glypher.GetPointId()
        xyz = glypher.GetPoint()
        cube.SetCenter(xyz)
        cube.SetXLength(cubedata[ptId][0])
        cube.SetYLength(cubedata[ptId][1])
        cube.SetZLength(cubedata[ptId][2])
    
    polydata = vtk.vtkPolyData()
    polydata.SetPoints(points) 
    colors.SetNumberOfTuples(polydata.GetNumberOfPoints())   
    polydata.GetPointData().SetScalars(colors)
    
    cube = vtk.vtkCubeSource()
    
    glypher = vtk.vtkProgrammableGlyphFilter()
    glypher.SetColorModeToColorByInput()
    glypher.SetInput(polydata)
    glypher.SetSource(cube.GetOutput())
    glypher.SetGlyphMethod(Glyph)

    glyphMapper = vtk.vtkPolyDataMapper()
    glyphMapper.SetInputConnection(glypher.GetOutputPort())
    glyphActor = vtk.vtkActor()
    glyphActor.SetMapper(glyphMapper)
     
    # Create the rendering stuff
    ren1 = vtk.vtkRenderer()
    renWin = vtk.vtkRenderWindow()
    renWin.AddRenderer(ren1)
    iren = vtk.vtkRenderWindowInteractor()
    iren.SetRenderWindow(renWin)
    ren1.AddActor(glyphActor)
    ren1.SetBackground(1, 1, 1)
    renWin.SetSize(450, 450)
    renWin.Render()

In the code given above the "get_cube_display_data function looks" like
this:
def get_cube_display_data(self, _minHeight, _maxHeigth, _index, _points,
_colors, _cube_data):
        h = (float(self.position[2]-_minHeight) / (_maxHeigth-_minHeight))
        r,g,b =  colorsys.hsv_to_rgb(h, 1., 1.)        
        col = (int(r*255),int(g*255),int(b*255))
        _points.InsertNextPoint(self.position[0], self.position[1],
self.position[2]) 
        _colors.InsertNextTupleValue(col)
        _cube_data.append((self.size,self.size,self.size))

So basically for each leaf node in the octree I add its position to the
points and its colour (determined by height) to the color char array. Even
if I set to "col" variable in the get_cube_display_data to (0,255,0), I
still get random coloured cuboids. 

Any help would be greatly appreciated.

Regards



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