VTK Visualization Toolkit Introduction

Carlos A. Vinhais
cvinhais@gmail.com Department of Physics ISEP School of Engineering Polytechnic Institute of Porto Porto, PORTUGAL

Outline
VTK Introduction
Resources Installation

Computer Hands-On
Build VTK with Cmake Test VTK Helloworld Cone1.cxx Cone2.cxx Cone3.cxx SingleScreenShot

VTK Architecture
Low level object model VTK file format Rendering Engine Visualization pipeline Minimal Example VTK Programming VTK Interactors

Learn by Examples
3D Graphics Visualization Techniques Imaging

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VTK - Visualization Toolkit Introduction

Free open source software for 3D computer graphics, image processing and visualization Consists of a C++ class library
VTK classes implemented with .h and .cxx file Several interpreted interface layers, including Python, Tcl/Tk, and Java

Supports a wide variety of visualization algorithms

including scalar, vector, tensor, texture, and volumetric

Advanced modeling techniques

implicit modeling, polygon reduction, mesh smoothing, cutting, contouring and Delaunay triangulation

Design and implementation influenced by object-oriented principles

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VTK - Visualization Toolkit Resources

Source distribution (source and binaries)
www.vtk.org, Kitware, Inc. Distribution comes with many examples

Documentation
Online help, HTML based http://www.vtk.org/doc/release/5.8/html/

Companion Text Books

The Visualization Toolkit The VTK Users Guide www.kitware.com

Mailing lists, Links, FAQ, Search

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VTK - Visualization Toolkit Installation

1. Choose OS and install compiler/IDE
Tested on Windows 7 MS Visual C++ 2010 Express Edition

2.

CMake installation required

www.cmake.org (cmake-2.8.7-win32x86.exe)

3. 4. 5. 6.

Get VTK source code

vtk-5.8.0.zip

Run Cmake to configure and generate the VTK project Compile VTK libraries Test VTK with the exrecises
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Cmake used to generate projects, makefiles or workspaces For different compilers and OS. Cmake is Cross platform.

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VTK Architecture Object Model

Dataset types found in VTK
Image data Rectilinear grid Structured grid Unstructured points Polygonal Data Unstructured grid

Data objects have geometric and topological structure (points and cells) Cells are topological arrangements of points
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VTK Architecture Object Model

Reference Counting
vtkObjectBase * obj = vtkExampleClass::New(); otheObject -> SetExample(obj); Obj -> Delete();

Smart Pointers
Class template vtkSmartPointer<>
vtkSmartPointer<vtkObjectBase> obj = vtkSmartPointer<vtkExampleClass> ::New(); otheObject -> SetExample(obj);

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VTK Architecture Object Model

Associated with the points and cells of a dataset
scalar vector normal texture coordinate tensor field data

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VTK File Format

STRUCTURED POINTS (e.g. volume leon22.vtk)
# vtk DataFile Version 3.0 VTK File Generated by Insight Segmentation and Registration Toolkit (ITK) BINARY DATASET STRUCTURED_POINTS DIMENSIONS 512 512 64 SPACING 0.703125 0.703125 5 ORIGIN -173.3 -180 -269.75 POINT_DATA 16777216 SCALARS scalars short 1 LOOKUP_TABLE default ... ...

POLYDATA - unstructured points (e.g. teste_02_001.vtk)

# vtk DataFile Version 3.0 vtk output ASCII DATASET POLYDATA POINTS 77268 float 75.9892 41.9058 932.349 75.7524 41.8747 932.064 ... VERTICES 77268 154536 1 0 1 1 ...

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VTK Architecture Rendering Engine

A VTK scene consists of: vtkRenderWindowInteractor
window interaction

vtkRenderWindow
contains the final image

vtkRenderer
draws into the render window

vtkActor
combines properties/geometry

vtkMapper
represents geometry

vtkLights
illuminate actors

vtkProp, vtkProp3D
Superclasses

vtkCamera
renders the scene

vtkProperty

vtkTransform
position actors
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VTK Architecture Visualization Pipeline

Visualization pipeline transforms information into graphical data
Uses a data flow approach Two basic types of objects:
vtkDataObject and vtkProcessObject

Pipeline topology based on filter I/O

Filters operate on data objects to produce new data objects
thisFilter -> setInput( thatFilter->getOutput() );

Pipeline execution
Visualization pipelines use lazy evaluation Only executes when data is required for computation
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VTK Architecture Visualization Pipeline

data objects combined with process object to create the visualization pipeline

Pipeline execution

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VTK Architecture Visualization Pipeline

Types of algorithms
multiplicity of input and output

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Minimal Example Cone1

Basic setup for VTK programs
Programming implementation of basic VTK exercises:

vtkActors
Combine object properties, geometries and orientation in virtual coordinates

Data source
Procedural data, cone, sphere, cylinder, etc. Or data read from a file

vtkRenderer
Coordinates lights, cameras and actors to create an image

vtkMapper and vtkLookupTable

Transform and render geometry Interface between the viz pipeline and the graphics model vtkScalarToColorsmaps data values to color

vtkRenderWindow
Manages the rendering process on the render window(s) on display device

vtkRenderWindowInteractor
Connection between the operating system and the VTK rendering engine

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Minimal Example Cone1

// // // // C++ The basic setup of: source->mapper->actor->renderer->renderwindow is typical of most VTK programs. vtkConeSource *cone = vtkConeSource::New(); cone->SetHeight( 3.0 ); cone->SetRadius( 1.0 ); cone->SetResolution( 10 ); vtkPolyDataMapper *coneMapper = vtkPolyDataMapper::New(); coneMapper -> SetInput(cone->GetOutput()); vtkActor *coneActor = vtkActor::New(); coneActor -> SetMapper( coneMapper ); vtkRenderer *renderer = vtkRenderer::New(); renderer -> AddActor( coneActor ); renderer -> SetBackground(0.1, 0.2, 0.4); vtkRenderWindow *renderWindow = vtkRenderWindow::New(); renderWindow -> AddRenderer( renderer ); renderWindow -> SetSize( 300, 300 ); vtkRenderWindowInteractor *renderWindowInteractor = vtkRenderWindowInteractor::New(); renderWindowInteractor -> SetRenderWindow( renderWindow ); renderWindow -> Render(); renderWindowInteractor -> Start();

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VTK Programming
Conversions between languages relatively straightforward
Class names and method names remain the same Implementation details change (syntax) GUI details change

Example
C++ Python Tcl Java
ren1->GetActiveCamera()->Azimuth( 1 ); ren1.GetActiveCamera().Azimuth( 1 ) [ren1 GetActiveCamera] Azimuth 1 ren1.GetActiveCamera().Azimuth( 1 );

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VTK Programming
// // // // C++ The basic setup of: source->mapper->actor->renderer->renderwindow is typical of most VTK programs. # # # # Python The basic setup of: source->mapper->actor->renderer->renderwindow is typical of most VTK programs. vtkConeSource *cone = vtkConeSource::New(); cone->SetHeight( 3.0 ); cone->SetRadius( 1.0 ); cone->SetResolution( 10 ); vtkPolyDataMapper *coneMapper = vtkPolyDataMapper::New(); coneMapper -> SetInput(cone->GetOutput()); vtkActor *coneActor = vtkActor::New(); coneActor -> SetMapper( coneMapper ); vtkRenderer *renderer = vtkRenderer::New(); renderer -> AddActor( coneActor ); renderer -> SetBackground(0.1, 0.2, 0.4); vtkRenderWindow *renderWindow = vtkRenderWindow::New(); renderWindow -> AddRenderer( renderer ); renderWindow -> SetSize( 300, 300 ); vtkRenderWindowInteractor *renderWindowInteractor = vtkRenderWindowInteractor::New(); renderWindowInteractor -> SetRenderWindow( renderWindow ); renderWindow -> Render(); renderWindowInteractor -> Start(); cone = vtk.vtkConeSource() cone.SetHeight( 3.0 ) cone.SetRadius( 1.0 ) cone.SetResolution( 10 ) coneMapper = vtk.vtkPolyDataMapper() coneMapper.SetInput( cone.GetOutput() )

coneActor= vtk.vtkActor() coneActor.SetMapper( coneMapper) ren1= vtk.vtkRenderer() ren1.AddActor( coneActor) ren1.SetBackground( 0.1, 0.2, 0.4 ) renWin= vtk.vtkRenderWindow() renWin.AddRenderer( ren1 ) renWin.SetSize( 300, 300 )

...

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VTK Interactors
vtkRenderWindowInteractor
Keypress: j|t
Toggle between joystick or trackball mode In joystick style the motion occurs continuously as long as the mouse button is pressed In trackball style the motion occurs when the mouse button is pressed and the mouse cursor moves Toggle between camera and actor modes In camera mode, the mouse events affect the camera position and focal point In actor mode, the mouse events affect the object under the mouse pointer Exit/quit application Toggle in and out of stereo model Default is red-blue stereo pairs

Left Mouse Button

Rotate camera or actor Camera rotated around its focal point Actor rotated around its origin

Middle Mouse Button

Pan camera or translate actor In joystick mode direction of pan/translation is from center of the viewporttoward the mouse position In trackball mode, direction of motion in the direction of the mouse movement MMB

Keypress: c|a

Right Mouse Button

Zoom camera or scale actor Zoom in/increase scale in top half of the viewport Zoom out/decrease scale in lower half of the viewport In joystick mode amount is controlled by distance of the pointer from the horizontal center line

Keypress: e|q

Keypress: 3

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VTK Interactors
Keypress u
Invokes user-defined mode brings up an command interactor window Rerender using irenRender Fly-to the point under the cursor Sets the focal point allowing rotations about that point Pick operation Render window has an internal instance of vtkPropPickerfor picking Reset the camera along the viewing direction Centers the actors All actors visible

Keypress f

Keypress p

solid

Keypress r

Keypress s
All actors represented as surfaces All actors represented in wire frame

wired

Keypress w

stereo
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Computer Hands-On Build and Test VTK

Build VTK
Follow the notes!
Install_Notes_VTK5_VC2010_Win64.pdf

Test VTK
Get the source code!
Helloworld.zip (CMakeLists.txt + Helloworld.cxx) Requires ITK installed!
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Computer Hands-On VTK Exercises

1 window, 3 viewports

Cone1 Cone2 Cone3

SingleScreenShot
Full screen, stereo
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Computer Hands-On SingleScreenShot

#include <vtkSmartPointer.h> #include <vtkSphereSource.h> #include <vtkWindowToImageFilter.h> #include <vtkPNGWriter.h> ... renderWindow -> SetSize( 512, 512 );// set window size renderWindow -> StereoCapableWindowOn(); renderWindow -> StereoRenderOn(); renderWindow -> SetStereoTypeToAnaglyph(); //renderWindow -> SetStereoTypeToCrystalEyes(); //renderWindow -> SetStereoTypeToLeft(); renderWindow -> StereoUpdate(); renderWindow->FullScreenOn(); //WILL RENDER IN STEREO renderWindow -> Render(); renderWindowInteractor -> Start();

Full screen, stereo

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Computer Hands-On SingleScreenShot (cont.)

... renderWindow -> Render(); renderWindowInteractor -> Start(); vtkSmartPointer< vtkWindowToImageFilter > windowToImageFilter = vtkSmartPointer< vtkWindowToImageFilter >::New(); windowToImageFilter -> SetInput( renderWindow ); windowToImageFilter -> Update(); vtkSmartPointer< vtkPNGWriter > writer = vtkSmartPointer< vtkPNGWriter >::New(); writer -> SetFileName( "SingleScreenshot.png" ); writer -> SetInput( windowToImageFilter->GetOutput() ); writer -> Write(); ...

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3D Graphics
Surface rendering Volume rendering
Ray casting

Texture mapping (2D) Lights and cameras Textures Save render window to .png, .jpg, ... (useful for movie creation) ...
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Visualization Techniques
Scalar algorithms
Contouring Color mapping

Vector algorithms
Streamlines streamtubes

Tensor algorithms
Tensor ellipsoids
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Imaging
vtkImageToImageFilter
Diffusion High-pass / Low-pass (Fourier) Convolution Gradient (magnitude) Distance map Morphology Skeletons
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Visualization Techniques Contouring

Contouring
Also Iso-surfaces Filter vtkContourFilter performs the function Using SetValue() method
contours SetValue 0.0 0.5

Using GenerateValues() method

Contours generateValues 8 0.0 1.2 Specify range and number of contours

Many methods perform contouring

vtkMarchingCubes vtkMarchingSquares

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Visualization Techniques Color Mapping

Coloring objects by scalar values Scalar values mapped through lookup table Color applied during rendering Modifies appearance of points or cells Use any data array
Method ColorByArrayComponent()

If not specified, a default lookup table is created by the mapper

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3D Widgets
Watch for events invoked by vtkRenderWindowInteractor Subclasses of vtkInteractorObserver List of most important widgets
vtkScalarBarWidget vtkPointWidget vtkLineWidget vtkPlaneWidget vtkImplicitPlane vtkBoxWidget vtkImagePlaneWidget vtkSphereWidget vtkSplineWidget

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Visualization Techniques Cutting

Create cross-section of dataset Any implicit function
Planes create planar cuts

Cutting surface interpolates the data Result is always type vtkPolyData vtkCutter needs an implicit function to cut May use more cut values
SetValue() method GenerateValues() method

Values specify the value of the implicit function Cutting values

Zero precisely on the implicit function Less than zero, below Greater than zero, above Only strictly true for vtkPlane

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Visualization Techniques Merging and Probing

Merge data
Pipelines could have loops Multiple streams of the pipeline vtkMergeFilter merges data from several datasets to a new dataset

Probing
vtkAppendFilter builds new dataset by appending datasets
Specialized filter vtkAppendPolyData

Only data attributes common to all data input are appended

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Visualization Techniques Glyphing

Represent data using symbols, or glyphs Simple glyphs
Cone oriented to a vector

Complex
Symbolic representation of the human face Expression controlled by the data values

vtkGlyph3D class
Scaled, colored Orientated along a direction Glyphs copied to each point of the dataset

Glyphs defined by second input to the filter Glyphs of type vtkPolyData

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Visualization Techniques Glyphing

The glyph uses the point attribute normals for orientation Use vector data using the SetVectorMethodToUseVector() Scale glyphs by scalar data using SetScaleModeToScaleByScalar() Turn data scaling off using SetScaleModeToDataScalingOff() Many other options

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Visualization Techniques Streamlines

Streamlines
Path of a massless particle in a vector field Requires starting point(s) Integration direction
Along the flow Opposite the flow Both

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Visualization Techniques Streamsurfaces

Series of ordered points, used to generate streamlines vtkRuledSurfaceFilter used to create a surface Points must be ordered carefully Assumes points lie next to one another Within a specified distance of neighbors (DistanceFactorvariable)

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VTK Example The Virtual Frog

http://www-itg.lbl.gov/Frog
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End of VTK Lecture. Thank you!

Carlos A. Vinhais
cvinhais@gmail.com Department of Physics ISEP School of Engineering Polytechnic Institute of Porto Porto, PORTUGAL