python实现3d建模工具_VTK与Python实现机械臂三维模型可视化详解

VTK与Python实现机械臂三维模型可视化详解

来源：中文源码网 浏览： 次 日期：2018年9月2日

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VTK与Python实现机械臂三维模型可视化详解 三维可视化系统的建立依赖于三维图形平台， 如 OpenGL、VTK、OGRE、OSG等， 传统的方法多采用OpenGL进行底层编程，即对其特有的函数进行定量操作， 需要开发人员熟悉相关函数， 从而造成了开发难度大、 周期长等问题。VTK、 ORGE、OSG等平台使用封装更好的函数简化了开发过程。下面将使用Python与VTK进行机器人上位机监控界面的快速原型开发。

完整的上位机程序需要有三维显示模块、机器人信息监测模块（位置/角度/速度/电量/温度/错误信息...）、通信模块（串口/USB/WIFI/蓝牙...）、控制模块等功能模块。三维显示模块主要用于实时显示机器人的姿态（或位置）信息。比如机器人上肢手臂抬起，程序界面中的虚拟机器人也会同时进行同样的动作。三维显示模块也可以用于对机器人进行控制，实现良好的人机交互。比如在三维图像界面中可以点击拾取机器人某一关节，拖拽部件(肢体)控制真实的机器人完成同样的运动。Aldebaran Robotics的图形化编程软件Choregraphe可以完成上述的一些功能对NAO机器人进行控制。对于简单的模型可以自己编写函数进行创建，但这种方法做出来的模型过于简单不够逼真。因此可以先在SolidWorks、Blender、3DMax、Maya、Rhino等三维设计软件中建立好模型，然后导出为通用的三维文件格式，再使用VTK将其读入并进行渲染。

在SolidWorks等三维设计软件中设计好机器人的大臂（upperarm）和小臂（forearm），然后创建装配体如下图所示。在将装配体导出为STL文件前需要注意几点：

1. 当从外界读入STL类型的模型时，其会按照它内部的坐标位置进行显示，因此它的位置和大小是确定的。为了以后的定位以及移动、旋转等操作的方便，需要先在SolidWorks中创建一个坐标系。如下图所示，坐标系建立在大臂关节中心点。

2. 如果将装配体整体输出为一个STL文件，则导入VTK后无法控制零部件进行相对运动。因此，需要将装配体各可动部件分别导出。在SolidWorks的另存为STL对话框中，点开输出选项卡，如下图所示。注意之前提到的几点：如果勾选“在单一文件中保存装配体的所有零部件”则会将整个装配体导出为一个STL文件，否则就是分别命名的两个STL文件；输出坐标系下拉列表中选择之前创建的坐标系1，并勾选“不要转换STL输出数据到正的坐标空间”。下面的Python代码简单实现了一个2自由度机械臂的三维仿真，可以拖动滑块或按键盘上的方向键控制肩关节或肘关节运动。当然程序还存在一些问题有待完善...

#!/usr/bin/env python

import vtk

import math

from vtk.util.colors import *

filenames = ["upperarm.stl","forearm.stl"]

dt = 1.0 # degree step in rotation

angle = [0, 0] # shoulder and elbow joint angle

renWin = vtk.vtkRenderWindow()

assembly = vtk.vtkAssembly()

slider_shoulder = vtk.vtkSliderRepresentation2D()

slider_elbow = vtk.vtkSliderRepresentation2D()

actor = list() # the list of links

# Customize vtkInteractorStyleTrackballCamera

class MyInteractor(vtk.vtkInteractorStyleTrackballCamera):

def __init__(self,parent=None):

self.AddObserver("CharEvent",self.OnCharEvent)

self.AddObserver("KeyPressEvent",self.OnKeyPressEvent)

# Override the default key operations which currently handle trackball or joystick styles is provided

# OnChar is triggered when an ASCII key is pressed. Some basic key presses are handled here

def OnCharEvent(self,obj,event):

pass

def OnKeyPressEvent(self,obj,event):

global angle

# Get the compound key strokes for the event

key = self.GetInteractor().GetKeySym()

# Output the key that was pressed

#print "Pressed: " , key

# Handle an arrow key

if(key == "Left"):

actor[1].RotateY(-dt)

if(key == "Right"):

actor[1].RotateY(dt)

if(key == "Up"):

assembly.RotateY(-dt)

angle[0] += dt

if angle[0] >= 360.0:

angle[0] -= 360.0

slider_shoulder.SetValue(angle[0])

if(key == "Down"):

assembly.RotateY(dt)

angle[0] -= dt

if angle[0] < 0.0:

angle[0] += 360.0

slider_shoulder.SetValue(angle[0])

# Ask each renderer owned by this RenderWindow to render its image and synchronize this process

renWin.Render()

return

def LoadSTL(filename):

reader = vtk.vtkSTLReader()

reader.SetFileName(filename)

mapper = vtk.vtkPolyDataMapper() # maps polygonal data to graphics primitives

mapper.SetInputConnection(reader.GetOutputPort())

actor = vtk.vtkLODActor()

actor.SetMapper(mapper)

return actor # represents an entity in a rendered scene

def CreateCoordinates():

# create coordinate axes in the render window

axes = vtk.vtkAxesActor()

axes.SetTotalLength(100, 100, 100) # Set the total length of the axes in 3 dimensions

# Set the type of the shaft to a cylinder:0, line:1, or user defined geometry.

axes.SetShaftType(0)

axes.SetCylinderRadius(0.02)

axes.GetXAxisCaptionActor2D().SetWidth(0.03)

axes.GetYAxisCaptionActor2D().SetWidth(0.03)

axes.GetZAxisCaptionActor2D().SetWidth(0.03)

#axes.SetAxisLabels(0) # Enable:1/disable:0 drawing the axis labels

#transform = vtk.vtkTransform()

#transform.Translate(0.0, 0.0, 0.0)

#axes.SetUserTransform(transform)

#axes.GetXAxisCaptionActor2D().GetCaptionTextProperty().SetColor(1,0,0)

#axes.GetXAxisCaptionActor2D().GetCaptionTextProperty().BoldOff() # disable text bolding

return axes

def ShoulderSliderCallback(obj,event):

sliderRepres = obj.GetRepresentation()

pos = sliderRepres.GetValue()

assembly.SetOrientation(0,-pos,0) renWin.Render()

def ElbowSliderCallback(obj,event):

sliderRepres = obj.GetRepresentation()

pos = sliderRepres.GetValue()

actor[1].SetOrientation(0,-pos,0)

renWin.Render()

def ConfigSlider(sliderRep, TitleText, Yaxes):

sliderRep.SetMinimumValue(0.0)

sliderRep.SetMaximumValue(360.0)

sliderRep.SetValue(0.0) # Specify the current value for the widget

sliderRep.SetTitleText(TitleText) # Specify the label text for this widget

sliderRep.GetSliderProperty().SetColor(1,0,0) # Change the color of the knob that slides

sliderRep.GetSelectedProperty().SetColor(0,0,1) # Change the color of the knob when the mouse is held on it

sliderRep.GetTubeProperty().SetColor(1,1,0) # Change the color of the bar

sliderRep.GetCapProperty().SetColor(0,1,1) # Change the color of the ends of the bar

#sliderRep.GetTitleProperty().SetColor(1,0,0) # Change the color of the text displaying the value

# Position the first end point of the slider

sliderRep.GetPoint1Coordinate().SetCoordinateSystemToDisplay()

sliderRep.GetPoint1Coordinate().SetValue(50, Yaxes)

# Position the second end point of the slider

sliderRep.GetPoint2Coordinate().SetCoordinateSystemToDisplay()

sliderRep.GetPoint2Coordinate().SetValue(400, Yaxes)

sliderRep.SetSliderLength(0.02) # Specify the length of the slider shape.The slider length by default is 0.05

sliderRep.SetSliderWidth(0.02) # Set the width of the slider in the directions orthogonal to the slider axis

sliderRep.SetTubeWidth(0.005)

sliderRep.SetEndCapWidth(0.03) sliderRep.ShowSliderLabelOn() # display the slider text label

sliderRep.SetLabelFormat("%.1f") sliderWidget = vtk.vtkSliderWidget()

sliderWidget.SetRepresentation(sliderRep)

sliderWidget.SetAnimationModeToAnimate() return sliderWidget

def CreateGround():

# create plane source

plane = vtk.vtkPlaneSource()

plane.SetXResolution(50)

plane.SetYResolution(50)

plane.SetCenter(0,0,0)

plane.SetNormal(0,0,1)

# mapper

mapper = vtk.vtkPolyDataMapper()

mapper.SetInputConnection(plane.GetOutputPort())

# actor

actor = vtk.vtkActor()

actor.SetMapper(mapper)

actor.GetProperty().SetRepresentationToWireframe()

#actor.GetProperty().SetOpacity(0.4) # 1.0 is totally opaque and 0.0 is completely transparent

actor.GetProperty().SetColor(light_grey)

'''

# Load in the texture map. A texture is any unsigned char image.

bmpReader = vtk.vtkBMPReader()

bmpReader.SetFileName("ground_texture.bmp")

texture = vtk.vtkTexture()

texture.SetInputConnection(bmpReader.GetOutputPort())

texture.InterpolateOn()

actor.SetTexture(texture)

'''

transform = vtk.vtkTransform()

transform.Scale(2000,2000, 1)

actor.SetUserTransform(transform)

return actor

def CreateScene():

# Create a rendering window and renderer

ren = vtk.vtkRenderer()

#renWin = vtk.vtkRenderWindow()

renWin.AddRenderer(ren)

# Create a renderwindowinteractor

iren = vtk.vtkRenderWindowInteractor()

iren.SetRenderWindow(renWin)

style = MyInteractor()

style.SetDefaultRenderer(ren)

iren.SetInteractorStyle(style)

for id, file in enumerate(filenames):

actor.append(LoadSTL(file))

#actor[id].GetProperty().SetColor(blue)

r = vtk.vtkMath.Random(.4, 1.0)

g = vtk.vtkMath.Random(.4, 1.0)

b = vtk.vtkMath.Random(.4, 1.0)

actor[id].GetProperty().SetDiffuseColor(r, g, b)

actor[id].GetProperty().SetDiffuse(.8)

actor[id].GetProperty().SetSpecular(.5)

actor[id].GetProperty().SetSpecularColor(1.0,1.0,1.0)

actor[id].GetProperty().SetSpecularPower(30.0)

assembly.AddPart(actor[id])

# Add the actors to the scene

#ren.AddActor(actor[id])

# Also set the origin, position and orientation of assembly in space.

assembly.SetOrigin(0, 0, 0) # This is the point about which all rotations take place

#assembly.AddPosition(0, 0, 0)

#assembly.RotateX(45)

actor[1].SetOrigin(274, 0, 0) # initial elbow joint position

ren.AddActor(assembly)

# Add coordinates

axes = CreateCoordinates()

ren.AddActor(axes) # Add ground

ground = CreateGround()

ren.AddActor(ground) # Add slider to control the robot

sliderWidget_shoulder = ConfigSlider(slider_shoulder,"Shoulder Joint", 80)

sliderWidget_shoulder.SetInteractor(iren)

sliderWidget_shoulder.EnabledOn()

sliderWidget_shoulder.AddObserver("InteractionEvent", ShoulderSliderCallback) sliderWidget_elbow = ConfigSlider(slider_elbow,"Elbow Joint", 160)

sliderWidget_elbow.SetInteractor(iren)

sliderWidget_elbow.EnabledOn()

sliderWidget_elbow.AddObserver("InteractionEvent", ElbowSliderCallback) # Set background color

ren.SetBackground(.2, .2, .2) # Set window size

renWin.SetSize(600, 600) # Set up the camera to get a particular view of the scene

camera = vtk.vtkCamera()

camera.SetFocalPoint(300, 0, 0)

camera.SetPosition(300, -400, 350)

camera.ComputeViewPlaneNormal()

camera.SetViewUp(0, 1, 0)

camera.Zoom(0.4)

ren.SetActiveCamera(camera)

# Enable user interface interactor

iren.Initialize()

iren.Start()

if __name__ == "__main__":

CreateScene()

下面是使用MFC搭建的机器人上位机监控平台，可以实现上述的一些基本功能。这个GIF动画使用开源软件ScreenToGif生成，非常好用！

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