CameraModel2.tar

CameraModel2/0000755000076500000240000000000013424703035014262 5ustar  lorensenstaff00000000000000CameraModel2/CMakeLists.txt0000644000076500000240000000207413424703035017025 0ustar  lorensenstaff00000000000000
cmake_minimum_required(VERSION 3.3 FATAL_ERROR)

project(CameraModel2)

find_package(VTK COMPONENTS 
  vtkCommonColor
  vtkCommonCore
  vtkCommonDataModel
  vtkCommonTransforms
  vtkFiltersCore
  vtkFiltersGeneral
  vtkFiltersHybrid
  vtkFiltersModeling
  vtkFiltersSources
  vtkInteractionStyle
  vtkRenderingContextOpenGL2
  vtkRenderingCore
  vtkRenderingFreeType
  vtkRenderingGL2PSOpenGL2
  vtkRenderingLOD
  vtkRenderingOpenGL2 QUIET)
if (NOT VTK_FOUND)
  message("Skipping CameraModel2: ${VTK_NOT_FOUND_MESSAGE}")
  return ()
endif()
message (STATUS "VTK_VERSION: ${VTK_VERSION}")
if (VTK_VERSION VERSION_LESS "8.90.0")
  # old system
  include(${VTK_USE_FILE})
  add_executable(CameraModel2 MACOSX_BUNDLE CameraModel2.cxx )
  target_link_libraries(CameraModel2 PRIVATE ${VTK_LIBRARIES})
else ()
  # include all components
  add_executable(CameraModel2 MACOSX_BUNDLE CameraModel2.cxx )
  target_link_libraries(CameraModel2 PRIVATE ${VTK_LIBRARIES})
  # vtk_module_autoinit is needed
  vtk_module_autoinit(
    TARGETS CameraModel2
    MODULES ${VTK_LIBRARIES}
    )
endif () 
CameraModel2/CameraModel2.cxx0000644000076500000240000003242013424703035017242 0ustar  lorensenstaff00000000000000/*
   Adaptation of the code by
        Author: Chung Kai Lun Peter
        Email: hkpeterpeter@gmail.com
        File:
            demo_vtk_camera_2.cpp
        Purpose:
                Ported from camera2.tcl.
                It illustrates the camera model of VTK.
*/

#include <vtkAppendPolyData.h>
#include <vtkCellArray.h>
#include <vtkConeSource.h>
#include <vtkContourFilter.h>
#include <vtkCubeSource.h>
#include <vtkDataSetMapper.h>
#include <vtkImplicitModeller.h>
#include <vtkLODActor.h>
#include <vtkPoints.h>
#include <vtkPolyData.h>
#include <vtkPolyDataMapper.h>
#include <vtkRenderWindow.h>
#include <vtkRenderWindowInteractor.h>
#include <vtkRenderer.h>
#include <vtkRotationalExtrusionFilter.h>
#include <vtkSmartPointer.h>
#include <vtkSphereSource.h>
#include <vtkTextActor.h>
#include <vtkTextProperty.h>
#include <vtkTransform.h>
#include <vtkTransformFilter.h>
#include <vtkTransformPolyDataFilter.h>
#include <vtkWarpTo.h>

#include <vtkCamera.h>
#include <vtkNamedColors.h>
#include <vtkProperty.h>

#include <algorithm>
#include <array>

int main(int /* argc */, char* /* argv */ [])
{

  vtkSmartPointer<vtkNamedColors> colors =
    vtkSmartPointer<vtkNamedColors>::New();

  // Set the colors.
  std::array<unsigned char , 4> azArrowColor{{255, 77, 77}};
    colors->SetColor("AzimuthArrowColor", azArrowColor.data());
  std::array<unsigned char , 4> elevArrowColor{{77, 255, 77}};
    colors->SetColor("ElevationArrowColor", elevArrowColor.data());
  std::array<unsigned char , 4> rollArrowColor{{255, 255, 77}};
    colors->SetColor("RollArrowColor", rollArrowColor.data());
  std::array<unsigned char , 4> spikeColor{{255, 77, 255}};
    colors->SetColor("SpikeColor", spikeColor.data());
  std::array<unsigned char , 4> upSpikeColor{{77, 255, 255}};
    colors->SetColor("UpSpikeColor", upSpikeColor.data());

  // create a camera model
  vtkSmartPointer<vtkConeSource> camCS = vtkSmartPointer<vtkConeSource>::New();
  camCS->SetHeight(1.5);
  camCS->SetResolution(12);
  camCS->SetRadius(0.4);

  vtkSmartPointer<vtkCubeSource> camCBS = vtkSmartPointer<vtkCubeSource>::New();
  camCBS->SetXLength(1.5);
  camCBS->SetZLength(0.8);
  camCBS->SetCenter(0.4, 0, 0);

  vtkSmartPointer<vtkAppendPolyData> camAPD =
    vtkSmartPointer<vtkAppendPolyData>::New();
  camAPD->AddInputConnection(camCBS->GetOutputPort());
  camAPD->AddInputConnection(camCS->GetOutputPort());

  vtkSmartPointer<vtkPolyDataMapper> camMapper =
    vtkSmartPointer<vtkPolyDataMapper>::New();
  camMapper->SetInputConnection(camAPD->GetOutputPort());
  vtkSmartPointer<vtkLODActor> camActor = vtkSmartPointer<vtkLODActor>::New();
  camActor->SetMapper(camMapper);
  camActor->SetScale(2, 2, 2);

  // draw the arrows
  vtkSmartPointer<vtkPolyData> pd = vtkSmartPointer<vtkPolyData>::New();
  vtkSmartPointer<vtkCellArray> ca = vtkSmartPointer<vtkCellArray>::New();
  vtkSmartPointer<vtkPoints> pts = vtkSmartPointer<vtkPoints>::New();
  pts->InsertNextPoint(0, 1, 0);
  pts->InsertNextPoint(8, 1, 0);
  pts->InsertNextPoint(8, 2, 0);
  pts->InsertNextPoint(10, 0, 0);
  pts->InsertNextPoint(8, -2, 0);
  pts->InsertNextPoint(8, -1, 0);
  pts->InsertNextPoint(0, -1, 0);
  ca->InsertNextCell(7);
  ca->InsertCellPoint(0);
  ca->InsertCellPoint(1);
  ca->InsertCellPoint(2);
  ca->InsertCellPoint(3);
  ca->InsertCellPoint(4);
  ca->InsertCellPoint(5);
  ca->InsertCellPoint(6);
  pd->SetPoints(pts);
  pd->SetPolys(ca);

  vtkSmartPointer<vtkPolyData> pd2 = vtkSmartPointer<vtkPolyData>::New();
  vtkSmartPointer<vtkCellArray> ca2 = vtkSmartPointer<vtkCellArray>::New();
  vtkSmartPointer<vtkPoints> pts2 = vtkSmartPointer<vtkPoints>::New();
  pts2->InsertNextPoint(0, 1, 0);
  pts2->InsertNextPoint(8, 1, 0);
  pts2->InsertNextPoint(8, 2, 0);
  pts2->InsertNextPoint(10, 0.01, 0);
  ca2->InsertNextCell(4);
  ca2->InsertCellPoint(0);
  ca2->InsertCellPoint(1);
  ca2->InsertCellPoint(2);
  ca2->InsertCellPoint(3);
  pd2->SetPoints(pts2);
  pd2->SetLines(ca2);

  vtkSmartPointer<vtkImplicitModeller> arrowIM =
    vtkSmartPointer<vtkImplicitModeller>::New();
  arrowIM->SetInputData(pd);
  arrowIM->SetSampleDimensions(50, 20, 8);

  vtkSmartPointer<vtkContourFilter> arrowCF =
    vtkSmartPointer<vtkContourFilter>::New();
  arrowCF->SetInputConnection(arrowIM->GetOutputPort());
  arrowCF->SetValue(0, 0.2);

  vtkSmartPointer<vtkWarpTo> arrowWT = vtkSmartPointer<vtkWarpTo>::New();
  arrowWT->SetInputConnection(arrowCF->GetOutputPort());
  arrowWT->SetPosition(5, 0, 5);
  arrowWT->SetScaleFactor(0.85);
  arrowWT->AbsoluteOn();

  vtkSmartPointer<vtkTransform> arrowT = vtkSmartPointer<vtkTransform>::New();
  arrowT->RotateY(60);
  arrowT->Translate(-1.33198, 0, -1.479);
  arrowT->Scale(1, 0.5, 1);

  vtkSmartPointer<vtkTransformFilter> arrowTF =
    vtkSmartPointer<vtkTransformFilter>::New();
  arrowTF->SetInputConnection(arrowWT->GetOutputPort());
  arrowTF->SetTransform(arrowT);

  vtkSmartPointer<vtkDataSetMapper> arrowMapper =
    vtkSmartPointer<vtkDataSetMapper>::New();
  arrowMapper->SetInputConnection(arrowTF->GetOutputPort());
  arrowMapper->ScalarVisibilityOff();

  // draw the azimuth arrows
  vtkSmartPointer<vtkLODActor> a1Actor = vtkSmartPointer<vtkLODActor>::New();
  a1Actor->SetMapper(arrowMapper);
  a1Actor->SetPosition(-9, 0, -1);
  a1Actor->GetProperty()->SetColor(
    colors->GetColor3d("AzimuthArrowColor").GetData());
  a1Actor->GetProperty()->SetSpecularColor(
    colors->GetColor3d("White").GetData());
  a1Actor->GetProperty()->SetSpecular(0.3);
  a1Actor->GetProperty()->SetSpecularPower(20);
  a1Actor->GetProperty()->SetAmbient(0.2);
  a1Actor->GetProperty()->SetDiffuse(0.8);

  vtkSmartPointer<vtkLODActor> a2Actor = vtkSmartPointer<vtkLODActor>::New();
  a2Actor->SetMapper(arrowMapper);
  a2Actor->RotateX(180);
  a2Actor->SetPosition(-9, 0, 1);
  a2Actor->GetProperty()->SetColor(
    colors->GetColor3d("AzimuthArrowColor").GetData());
  a2Actor->GetProperty()->SetSpecularColor(
    colors->GetColor3d("White").GetData());
  a2Actor->GetProperty()->SetSpecular(0.3);
  a2Actor->GetProperty()->SetSpecularPower(20);
  a2Actor->GetProperty()->SetAmbient(0.2);
  a2Actor->GetProperty()->SetDiffuse(0.8);

  // draw the elevation arrows
  vtkSmartPointer<vtkLODActor> a3Actor = vtkSmartPointer<vtkLODActor>::New();
  a3Actor->SetMapper(arrowMapper);
  a3Actor->RotateX(-90);
  a3Actor->SetPosition(-9, -1, 0);
  a3Actor->GetProperty()->SetColor(
    colors->GetColor3d("ElevationArrowColor").GetData());
  a3Actor->GetProperty()->SetSpecularColor(
    colors->GetColor3d("White").GetData());
  a3Actor->GetProperty()->SetSpecular(0.3);
  a3Actor->GetProperty()->SetSpecularPower(20);
  a3Actor->GetProperty()->SetAmbient(0.2);
  a3Actor->GetProperty()->SetDiffuse(0.8);

  vtkSmartPointer<vtkLODActor> a4Actor = vtkSmartPointer<vtkLODActor>::New();
  a4Actor->SetMapper(arrowMapper);
  a4Actor->RotateX(90);
  a4Actor->SetPosition(-9, 1, 0);
  a4Actor->GetProperty()->SetColor(
    colors->GetColor3d("ElevationArrowColor").GetData());
  a4Actor->GetProperty()->SetSpecularColor(
    colors->GetColor3d("White").GetData());
  a4Actor->GetProperty()->SetSpecular(0.3);
  a4Actor->GetProperty()->SetSpecularPower(20);
  a4Actor->GetProperty()->SetAmbient(0.2);
  a4Actor->GetProperty()->SetDiffuse(0.8);

  // draw the DOP
  vtkSmartPointer<vtkTransform> arrowT2 = vtkSmartPointer<vtkTransform>::New();
  arrowT2->Scale(1, 0.6, 1);
  arrowT2->RotateY(90);

  vtkSmartPointer<vtkTransformPolyDataFilter> arrowTF2 =
    vtkSmartPointer<vtkTransformPolyDataFilter>::New();
  arrowTF2->SetInputData(pd2);
  arrowTF2->SetTransform(arrowT2);

  vtkSmartPointer<vtkRotationalExtrusionFilter> arrowREF =
    vtkSmartPointer<vtkRotationalExtrusionFilter>::New();
  arrowREF->SetInputConnection(arrowTF2->GetOutputPort());
  arrowREF->CappingOff();
  arrowREF->SetResolution(30);

  vtkSmartPointer<vtkPolyDataMapper> spikeMapper =
    vtkSmartPointer<vtkPolyDataMapper>::New();
  spikeMapper->SetInputConnection(arrowREF->GetOutputPort());

  vtkSmartPointer<vtkLODActor> a5Actor = vtkSmartPointer<vtkLODActor>::New();
  a5Actor->SetMapper(spikeMapper);
  a5Actor->SetScale(0.3, 0.3, 0.6);
  a5Actor->RotateY(-90);
  a5Actor->SetPosition(-8, 0, 0);
  a5Actor->GetProperty()->SetColor(colors->GetColor3d("SpikeColor").GetData());
  a5Actor->GetProperty()->SetSpecularColor(
    colors->GetColor3d("White").GetData());
  a5Actor->GetProperty()->SetSpecular(0.3);
  a5Actor->GetProperty()->SetAmbient(0.2);
  a5Actor->GetProperty()->SetDiffuse(0.8);
  a5Actor->GetProperty()->SetSpecularPower(20);

  vtkSmartPointer<vtkLODActor> a7Actor = vtkSmartPointer<vtkLODActor>::New();
  a7Actor->SetMapper(spikeMapper);
  a7Actor->SetScale(0.2, 0.2, 0.7);
  a7Actor->RotateZ(90);
  a7Actor->RotateY(-90);
  a7Actor->SetPosition(-9, 1, 0);
  a7Actor->GetProperty()->SetColor(
    colors->GetColor3d("UpSpikeColor").GetData());
  a7Actor->GetProperty()->SetSpecularColor(
    colors->GetColor3d("White").GetData());
  a7Actor->GetProperty()->SetSpecular(0.3);
  a7Actor->GetProperty()->SetAmbient(0.2);
  a7Actor->GetProperty()->SetDiffuse(0.8);
  a7Actor->GetProperty()->SetSpecularPower(20);

  // focal point
  vtkSmartPointer<vtkSphereSource> ss = vtkSmartPointer<vtkSphereSource>::New();
  ss->SetRadius(0.5);
  vtkSmartPointer<vtkPolyDataMapper> fpMapper =
    vtkSmartPointer<vtkPolyDataMapper>::New();
  fpMapper->SetInputConnection(ss->GetOutputPort());
  vtkSmartPointer<vtkLODActor> fpActor = vtkSmartPointer<vtkLODActor>::New();
  fpActor->SetMapper(fpMapper);
  fpActor->SetPosition(-9, 0, 0);
  fpActor->GetProperty()->SetSpecularColor(
    colors->GetColor3d("White").GetData());
  fpActor->GetProperty()->SetSpecular(0.3);
  fpActor->GetProperty()->SetAmbient(0.2);
  fpActor->GetProperty()->SetDiffuse(0.8);
  fpActor->GetProperty()->SetSpecularPower(20);

  // create the roll arrows
  vtkSmartPointer<vtkWarpTo> arrowWT2 = vtkSmartPointer<vtkWarpTo>::New();
  arrowWT2->SetInputConnection(arrowCF->GetOutputPort());
  arrowWT2->SetPosition(5, 0, 2.5);
  arrowWT2->SetScaleFactor(0.95);
  arrowWT2->AbsoluteOn();

  vtkSmartPointer<vtkTransform> arrowT3 = vtkSmartPointer<vtkTransform>::New();
  arrowT3->Translate(-2.50358, 0, -1.70408);
  arrowT3->Scale(0.5, 0.3, 1);

  vtkSmartPointer<vtkTransformFilter> arrowTF3 =
    vtkSmartPointer<vtkTransformFilter>::New();
  arrowTF3->SetInputConnection(arrowWT2->GetOutputPort());
  arrowTF3->SetTransform(arrowT3);

  vtkSmartPointer<vtkDataSetMapper> arrowMapper2 =
    vtkSmartPointer<vtkDataSetMapper>::New();
  arrowMapper2->SetInputConnection(arrowTF3->GetOutputPort());
  arrowMapper2->ScalarVisibilityOff();

  // draw the roll arrows
  vtkSmartPointer<vtkLODActor> a6Actor = vtkSmartPointer<vtkLODActor>::New();
  a6Actor->SetMapper(arrowMapper2);
  a6Actor->RotateZ(90);
  a6Actor->SetPosition(-4, 0, 0);
  a6Actor->SetScale(1.5, 1.5, 1.5);
  a6Actor->GetProperty()->SetColor(
    colors->GetColor3d("RollArrowColor").GetData());
  a6Actor->GetProperty()->SetSpecularColor(
    colors->GetColor3d("White").GetData());
  a6Actor->GetProperty()->SetSpecular(0.3);
  a6Actor->GetProperty()->SetSpecularPower(20);
  a6Actor->GetProperty()->SetAmbient(0.2);
  a6Actor->GetProperty()->SetDiffuse(0.8);

  // Create the RenderWindow, Renderer and both Actors
  //
  vtkSmartPointer<vtkRenderer> ren1 = vtkSmartPointer<vtkRenderer>::New();
  vtkSmartPointer<vtkRenderWindow> renWin =
    vtkSmartPointer<vtkRenderWindow>::New();
  renWin->AddRenderer(ren1);
  vtkSmartPointer<vtkRenderWindowInteractor> iren =
    vtkSmartPointer<vtkRenderWindowInteractor>::New();
  iren->SetRenderWindow(renWin);

  // Add the actors to the renderer, set the background and size
  ren1->AddActor(camActor);
  ren1->AddActor(a1Actor);
  ren1->AddActor(a2Actor);
  ren1->AddActor(a3Actor);
  ren1->AddActor(a4Actor);
  ren1->AddActor(a5Actor);
  ren1->AddActor(a6Actor);
  ren1->AddActor(a7Actor);
  ren1->AddActor(fpActor);
  ren1->SetBackground(colors->GetColor3d("SlateGray").GetData());
  renWin->SetSize(640, 480);

  // render the image

  vtkCamera* cam1 = (ren1->GetActiveCamera());
  ren1->ResetCamera();
  cam1->Azimuth(150);
  cam1->Elevation(30);
  cam1->Dolly(1.5);
  ren1->ResetCameraClippingRange();

  // Create a TextActor for Yaw  (a1 and a2 actor's color)
  vtkSmartPointer<vtkTextActor> text = vtkSmartPointer<vtkTextActor>::New();
  text->SetInput("Yaw");
  vtkTextProperty* tprop = text->GetTextProperty();
  tprop->SetFontFamilyToArial();
  tprop->ShadowOff();
  tprop->SetLineSpacing(1.0);
  tprop->SetFontSize(36);
  tprop->SetColor(a1Actor->GetProperty()->GetColor());
  text->SetDisplayPosition(20, 50);
  ren1->AddActor2D(text);

  // Create a TextActor for Pitch  (a3 and a4 actor's color)
  vtkSmartPointer<vtkTextActor> text2 = vtkSmartPointer<vtkTextActor>::New();
  text2->SetInput("Pitch");
  tprop = text2->GetTextProperty();
  tprop->SetFontFamilyToArial();
  tprop->ShadowOff();
  tprop->SetLineSpacing(1.0);
  tprop->SetFontSize(36);
  tprop->SetColor(a3Actor->GetProperty()->GetColor());
  text2->SetDisplayPosition(20, 100);
  ren1->AddActor2D(text2);

  // Create a TextActor for roll (a6 actor's color)
  vtkSmartPointer<vtkTextActor> text3 = vtkSmartPointer<vtkTextActor>::New();
  text3->SetInput("Roll");
  tprop = text3->GetTextProperty();
  tprop->SetFontFamilyToArial();
  tprop->ShadowOff();
  tprop->SetLineSpacing(1.0);
  tprop->SetFontSize(36);
  tprop->SetColor(a6Actor->GetProperty()->GetColor());
  text3->SetDisplayPosition(20, 150);
  ren1->AddActor2D(text3);

  renWin->Render();
  iren->Initialize();
  iren->Start();

  return EXIT_SUCCESS;
}
CameraModel2/build/0000755000076500000240000000000013424703035015361 5ustar  lorensenstaff00000000000000CameraModel2/CameraModel2.py0000755000076500000240000002304413424703035017075 0ustar  lorensenstaff00000000000000#!/usr/bin/env python
# -*- coding: utf-8 -*-

import vtk


def main():
    colors = vtk.vtkNamedColors()

    # Set the colors.
    colors.SetColor("AzimuthArrowColor", [255, 77, 77, 255])
    colors.SetColor("ElevationArrowColor", [77, 255, 77, 255])
    colors.SetColor("RollArrowColor", [255, 255, 77, 255])
    colors.SetColor("SpikeColor", [255, 77, 255, 255])
    colors.SetColor("UpSpikeColor", [77, 255, 255, 255])

    # Create a rendering window, renderer and interactor.
    ren = vtk.vtkRenderer()
    renWin = vtk.vtkRenderWindow()
    renWin.AddRenderer(ren)
    iren = vtk.vtkRenderWindowInteractor()
    iren.SetRenderWindow(renWin)

    # Create a camera model.
    camCS = vtk.vtkConeSource()
    camCS.SetHeight(1.5)
    camCS.SetResolution(12)
    camCS.SetRadius(0.4)

    camCBS = vtk.vtkCubeSource()
    camCBS.SetXLength(1.5)
    camCBS.SetZLength(0.8)
    camCBS.SetCenter(0.4, 0, 0)

    camAPD = vtk.vtkAppendPolyData()
    camAPD.AddInputConnection(camCBS.GetOutputPort())
    camAPD.AddInputConnection(camCS.GetOutputPort())

    camMapper = vtk.vtkPolyDataMapper()
    camMapper.SetInputConnection(camAPD.GetOutputPort())
    camActor = vtk.vtkLODActor()
    camActor.SetMapper(camMapper)
    camActor.SetScale(2, 2, 2)

    # Draw the arrows.
    pd = vtk.vtkPolyData()
    ca = vtk.vtkCellArray()
    pts = vtk.vtkPoints()
    pts.InsertNextPoint(0, 1, 0)
    pts.InsertNextPoint(8, 1, 0)
    pts.InsertNextPoint(8, 2, 0)
    pts.InsertNextPoint(10, 0, 0)
    pts.InsertNextPoint(8, -2, 0)
    pts.InsertNextPoint(8, -1, 0)
    pts.InsertNextPoint(0, -1, 0)
    ca.InsertNextCell(7)
    ca.InsertCellPoint(0)
    ca.InsertCellPoint(1)
    ca.InsertCellPoint(2)
    ca.InsertCellPoint(3)
    ca.InsertCellPoint(4)
    ca.InsertCellPoint(5)
    ca.InsertCellPoint(6)
    pd.SetPoints(pts)
    pd.SetPolys(ca)

    pd2 = vtk.vtkPolyData()
    ca2 = vtk.vtkCellArray()
    pts2 = vtk.vtkPoints()
    pts2.InsertNextPoint(0, 1, 0)
    pts2.InsertNextPoint(8, 1, 0)
    pts2.InsertNextPoint(8, 2, 0)
    pts2.InsertNextPoint(10, 0.01, 0)
    ca2.InsertNextCell(4)
    ca2.InsertCellPoint(0)
    ca2.InsertCellPoint(1)
    ca2.InsertCellPoint(2)
    ca2.InsertCellPoint(3)
    pd2.SetPoints(pts2)
    pd2.SetLines(ca2)

    arrowIM = vtk.vtkImplicitModeller()
    arrowIM.SetInputData(pd)
    arrowIM.SetSampleDimensions(50, 20, 8)

    arrowCF = vtk.vtkContourFilter()
    arrowCF.SetInputConnection(arrowIM.GetOutputPort())
    arrowCF.SetValue(0, 0.2)

    arrowWT = vtk.vtkWarpTo()
    arrowWT.SetInputConnection(arrowCF.GetOutputPort())
    arrowWT.SetPosition(5, 0, 5)
    arrowWT.SetScaleFactor(0.85)
    arrowWT.AbsoluteOn()

    arrowT = vtk.vtkTransform()
    arrowT.RotateY(60)
    arrowT.Translate(-1.33198, 0, -1.479)
    arrowT.Scale(1, 0.5, 1)

    arrowTF = vtk.vtkTransformFilter()
    arrowTF.SetInputConnection(arrowWT.GetOutputPort())
    arrowTF.SetTransform(arrowT)

    arrowMapper = vtk.vtkDataSetMapper()
    arrowMapper.SetInputConnection(arrowTF.GetOutputPort())
    arrowMapper.ScalarVisibilityOff()

    # Draw the azimuth arrows.
    a1Actor = vtk.vtkLODActor()
    a1Actor.SetMapper(arrowMapper)
    a1Actor.SetPosition(-9, 0, -1)
    a1Actor.GetProperty().SetColor(colors.GetColor3d("AzimuthArrowColor"))
    a1Actor.GetProperty().SetSpecularColor(colors.GetColor3d("White"))
    a1Actor.GetProperty().SetSpecular(0.3)
    a1Actor.GetProperty().SetSpecularPower(20)
    a1Actor.GetProperty().SetAmbient(0.2)
    a1Actor.GetProperty().SetDiffuse(0.8)

    a2Actor = vtk.vtkLODActor()
    a2Actor.SetMapper(arrowMapper)
    a2Actor.RotateX(180)
    a2Actor.SetPosition(-9, 0, 1)
    a2Actor.GetProperty().SetColor(colors.GetColor3d("AzimuthArrowColor"))
    a2Actor.GetProperty().SetSpecularColor(colors.GetColor3d("White"))
    a2Actor.GetProperty().SetSpecular(0.3)
    a2Actor.GetProperty().SetSpecularPower(20)
    a2Actor.GetProperty().SetAmbient(0.2)
    a2Actor.GetProperty().SetDiffuse(0.8)

    # Draw the elevation arrows.
    a3Actor = vtk.vtkLODActor()
    a3Actor.SetMapper(arrowMapper)
    a3Actor.RotateX(-90)
    a3Actor.SetPosition(-9, -1, 0)
    a3Actor.GetProperty().SetColor(colors.GetColor3d("ElevationArrowColor"))
    a3Actor.GetProperty().SetSpecularColor(colors.GetColor3d("White"))
    a3Actor.GetProperty().SetSpecular(0.3)
    a3Actor.GetProperty().SetSpecularPower(20)
    a3Actor.GetProperty().SetAmbient(0.2)
    a3Actor.GetProperty().SetDiffuse(0.8)

    a4Actor = vtk.vtkLODActor()
    a4Actor.SetMapper(arrowMapper)
    a4Actor.RotateX(90)
    a4Actor.SetPosition(-9, 1, 0)
    a4Actor.GetProperty().SetColor(colors.GetColor3d("ElevationArrowColor"))
    a4Actor.GetProperty().SetSpecularColor(colors.GetColor3d("White"))
    a4Actor.GetProperty().SetSpecular(0.3)
    a4Actor.GetProperty().SetSpecularPower(20)
    a4Actor.GetProperty().SetAmbient(0.2)
    a4Actor.GetProperty().SetDiffuse(0.8)

    # Draw the DOP.
    arrowT2 = vtk.vtkTransform()
    arrowT2.Scale(1, 0.6, 1)
    arrowT2.RotateY(90)

    arrowTF2 = vtk.vtkTransformPolyDataFilter()
    arrowTF2.SetInputData(pd2)
    arrowTF2.SetTransform(arrowT2)

    arrowREF = vtk.vtkRotationalExtrusionFilter()
    arrowREF.SetInputConnection(arrowTF2.GetOutputPort())
    arrowREF.CappingOff()
    arrowREF.SetResolution(30)

    spikeMapper = vtk.vtkPolyDataMapper()
    spikeMapper.SetInputConnection(arrowREF.GetOutputPort())

    a5Actor = vtk.vtkLODActor()
    a5Actor.SetMapper(spikeMapper)
    a5Actor.SetScale(0.3, 0.3, 0.6)
    a5Actor.RotateY(-90)
    a5Actor.SetPosition(-8, 0, 0)
    a5Actor.GetProperty().SetColor(colors.GetColor3d("SpikeColor"))
    a5Actor.GetProperty().SetSpecularColor(colors.GetColor3d("White"))
    a5Actor.GetProperty().SetSpecular(0.3)
    a5Actor.GetProperty().SetAmbient(0.2)
    a5Actor.GetProperty().SetDiffuse(0.8)
    a5Actor.GetProperty().SetSpecularPower(20)

    a7Actor = vtk.vtkLODActor()
    a7Actor.SetMapper(spikeMapper)
    a7Actor.SetScale(0.2, 0.2, 0.7)
    a7Actor.RotateZ(90)
    a7Actor.RotateY(-90)
    a7Actor.SetPosition(-9, 1, 0)
    a7Actor.GetProperty().SetColor(colors.GetColor3d("UpSpikeColor"))
    a7Actor.GetProperty().SetSpecularColor(colors.GetColor3d("White"))
    a7Actor.GetProperty().SetSpecular(0.3)
    a7Actor.GetProperty().SetAmbient(0.2)
    a7Actor.GetProperty().SetDiffuse(0.8)
    a7Actor.GetProperty().SetSpecularPower(20)

    # Focal point.
    ss = vtk.vtkSphereSource()
    ss.SetRadius(0.5)
    fpMapper = vtk.vtkPolyDataMapper()
    fpMapper.SetInputConnection(ss.GetOutputPort())
    fpActor = vtk.vtkLODActor()
    fpActor.SetMapper(fpMapper)
    fpActor.SetPosition(-9, 0, 0)
    fpActor.GetProperty().SetSpecularColor(colors.GetColor3d("White"))
    fpActor.GetProperty().SetSpecular(0.3)
    fpActor.GetProperty().SetAmbient(0.2)
    fpActor.GetProperty().SetDiffuse(0.8)
    fpActor.GetProperty().SetSpecularPower(20)

    # Create the roll arrows.
    arrowWT2 = vtk.vtkWarpTo()
    arrowWT2.SetInputConnection(arrowCF.GetOutputPort())
    arrowWT2.SetPosition(5, 0, 2.5)
    arrowWT2.SetScaleFactor(0.95)
    arrowWT2.AbsoluteOn()

    arrowT3 = vtk.vtkTransform()
    arrowT3.Translate(-2.50358, 0, -1.70408)
    arrowT3.Scale(0.5, 0.3, 1)

    arrowTF3 = vtk.vtkTransformFilter()
    arrowTF3.SetInputConnection(arrowWT2.GetOutputPort())
    arrowTF3.SetTransform(arrowT3)

    arrowMapper2 = vtk.vtkDataSetMapper()
    arrowMapper2.SetInputConnection(arrowTF3.GetOutputPort())
    arrowMapper2.ScalarVisibilityOff()

    # Draw the roll arrows.
    a6Actor = vtk.vtkLODActor()
    a6Actor.SetMapper(arrowMapper2)
    a6Actor.RotateZ(90)
    a6Actor.SetPosition(-4, 0, 0)
    a6Actor.SetScale(1.5, 1.5, 1.5)
    a6Actor.GetProperty().SetColor(colors.GetColor3d("RollArrowColor"))
    a6Actor.GetProperty().SetSpecularColor(colors.GetColor3d("White"))
    a6Actor.GetProperty().SetSpecular(0.3)
    a6Actor.GetProperty().SetSpecularPower(20)
    a6Actor.GetProperty().SetAmbient(0.2)
    a6Actor.GetProperty().SetDiffuse(0.8)

    # Add the actors to the renderer, set the background and size.
    ren.AddActor(camActor)
    ren.AddActor(a1Actor)
    ren.AddActor(a2Actor)
    ren.AddActor(a3Actor)
    ren.AddActor(a4Actor)
    ren.AddActor(a5Actor)
    ren.AddActor(a6Actor)
    ren.AddActor(a7Actor)
    ren.AddActor(fpActor)
    ren.SetBackground(colors.GetColor3d("SlateGray"))
    renWin.SetSize(640, 480)

    # Render the image.

    cam1 = (ren.GetActiveCamera())
    ren.ResetCamera()
    cam1.Azimuth(150)
    cam1.Elevation(30)
    cam1.Dolly(1.5)
    ren.ResetCameraClippingRange()

    # Create a TextActor for Yaw  (a1 and a2 actor's color).
    text = vtk.vtkTextActor()
    text.SetInput("Yaw")
    tprop = text.GetTextProperty()
    tprop.SetFontFamilyToArial()
    tprop.ShadowOff()
    tprop.SetLineSpacing(1.0)
    tprop.SetFontSize(36)
    tprop.SetColor(a1Actor.GetProperty().GetColor())
    text.SetDisplayPosition(20, 50)
    ren.AddActor2D(text)

    # Create a TextActor for Pitch  (a3 and a4 actor's color).
    text2 = vtk.vtkTextActor()
    text2.SetInput("Pitch")
    tprop = text2.GetTextProperty()
    tprop.SetFontFamilyToArial()
    tprop.ShadowOff()
    tprop.SetLineSpacing(1.0)
    tprop.SetFontSize(36)
    tprop.SetColor(a3Actor.GetProperty().GetColor())
    text2.SetDisplayPosition(20, 100)
    ren.AddActor2D(text2)

    # Create a TextActor for roll (a6 actor's color).
    text3 = vtk.vtkTextActor()
    text3.SetInput("Roll")
    tprop = text3.GetTextProperty()
    tprop.SetFontFamilyToArial()
    tprop.ShadowOff()
    tprop.SetLineSpacing(1.0)
    tprop.SetFontSize(36)
    tprop.SetColor(a6Actor.GetProperty().GetColor())
    text3.SetDisplayPosition(20, 150)
    ren.AddActor2D(text3)

    iren.Initialize()
    iren.Start()


if __name__ == "__main__":
    main()