python vtk实时更新点云_python - python vtk 3d激光雷达点云查看器延迟 - 堆栈内存溢出...

“嗨，我是初学者。我想看看使用vtk库的传感器点云。所以我做了。首先，我在定时器回调函数中接收原始传感器数据。但它有延迟时间，大约2秒。所以我使用多处理，我在父进程中收到原始传感器数据。子进程显示这个。但它仍然有延迟时间。我认为这是由于定时器回调。因为只接收传感器数据没有延迟。如果我在定时器回调中接收传感器数据功能，有延迟。我不知道其他方法。你能给我一些关于延迟或其他方式的建议吗？谢谢。“

我尝试过多处理。 父进程：接收原始传感器数据并转换x，y，z位置子进程：显示点云

import socket

import numpy as np

from multiprocessing import Process, Queue, Pipe

import struct

from numpy import random

import vtk

HOST = "192.168.1.201"

PORT = 2368

LASER_ANGLES = [-15, 1, -13, 3, -11, 5, -9, 7, -7, 9, -5, 11, -3, 13, -1, 15]

NUM_LASERS = 16

EXPECTED_PACKET_TIME = 0.001327 # valid only in "the strongest return mode"

EXPECTED_SCAN_DURATION = 0.1

DISTANCE_RESOLUTION = 0.002

ROTATION_RESOLUTION = 0.01

ROTATION_MAX_UNITS = 36000

soc = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)

soc.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)

soc.bind(('', PORT))

x_thresh = [-1.1, 2.1]

y_thresh = [1.5, 4.5]

z_thresh = [-0.4, 2.1]

class VtkPointCloud:

def __init__(self, zMin=-1.0, zMax=1.0, maxNumPoints=1e6):

global count

self.maxNumPoints = maxNumPoints

self.vtkPolyData = vtk.vtkPolyData()

self.clearPoints()

mapper = vtk.vtkPolyDataMapper()

mapper.SetInputData(self.vtkPolyData)

mapper.SetColorModeToDefault()

mapper.SetScalarRange(zMin, zMax)

mapper.SetScalarVisibility(1)

self.vtkActor = vtk.vtkActor()

self.vtkActor.SetMapper(mapper)

def addPoint(self, point, color_num):

if self.vtkPoints.GetNumberOfPoints() < self.maxNumPoints:

pointId = self.vtkPoints.InsertNextPoint(point[:])

self.vtkDepth.InsertNextValue(color_num)

self.vtkCells.InsertNextCell(1)

self.vtkCells.InsertCellPoint(pointId)

else:

r = random.randint(0, self.maxNumPoints)

self.vtkPoints.SetPoint(r, point[:])

self.vtkCells.Modified()

self.vtkPoints.Modified()

self.vtkDepth.Modified()

def clearPoints(self):

self.vtkPoints = vtk.vtkPoints()

self.vtkCells = vtk.vtkCellArray()

self.vtkDepth = vtk.vtkDoubleArray()

self.vtkDepth.SetName('DepthArray')

self.vtkPolyData.SetPoints(self.vtkPoints)

self.vtkPolyData.SetVerts(self.vtkCells)

self.vtkPolyData.GetPointData().SetScalars(self.vtkDepth)

self.vtkPolyData.GetPointData().SetActiveScalars('DepthArray')

def addPlane(self, plane_center, normal, x_axis, y_axis):

self.vtkPlanes.SetCenter(plane_center)

self.vtkPlanes.SetNormal(normal)

self.vtkPlanes.SetPoint1(x_axis)

self.vtkPlanes.SetPoint2(y_axis)

class AddPointCloudTimerCallback():

def __init__(self, renderer):

self.renderer = renderer

self.prev_azimuth = 0

def execute(self, iren, event):

self.renderer.RemoveAllViewProps()

pointCloud = VtkPointCloud()

self.renderer.AddActor(pointCloud.vtkActor)

data = child_conn.recv()

for point in data:

if (point[0] > x_thresh[0]) and (point[0] < x_thresh[1]) and \

(point[1] > y_thresh[0]) and (point[1] < y_thresh[1]) and \

(point[2] > z_thresh[0]) and (point[2] < z_thresh[1]):

color_num = 0.7

else:

color_num = -1

pointCloud.addPoint(point, color_num)

iren.GetRenderWindow().Render()

#self.renderer.ResetCamera()

def get_data():

# Renderer

renderer = vtk.vtkRenderer()

renderer.SetBackground(0.0, 0.0, 0.0)

renderer.ResetCamera()

# Render Window

renderWindow = vtk.vtkRenderWindow()

renderWindow.AddRenderer(renderer)

renderWindow.SetSize(1024, 1024)

# Interactor

renderWindowInteractor = vtk.vtkRenderWindowInteractor()

renderWindowInteractor.SetRenderWindow(renderWindow)

renderWindowInteractor.Initialize()

# Initialize a timer for the animation

addPointCloudTimerCallback = AddPointCloudTimerCallback(renderer)

renderWindowInteractor.AddObserver('TimerEvent', addPointCloudTimerCallback.execute)

timerId = renderWindowInteractor.CreateRepeatingTimer(0)

addPointCloudTimerCallback.timerId = timerId

# Begin Interaction

axes = vtk.vtkAxesActor()

widget = vtk.vtkOrientationMarkerWidget()

widget.SetOutlineColor(0.9300, 0.5700, 0.1300)

widget.SetOrientationMarker(axes)

widget.SetInteractor(renderWindowInteractor)

widget.SetViewport(0.0, 0.0, 0.4, 0.4)

widget.SetEnabled(1)

widget.InteractiveOn()

renderWindow.Render()

renderWindowInteractor.Start()

def calc(dis, azimuth, laser_id):

R = dis * DISTANCE_RESOLUTION

omega = LASER_ANGLES[laser_id] * np.pi / 180.0

alpha = azimuth / 100.0 * np.pi / 180.0

X = R * np.cos(omega) * np.sin(alpha)

Y = R * np.cos(omega) * np.cos(alpha)

Z = R * np.sin(omega)

return [X, Y, Z]

def load_data():

while True:

points = []

data, addr = soc.recvfrom(2000)

seq_index = 0

for offset in range(0, 1200, 100):

flag, azimuth = struct.unpack_from("

for step in range(2):

seq_index += 1

azimuth += step

azimuth %= ROTATION_MAX_UNITS

arr = struct.unpack_from('

for i in range(NUM_LASERS):

if arr[i*2] > 0:

time_offset = (55.296 * seq_index + 2.304 * i) / 1000000.0

point = calc(arr[i * 2], azimuth, i)

points.append(point)

parent_conn.send(points)

if __name__ == "__main__":

parent_conn, child_conn = Pipe()

processA = Process(target = load_data, args = ()).start()

processB = Process(target = get_data, args = ()).start()

我想解决定时器回调延迟。 想要有关实时传感器查看器的其他方法。