Question

我从vlp 16激光雷达传感器接收到传感器数据。然后将原始数据转换为x，y，z（分辨率）数据。我想实时显示3d数据。我找到了一些工具，例如vtk，pptk等，并显示存储的数据。但我无法实时显示这些内容。我不知道该怎么办。我找不到详细信息。您能给我一些信息，建议或例子吗？谢谢。

我实时尝试了pptk。但每次都会打开新窗口。

import socket
import numpy as np
from multiprocessing import Process, Queue
import time
import traceback
import struct
import pptk


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))


def calc(dis, azimuth, laser_id, timestamp):
    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]

while True:
    data, addr = soc.recvfrom(2000)

    prev_azimuth = None
    ts = time.time()
    timestamp, factory = struct.unpack_from("<IH", data, offset=1200)
    seq_index = 0
    for offset in range(0, 1200, 100):
        flag, azimuth = struct.unpack_from("<HH", data, 0)

        for step in range(2):
            seq_index += 1
            azimuth += step
            azimuth %= ROTATION_MAX_UNITS

            if prev_azimuth is not None and azimuth < prev_azimuth:
                points = []
            prev_azimuth = azimuth
            arr = struct.unpack_from('<' + "HB" * 16, data, offset + 4 + step * 48)
            for i in range(NUM_LASERS):
                time_offset = (55.296 * seq_index + 2.304 * i) / 1000000.0
                if arr[i * 2] != 0:
                    points.append(calc(arr[i * 2], azimuth, i, timestamp + time_offset))
                    print(calc(arr[i * 2], azimuth, i, timestamp + time_offset))
    points_np = np.array(points)

Python-VTK点云实时显示

0 个答案: