vtk显示点云

Viewer/main.py

@@ -0,0 +1,22 @@
+
+import sys
+from PyQt5.QtWidgets import QWidget, QApplication,QMainWindow,QLabel
+from PyQt5.QtCore import Qt
+import MainWnd as mw
+import GrpcClient as Stream
+
+ip='192.168.2.45'
+port=9876
+
+if __name__=="__main__":
+
+    app = QApplication(sys.argv)
+    win = mw.MainWindow()
+    win.show()
+
+    stream=Stream.GrpcStream()
+    stream.SetDataCallBack(win.OnImagesHandle,win.OnCloudHandle,win.OnMeasureDataHandle)
+    stream.start()
+    sys.exit(app.exec_())
+
+

pyvtksample.py

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+# -*- coding: utf-8 -*-
+import numpy
+from PyQt5 import QtCore
+from PyQt5.QtWidgets import QWidget, QVBoxLayout
+import vtk
+from vtk.qt.QVTKRenderWindowInteractor import QVTKRenderWindowInteractor
+from numpy import random
+import threading
+
+class VtkPointCloud:
+    def __init__(self, zMin=-10.0, zMax=10.0, maxNumPoints=1e7):
+        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)
+        self.vtkActor.GetProperty().SetPointSize(1)
+
+    def addPoint(self, point):
+        if self.vtkPoints.GetNumberOfPoints() < self.maxNumPoints:
+            pointId = self.vtkPoints.InsertNextPoint(point[:])
+            self.vtkDepth.InsertNextValue(point[2])
+            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')
+
+class VtkPointCloudCanvas(QWidget):
+    def __init__(self, *args, **kwargs):
+        super(VtkPointCloudCanvas, self).__init__(*args, **kwargs)
+        self.lock_=threading.RLock()
+
+        self._layout = QVBoxLayout()
+        self.setLayout(self._layout)
+        self._vtk_widget = QVTKRenderWindowInteractor(self)
+        self._vtk_widget.SetInteractorStyle(vtk.vtkInteractorStyleTrackballCamera())  # 设置交互方式==常用的方式 移动摄像机
+
+        self._layout.addWidget(self._vtk_widget)
+
+        self._render = vtk.vtkRenderer()
+        self._vtk_widget.GetRenderWindow().AddRenderer(self._render)
+        self._iren = self._vtk_widget.GetRenderWindow().GetInteractor()
+
+        self._point_cloud = VtkPointCloud()
+
+        self._render.AddActor(self._point_cloud.vtkActor)
+
+        self.show()
+        self._iren.Initialize()
+
+        #self.timer = QtCore.QTimer()
+        #self.timer.timeout.connect(window.updatePointCloud)
+        #self.timer.start(1000)
+
+    def ShowCloud(self,cloud:numpy.array):
+        self.lock_.acquire()
+        self._point_cloud.clearPoints()
+        for point in cloud:
+            self._point_cloud.addPoint(point)
+        self.lock_.release()
+    def updatePointCloud(self):
+        pass
+        '''
+        self.lock_.acquire()
+        self._vtk_widget.GetRenderWindow().Render()
+        self.lock_.release()'''
+
+if __name__ == '__main__':
+    from PyQt5.QtWidgets import QApplication
+    import sys
+    app = QApplication(sys.argv)
+    window = VtkPointCloudCanvas()
+
+    cloud=[]
+    for k in range(1000000):
+        point = 20 * (random.rand(3) - 0.5)
+        cloud.append(point)
+    window.ShowCloud(numpy.array(cloud))
+
+    sys.exit(app.exec_())