plotter.update_coordinates, Process finished with exit code -1073740940 (0xC0000374)

[reallijie]

How can I display real-time point cloud data from Lidar?

The frequency of Lidar sending data is 10 times per second, about 200,000 points each time.

I try to call plotter.update_coordinates when I receive point cloud data, it gives an error: Process finished with exit code -1073740940 (0xC0000374)

[reallijie]

import os

os.environ["QT_API"] = "pyqt5"

import sys

import numpy as np
import open3d as o3d
from PyQt5 import QtWidgets, QtCore
from PyQt5.QtCore import QTimer
from PyQt5.QtWidgets import QWidget
from pyvistaqt import QtInteractor


class CustomWidget(QWidget):
    def __init__(self):
        super(CustomWidget, self).__init__()
        self.resize(800, 600)
        self.horizontalLayout = QtWidgets.QHBoxLayout(self)
        self.horizontalLayout.setContentsMargins(0, 0, 0, 0)
        self.horizontalLayout.setSpacing(0)
        self.horizontalLayout.setObjectName("horizontalLayout")

        self.tools_widget = QtWidgets.QWidget(self)
        self.tools_widget.setMinimumSize(QtCore.QSize(240, 16777215))
        self.tools_widget.setStyleSheet("background-color: rgb(170, 170, 255);")
        self.verticalLayout = QtWidgets.QVBoxLayout(self.tools_widget)
        self.btn1 = QtWidgets.QPushButton(self.tools_widget)
        self.btn1.setText('operation1')
        self.verticalLayout.addWidget(self.btn1)
        self.btn2 = QtWidgets.QPushButton(self.tools_widget)
        self.btn2.setText('operation2')
        self.verticalLayout.addWidget(self.btn2)
        spacerItem = QtWidgets.QSpacerItem(20, 100, QtWidgets.QSizePolicy.Minimum, QtWidgets.QSizePolicy.Expanding)
        self.verticalLayout.addItem(spacerItem)

        self.horizontalLayout.addWidget(self.tools_widget)
        self.frame = QtWidgets.QFrame(self)
        self.plotter = QtInteractor(self.frame)
        self.horizontalLayout.addWidget(self.plotter.interactor)

        path = os.path.dirname(os.path.abspath(__file__))
        path = os.path.join(path, 'test.pcd')
        pcd = o3d.io.read_point_cloud(path)
        self.points = np.array(pcd.points)
        self.plotter.add_points(self.points, color='red', point_size=1)

        self.generate_point_cloud_timer = QTimer()
        self.generate_point_cloud_timer.timeout.connect(self.generate_point_cloud)
        self.generate_point_cloud_timer.start(5000)

    def generate_point_cloud(self):
        random_len = int(self.points.shape[0] * .5)
        points = self.points[np.random.choice(self.points.shape[0], random_len, replace=False)]
        self.handle_real_time_point_cloud(points)

    def handle_real_time_point_cloud(self, points):
        self.plotter.update_coordinates(points)


if __name__ == '__main__':
    app = QtWidgets.QApplication(sys.argv)
    customWidget = CustomWidget()
    customWidget.show()
    sys.exit(app.exec_())

pyvista_real_time_point_cloud.zip

[reallijie]

os win10 64
python  3.8.10
PyQt5  5.15.4
pyqt5-plugins  5.15.4.2.2
PyQt5-Qt    5.15.2
PyQt5-sip  12.11.0
pyqt5-tools 5.15.4.3.2
pyvista  0.35.2
pyvistaqt  0.9.0
QtPy  2.1.0
vtk 9.1.0