The angles of each joint of the robot are read through the robot's API interface. Based on openIGTLink, the joint angles are converted into transform homogeneous transformation matrices, and the robot's status in Slicer is updated in real time. The data read by the API can be updated in about 0.002ms. However, why is the update of the robot in Slicer very slow? When the openIGTLink protocol is transmitted, it only uses a for loop to transmit the 7 degrees-of-freedom joints one by one. Logically, it shouldn't be very slow. Is it due to the computer performance or something else?
The angles of each joint of the robot are read through the robot's API interface. Based on openIGTLink, the joint angles are converted into transform homogeneous transformation matrices, and the robot's status in Slicer is updated in real time. The data read by the API can be updated in about 0.002ms. However, why is the update of the robot in Slicer very slow? When the openIGTLink protocol is transmitted, it only uses a for loop to transmit the 7 degrees-of-freedom joints one by one. Logically, it shouldn't be very slow. Is it due to the computer performance or something else?