Qt思岚激光雷达

最新推荐文章于 2024-07-18 08:00:00 发布

vqt5_qt6

最新推荐文章于 2024-07-18 08:00:00 发布

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分类专栏： c++ QT 文章标签： qt

本文链接：https://blog.csdn.net/cqltbe131421/article/details/120082577

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在这里插入图片描述
Qt关于思岚激光雷达研究示例，本示例采用qt界面开发，可以串口也可以tcp进行设备连接。接收数据进行相关的数据进行绘图，
这种雷达可以用于大屏触摸场景，会场互动触摸场景开发。

#ifndef MAINWIDGET_H
#define MAINWIDGET_H

#include <QTimer>
#include <QWidget>
#include "lidarmgr.h"

namespace Ui {
class MainWidget;
}

class MainWidget : public QWidget
{
    Q_OBJECT

public:
    explicit MainWidget(QWidget *parent = nullptr);
    ~MainWidget();

protected:
    void showEvent(QShowEvent *event);

private slots:
    void on_pushButton_clicked();

    void on_pushButton_2_clicked();

    void on_pushButton_3_clicked();


    void on_pushButton_4_clicked();

    void mtimeout();

    void on_pushButton_5_clicked();

private:
    Ui::MainWidget *ui;
    std::vector<RplidarScanMode> outModes;
    RplidarScanMode usingScanMode;
    int modelIndex;

    QTimer *m_QTimer;
    bool m_state;

    int m_model_state;
};

#endif // MAINWIDGET_H

绘制雷达图采用QPainter实现

同时可以用鼠标滚轮进行缩放


void QScanLidarWidget::paintEvent(QPaintEvent *event)
{
    QPainter painter(this);
    painter.setRenderHint(QPainter::Antialiasing, true);
    painter.setBrush(QBrush(QColor(0,0,0)));
    painter.drawRect(0,0,this->width()-1,this->height()-1);
    //绘制文字
    painter.setPen(QPen(QColor(255,255,255),5));
    painter.drawText(10,30,QString::number(m_sample_duration) + " ts");
    painter.drawText(100,30,QString::number(m_scan_speed) + " Hz");
    //移动到中间
    int m_step = (this->width()-50)/6;//圆步长
    painter.translate(this->width()/2,this->height()/2);

    //每30度画线
    painter.setPen(QPen(QColor(128,128,128),1));
    for(int i = 0; i < 12;i++){
        double radian = 30*i * M_PI / 180;
        double xMargin = cos(radian) * (m_step*3+10);
        double yMargin = sin(radian) * (m_step*3+10);
        QPoint t_point(xMargin,yMargin);
        QPoint t_pointSrc(0,0);
        painter.drawLine(t_pointSrc,t_point);
        if(i==0){
            painter.drawText(t_point,QString("%1").arg(0));
        }else{
            painter.drawText(t_point,QString("%1").arg(360-30*i));
        }
    }

    //画圆
    painter.setBrush(Qt::NoBrush);
    painter.setPen(QPen(QColor(128,128,128)));
    painter.drawEllipse(QPointF(0,0),m_step*1,m_step*1);
    painter.drawEllipse(QPointF(0,0),m_step*2,m_step*2);
    painter.drawEllipse(QPointF(0,0),m_step*3,m_step*3);
    //绘制文本
    double t_dist_step = m_max_dist/3;
    painter.drawText(QPointF(m_step*1-20,0),QString::number(t_dist_step,'f',1));
    painter.drawText(QPointF(m_step*2-20,0),QString::number(t_dist_step*2,'f',1));
    painter.drawText(QPointF(m_step*3-20,0),QString::number(t_dist_step*3,'f',1));
    painter.setPen(QPen(QColor(	220,20,60),2));

    for(int i = 0;i < t_dis_points.size();i++){
        painter.drawEllipse(t_dis_points.at(i),1,1);//画数据
    }
}