【学习笔记】使用Python将SICK TIM561数据从极坐标转换为直角坐标

代码很简单，直接上：

import math
import matplotlib.pyplot as plt

# range_datas是通过rosbag采集到的一帧的数据，sick TIM561雷达一帧数据811个点
range_datas = [1.100000023841858, 1.0920000076293945, 2.7850000858306885, 0.5680000185966492, 0.515999972820282, 0.5329999923706055, 0.5130000114440918, 0.5109999775886536, 0.5149999856948853, 0.5099999904632568, 0.5149999856948853, 0.5149999856948853, 0.5009999871253967, 0.503000020980835, 0.5099999904632568, 0.5040000081062317, 0.5070000290870667, 0.5070000290870667, 0.5080000162124634, 0.5149999856948853, 0.5009999871253967, 0.5099999904632568, 0.5090000033378601, 0.5049999952316284, 0.5040000081062317, 0.5130000114440918, 0.5149999856948853, 0.5019999742507935, 0.4860000014305115, 0.44999998807907104, 0.38100001215934753, 0.21199999749660492, 0.11400000005960464, 0.11800000071525574, 0.17100000381469727, 0.3100000023841858, 0.5090000033378601, 0.6620000004768372, 0.75, 0.7710000276565552, 0.781000018119812, 0.7870000004768372, 0.7900000214576721, 0.7979999780654907, 0.7979999780654907, 0.8029999732971191, 0.8059999942779541, 0.8100000023841858, 0.8119999766349792, 0.8220000267028809, 0.824999988079071, 0.8309999704360962, 0.8360000252723694, 0.8410000205039978, 0.843999981880188, 0.8489999771118164, 0.8560000061988831, 0.8579999804496765, 0.8640000224113464, 0.8669999837875366, 0.8690000176429749, 0.8659999966621399, 0.8650000095367432, 0.859000027179718, 0.859000027179718, 0.8629999756813049, 0.8600000143051147, 0.8600000143051147, 0.8629999756813049, 0.8640000224113464, 0.8690000176429749, 0.878000020980835, 0.890999972820282, 0.9039999842643738, 0.9200000166893005, 0.9359999895095825, 0.9509999752044678, 0.9670000076293945, 0.9750000238418579, 0.984000027179718, 0.9919999837875366, 0.9819999933242798, 0.9850000143051147, 0.9850000143051147, 0.9789999723434448, 0.9810000061988831, 0.972000002861023, 0.9739999771118164, 0.9829999804496765, 0.9810000061988831, 0.9789999723434448, 0.972000002861023, 0.9750000238418579, 0.9819999933242798, 0.9750000238418579, 0.9769999980926514, 0.9750000238418579, 0.9679999947547913, 0.968999981880188, 0.9890000224113464, 0.9739999771118164, 0.9679999947547913, 0.9750000238418579, 0.9760000109672546, 0.9789999723434448, 0.9829999804496765, 0.9739999771118164, 0.9789999723434448, 0.9760000109672546, 0.972000002861023, 0.9750000238418579, 0.9810000061988831, 0.9739999771118164, 0.9769999980926514, 0.9739999771118164, 0.9670000076293945, 0.9739999771118164, 0.9769999980926514, 0.9789999723434448, 0.9769999980926514, 0.9760000109672546, 0.9819999933242798, 0.9779999852180481, 0.9729999899864197, 0.9800000190734863, 0.9800000190734863, 0.9779999852180481, 0.9800000190734863, 0.9760000109672546, 0.9890000224113464, 0.9829999804496765, 0.9810000061988831, 0.9860000014305115, 0.9789999723434448, 0.9879999756813049, 0.9879999756813049, 0.9869999885559082, 0.9959999918937683, 0.9959999918937683, 0.9909999966621399, 0.9909999966621399, 0.9909999966621399, 0.9940000176429749, 0.9890000224113464, 0.9980000257492065, 0.9959999918937683, 1.0080000162124634, 1.0, 1.0, 1.00600004196167, 1.003999948501587, 1.003999948501587, 1.0010000467300415, 1.003000020980835, 1.0140000581741333, 1.0199999809265137, 1.1180000305175781, 1.2760000228881836, 1.2519999742507935, 1.2139999866485596, 1.253999948501587, 1.2890000343322754, 1.277999997138977, 1.2280000448226929, 1.093000054359436, 1.1469999551773071, 1.2230000495