Qt绘制出思岚雷达扫描到的轮廓

Qt绘制出思岚雷达的扫描轮廓

1 配置思岚sdk的依赖库

可以参考我的qt pro文件的内容，按照实际路径添加

INCLUDEPATH += /home/kobe/QtProj/rplidar_sdk-release-v1.11.0/sdk/sdk/include

INCLUDEPATH += /home/kobe/QtProj/rplidar_sdk-release-v1.11.0/sdk/sdk/src

unix:!macx: LIBS += -L$$PWD/../../rplidar_sdk-release-v1.11.0/sdk/output/Linux/Release/ -lrplidar_sdk

INCLUDEPATH += $$PWD/../../rplidar_sdk-release-v1.11.0/sdk/output/Linux/Release

DEPENDPATH += $$PWD/../../rplidar_sdk-release-v1.11.0/sdk/output/Linux/Release

unix:!macx: PRE_TARGETDEPS += $$PWD/../../rplidar_sdk-release-v1.11.0/sdk/output/Linux/Release/librplidar_sdk.a

2 获取雷达的数据

其中重要的是这两句

// 抓取一个完整的0-360度的扫描数据

    drv->grabScanData(buffer, countf);

    //        按照扫描角度升序方式将数据排序

    drv->ascendScanData(buffer, countf);

具体的功能可以参考思岚SDK手册

我的Askserialslot这个函数是在定时器是放在Qt的定时器中定时调用的。

//更新的的当前值

void MainWindow::Askserialslot()

{

if(comflagfront ==  COMOPEN)

{

    rplidar_response_measurement_node_t buffer[1024];

   

    int lengthcodef = sizeof(buffer[0]);

    int lengthallf = sizeof(buffer);

    size_t   countf = lengthallf/lengthcodef;

    drv->grabScanData(buffer, countf);

    drv->ascendScanData(buffer, countf);

    progressdatafront(buffer,countf);

    lidarmain.__scanData(buffer,countf);

    QImage lidarimg;

    lidarmain.__draw(lidarimg);

    ui->label->setPixmap(QPixmap::fromImage(lidarimg.scaled(ui->label->size(),Qt::KeepAspectRatio)));

}



if(comflagbehind ==  COMOPEN)

{

    rplidar_response_measurement_node_t bufferbehind[1024];

    int lengthcodeb = sizeof(bufferbehind[0]);

    int lengthallb = sizeof(bufferbehind);

    size_t   countbehind = lengthallb/lengthcodeb;

    //        size_t   countbehind = _countof(bufferbehind);

    drvbehind->grabScanData(bufferbehind, countbehind);

    drvbehind->ascendScanData(bufferbehind, countbehind);

    progressdataback(bufferbehind,countbehind);

   

    lidarmainbehind.__scanData(bufferbehind,countbehind);

    QImage lidarimgbehind;

    lidarmainbehind.__draw(lidarimgbehind);

    ui->label_behind->setPixmap(QPixmap::fromImage(lidarimgbehind.scaled(ui->label_behind->size(),Qt::KeepAspectRatio)));

}

}

3 将获取的数据绘制出轮廓

  scanData(buffer,countf)和 draw(lidarimg)这两个函数是实现具体的绘制功能，细节如下

/**

• @brief 将扫描的原始数据转化为实际距离和角度，并将带有实际数据的点放到m_scanData里

• @param buffer 雷达数据

• @param count 雷达数据的个数

• @param frequency 扫描的频率

*/

void LidarImage::__scanData(rplidar_response_measurement_node_t *buffer, size_t count)

{

m_scanData.clear();

for (int pos = 0; pos < (int)count; ++pos) {

    scanDot dot;

    if (!buffer[pos].distance_q2) continue;

    dot.quality = (buffer[pos].sync_quality >> RPLIDAR_RESP_MEASUREMENT_QUALITY_SHIFT);

    dot.angle = (buffer[pos].angle_q6_checkbit >> RPLIDAR_RESP_MEASUREMENT_ANGLE_SHIFT) / 64.0f;

    dot.dist = buffer[pos].distance_q2 / 4.0f;

    m_scanData.push_back(dot);

}

}

/**

• @brief 在图片上画出相应的点

*/

void LidarImage::__draw(QImage &lidarImage)

{

//    lidarImage = QImage(m_picturePath);

lidarImage=QImage("//home//kobe//QtProj//lidarpic.jpg");

QPainter painter(&lidarImage);

int x, y;

double theta, rho;

int halfWidth = LidarImageWdith / 2;

int halfHeight = LidardarImageHeight / 2;

painter.setPen(QColor(255, 255, 255));

painter.setBrush(QColor(255,255,255));

painter.drawEllipse(halfWidth, halfHeight, 15, 15);//认为是雷达中心

for (int i = 0; i < m_scanData.size(); i++)

{

    scanDot dot;

    dot = m_scanData[i];

    theta = dot.angle*PI / 180;

    rho = dot.dist;

    x = (int)(rho*sin(theta) / 20) + halfWidth;

    y = (int)(-rho*cos(theta) / 20) + halfHeight;

    painter.drawEllipse(x, y, 4, 4);

}

painter.end();

}

注意lidarImage这个路径下存储相应的底图。

4 最终实现效果

我是前后向各有一个雷达，底图是黑色