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Qt5 实现雷达及余晖扫描，探测发现障碍物距离及角度_雷达余晖算法

作者：羊村懒王 | 2024-03-01 03:24:30

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雷达余晖算法

Qt5 实现雷达及余晖扫描，探测发现障碍物距离及角度

本示例主要利用 QPainter实现雷达图及余晖扫描效果，不依赖其他第三方库。显示效果流畅、平滑，不卡顿，可以直接跨平台应用Windows、Android、iMac及iOS系统。

如下是在Android手机上的界面效果图：

源代码工程链接：

https://download.csdn.net/download/u011275054/10867488

1、总体说明

       该雷达模拟器主要通过QPainter分别绘制刻度线、刻度值、余晖扫描以及障碍物区域几个主要部分。

图中的红色区域为扫描到的障碍物部分，绿色区域为实时扫描部分，设定能够探测到的最大距离为180cm,

检测到障碍物后，显示雷达实时的旋转角度和探测到的距离。

下面逐一进行上代码说明

2、雷达主体部分的绘制

  1. void RadarSimulator::drawRadar(QPainter *painter)
  2. {
  3.     painter->save();
  4.     painter->setPen(pen_draw);
  5.  
  6.     painter->translate(width/2,0);
  7.     double dOrigpos = height-height*0.074;
  8.     painter->drawArc(-(width-width*0.0825)/2, dOrigpos-(width-width*0.0825)/2,(width-width*0.0825),(width-width*0.0825),0*16,180* 16);
  9.     painter->drawArc(-(width-width*0.27)/2,dOrigpos-(width-width*0.27)/2,(width-width*0.27),(width-width*0.27),0*16,180* 16);
  10.     painter->drawArc(-(width-width*0.479)/2,dOrigpos-(width-width*0.479)/2,(width-width*0.479),(width-width*0.479),0*16,180* 16);
  11.     painter->drawArc(-(width-width*0.687)/2,dOrigpos-(width-width*0.687)/2,(width-width*0.687),(width-width*0.687),0*16,180* 16);
  12.     painter->drawArc(-(width-width*0.887)/2,dOrigpos-(width-width*0.887)/2,(width-width*0.887),(width-width*0.887),0*16,180* 16);
  13.     painter->restore();
  14.  
  15.     painter->save();
  16.     painter->setPen(pen_draw);
  17.     painter->translate(width/2,height-height*0.074);
  18.  
  19.     painter->drawLine(-width/2,0,width/2,0);
  20.     double dRadius = width/2*0.96;
  21.  
  22.     painter->drawLine(0,0,(-dRadius)*qCos(qDegreesToRadians(30.0)), (-dRadius)*qSin(qDegreesToRadians(30.0)));
  23.     painter->drawLine(0,0,(-dRadius)*qCos(qDegreesToRadians(60.0)), (-dRadius)*qSin(qDegreesToRadians(60.0)));
  24.     painter->drawLine(0,0,(-dRadius)*qCos(qDegreesToRadians(90.0)), (-dRadius)*qSin(qDegreesToRadians(90.0)));
  25.     painter->drawLine(0,0,(-dRadius)*qCos(qDegreesToRadians(120.0)),(-dRadius)*qSin(qDegreesToRadians(120.0)));
  26.     painter->drawLine(0,0,(-dRadius)*qCos(qDegreesToRadians(150.0)),(-dRadius)*qSin(qDegreesToRadians(150.0)));
  27.     painter->drawLine((-dRadius)*qCos(qDegreesToRadians(30.0)),0,dRadius,0);
  28.     painter->restore();
  29. }

3、雷达实时扫描线部分：

  1. void RadarSimulator::drawLine()
  2. {
  3.     QPainter *painter = new QPainter(this);
  4.     painter->save();
  5.  
  6.     QPen pen;
  7.     QColor color(30,250,60);
  8.     pen.setWidthF(16);
  9.     pen.setColor(color); //添加线的颜色
  10.     painter->setPen(pen);
  11.     painter->translate(width/2,height-height*0.074);
  12.     // draws the line according to the angle
  13.     //painter->drawLine(0,0,(height-height*0.12)*qCos(qDegreesToRadians((double)iAngle)),-(height-height*0.12)*qSin(qDegreesToRadians((double)iAngle)));
  14.  
  15.     if(bRecyle){
  16.         veclines.clear();
  17.         bRecyle = false;
  18.         bNeedErase = true;
  19.     }
  20.     if(veclines.size() >= 30){
  21.         veclines.pop_front();
  22.     }
  23.     QLineF line(0, 0,(height-height*0.12)*qCos(qDegreesToRadians((double)iAngle)),
  24.                 -(height-height*0.12)*qSin(qDegreesToRadians((double)iAngle)));
  25.     veclines.push_back(line);
  26.    //qDebug("***DrawLine:Angle:%d", iAngle);
  27.     int line_cnt = veclines.size();
  28.     for(int num = 0; num < line_cnt; num++)
  29.     {
  30.         float opc = 0.3;
  31.         if(num != 0){
  32.           opc = (float)2.0*num / line_cnt;
  33.           if(opc <= 0.3)
  34.               opc = 0.3;
  35.         }
  36.         painter->setOpacity(opc);
  37.         painter->drawLine(veclines[num]);
  38.     }
  39.  
  40.    // painter->drawLines(veclines);
  41.  
  42.     painter->restore();
  43.     delete(painter);
  44. }

4、绘制扫描障碍物区域部分：

  1. void RadarSimulator::drawObject()
  2. {
  3.     QPainter *painter = new QPainter(this);
  4.     painter->save();
  5.     QPen pen;
  6.     QColor color(255,10,10);
  7.     pen.setWidthF(16);
  8.     pen.setColor(color); //添加线的颜色
  9.     painter->setPen(pen);
  10.  
  11.     painter->translate(width/2,height-height*0.074); // moves the starting coordinats to new location
  12.     float pixsDistance = iDistance*((height-height*0.1666)*1/180); // covers the distance from the sensor from cm to pixels
  13.     // limiting the range to 40 cms
  14.  
  15.     if(iDistance<180 && iDistance > 0)
  16.     {
  17.         if(bNeedErase){
  18.             vecObjlines.clear();
  19.             bNeedErase = false;
  20.         }
  21.  
  22.         QLineF line(pixsDistance*qCos(qDegreesToRadians((double)iAngle)),
  23.                     -pixsDistance*qSin(qDegreesToRadians((double)iAngle)),
  24.                     (width-width*0.538)*qCos(qDegreesToRadians((double)iAngle)),
  25.                     -(width-width*0.538)*qSin(qDegreesToRadians((double)iAngle)));
  26.         vecObjlines.push_back(line);
  27.     }
  28.  
  29.     int line_cnt = vecObjlines.size();
  30.     for(int num = 0; num < line_cnt; num++)
  31.     {
  32.         float opc = 0.3;
  33.         if(num != 0){
  34.           opc = (float)2.0*num / line_cnt;
  35.           if(opc <= 0.3)
  36.               opc = 0.3;
  37.         }
  38.         painter->setOpacity(opc);
  39.         painter->drawLine(vecObjlines[num]);
  40.     }
  41.  
  42.    // painter->drawLines(vecObjlines);
  43.     painter->restore();
  44.     delete(painter);
  45. }

5、绘制检测到的障碍物距离、角度数值部分

  1. void RadarSimulator::drawText(QPainter *painter)
  2. {
  3.     painter->save();
  4.     painter->setBrush(Qt::black);
  5.     painter->drawRect(0,height-height*0.070,width,height*0.070);
  6.     painter->restore();
  7.  
  8.     painter->save();
  9.     QString noObject;
  10.     if(iDistance>180 || iDistance <=  2) {
  11.         noObject = "超出范围";
  12.     }
  13.     else {
  14.         noObject = "已探测到";
  15.     }
  16.  
  17.     painter->setPen(pen_draw);
  18.     painter->setFont(font_txt);
  19.     painter->drawText(width-width*0.4754, height-height*0.0833, "20cm");
  20.     painter->drawText(width-width*0.3854, height-height*0.0833, "60cm");
  21.     painter->drawText(width-width*0.281,  height-height*0.0833, "100cm");
  22.     painter->drawText(width-width*0.177,  height-height*0.0833, "140cm");
  23.     painter->drawText(width-width*0.0799, height-height*0.0833, "180cm");
  24.  
  25.     painter->setFont(font_Reslt);
  26.     painter->drawText(width-width*0.915, height-height*0.0260, "目标: " + noObject);
  27.     QString angle_ = QString::number(iAngle);
  28.     painter->drawText(width-width*0.53, height-height*0.0260,  "角度: " + angle_ +" °");
  29.     QString dis = QString::number(iDistance);
  30.     painter->drawText(width-width*0.30, height-height*0.0260,  "距离: " + dis + " cm");
  31.     painter->restore();
  32.  
  33.     painter->save();
  34.     painter->setPen(pen_draw);
  35.     painter->setFont(font_txt);
  36.     painter->translate((width-width*0.5094)+width/2*qCos(qDegreesToRadians(30.0)),(height-height*0.0700)-width/2*qSin(qDegreesToRadians(30.0)));
  37.     painter->rotate(-qDegreesToRadians(-60.0));
  38.     painter->drawText(0, 0, "30°");
  39.     painter->restore();
  40.  
  41.     painter->save();
  42.     painter->setPen(pen_draw);
  43.     painter->setFont(font_txt);
  44.     painter->translate((width-width*0.509)+width/2*qCos(qDegreesToRadians(60.0)),(height-height*0.0650)-width/2*qSin(qDegreesToRadians(60.0)));
  45.     painter->rotate(-qDegreesToRadians(-30.0));
  46.     painter->drawText(0,0, "60°");
  47.     painter->restore();
  48.  
  49.     painter->save();
  50.     painter->setPen(pen_draw);
  51.     painter->setFont(font_txt);
  52.     painter->translate((width-width*0.507)+width/2*qCos(qDegreesToRadians(90.0)),(height-height*0.0433)-width/2*qSin(qDegreesToRadians(90.0)));
  53.     painter->rotate(qDegreesToRadians(0.0));
  54.     painter->drawText(0,0, "90°");
  55.     painter->restore();
  56.  
  57.     painter->save();
  58.     painter->setPen(pen_draw);
  59.     painter->setFont(font_txt);
  60.     painter->translate(width-width*0.503+width/2*qCos(qDegreesToRadians(120.0)),(height-height*0.06129)-width/2*qSin(qDegreesToRadians(120.0)));
  61.     painter->rotate(qDegreesToRadians(-30.0));
  62.     painter->drawText(0,0, "120°");
  63.     painter->restore();
  64.  
  65.     painter->save();
  66.     painter->setPen(pen_draw);
  67.     painter->setFont(font_txt);
  68.     painter->translate((width-width*0.5104)+width/2*qCos(qDegreesToRadians(150.0)),(height-height*0.0574)-width/2*qSin(qDegreesToRadians(150.0)));
  69.     painter->rotate(qDegreesToRadians(-60.0));
  70.     painter->drawText(0,0, "150°");
  71.     painter->restore();
  72.  
  73. }

 

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