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@@ -241,12 +241,16 @@ ADCIntelligentVehicle::ADCIntelligentVehicle(QWidget *parent)
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myview_small = new MyView(ui->stackedWidget->widget(1));
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myview_small->setObjectName(QStringLiteral("graphicsView_small"));
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- myview_small->setGeometry(QRect(1000,100,450,450));
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+ myview_small->setGeometry(QRect(1000,100,500,500));
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+ myview_small->setAlignment(Qt::AlignLeft | Qt::AlignTop);
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+// myview_small->scale(0.7,0.7);
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+ //myview_small->centerOn(-200,-200);
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+
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image = new QImage(900 * 2, 900 * 2, QImage::Format_RGB32);//画布的初始化大小设为600*500，使用32位颜色
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//QImage的32、24、8位图。 图像格式:QImage::Format_RGB32 ,QImage::Format_RGB888,QImage::Format_Indexed8。
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//QImage myImage2 = QImage(width, height, QImage::Format_…); 根据图像宽高来构造一幅图像，程序会自动根据图像格式对齐图像数据。
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- image_small = new QImage(900 * 2,900 * 2,QImage::Format_RGB32);
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+ image_small = new QImage(1800,1800,QImage::Format_RGB32);
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myview->setCacheMode(myview->CacheBackground);
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myview_small->setCacheMode(myview_small->CacheBackground);
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@@ -879,6 +883,7 @@ void ADCIntelligentVehicle::paintEvent(QPaintEvent *)
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// qDebug("enter paint. time is %d",mTime.elapsed());
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painter->begin(image);
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painter_small->begin(image_small);
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+
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// image->fill(QColor(60, 60, 60));//对画布进行填充
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image->fill(QColor(220, 220, 220));//对画布进行填充
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image_small->fill(QColor(220,220,220));
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@@ -903,11 +908,11 @@ void ADCIntelligentVehicle::paintEvent(QPaintEvent *)
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-
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// std::vector<iv::GPSData> navigation_data = brain->navigation_data;
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painter->setRenderHint(QPainter::Antialiasing, true);//设置反锯齿模式，好看一点
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painter_small->setRenderHint(QPainter::Antialiasing, true);//设置反锯齿模式，好看一点
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+
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int pointx = 450, pointy = 700;//确定坐标轴起点坐标，这里定义(35,280)
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int pointx_small = 450, pointy_small = 700;
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// double x0[22000], y0[22000], lng[22000], x1[22000], y1[22000], x2[22000], y2[22000];
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@@ -1023,8 +1028,8 @@ void ADCIntelligentVehicle::paintEvent(QPaintEvent *)
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#endif
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}
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- double kx_small = (double)(600) / (abs(y_max - y_min));//x轴的系数
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- double ky_small = (double)(600) / (abs(y_max - y_min));//y方向的比例系数
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+ double kx_small = (double)(1200) / (abs(y_max - y_min));//x轴的系数
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+ double ky_small = (double)(1200) / (abs(y_max - y_min));//y方向的比例系数
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double kx = 10;
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double ky = 10;
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@@ -1057,6 +1062,7 @@ void ADCIntelligentVehicle::paintEvent(QPaintEvent *)
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painter->drawPoint(pointx + x0[0] * kx, pointy - y0[0] * ky);
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painter_small->drawPoint(pointx_small + x0[0] * kx_small, pointy_small - y0[0] * ky_small);
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+#if 0
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// draw plan trace
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penPoint.setColor(Qt::green);
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penPoint.setWidth(2);
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@@ -1072,8 +1078,10 @@ void ADCIntelligentVehicle::paintEvent(QPaintEvent *)
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(float)(450+myplan[i+1].x*kx),(float)(700-myplan[i+1].y*ky));
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}
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}
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-
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- penPoint.setColor(Qt::blue);
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+#endif
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+#if 1
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+// penPoint.setColor(Qt::gray);
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+ penPoint.setColor(QColor(187, 255, 255, 100));
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penPoint.setWidth(2);
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painter->setPen(penPoint);
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QPointF tracePoints_left[myplan_left.size()];
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@@ -1088,9 +1096,9 @@ void ADCIntelligentVehicle::paintEvent(QPaintEvent *)
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}
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}
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- penPoint.setColor(Qt::blue);
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- penPoint.setWidth(2);
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- painter->setPen(penPoint);
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+// penPoint.setColor(Qt::gray);
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+// penPoint.setWidth(2);
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+// painter->setPen(penPoint);
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QPointF tracePoints_right[myplan_right.size()];
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if(myplan_right.size()>2)
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{
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@@ -1102,7 +1110,7 @@ void ADCIntelligentVehicle::paintEvent(QPaintEvent *)
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(float)(450+myplan_right[i+1].x*kx),(float)(700-myplan_right[i+1].y*ky));
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}
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}
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-
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+#endif
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// painter->drawPolyline(tracePoints,myplan.size());
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// draw plan trace end
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/////////////////////////////////////apollo add car icon 20200409
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@@ -1175,7 +1183,6 @@ void ADCIntelligentVehicle::paintEvent(QPaintEvent *)
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scene->clear();
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scene_small->clear();
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scene->addPixmap(QPixmap::fromImage(*image));
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-
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scene_small->addPixmap(QPixmap::fromImage(*image_small));
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myview->setScene(scene);
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myview_small->setScene(scene_small);
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@@ -1398,6 +1405,9 @@ void ADCIntelligentVehicle::UpdatePlanTrace_left(const char * strdata,const unsi
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mMutexPlan_left.lock();
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m_plan_left.clear();
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int nplansize = nSize/sizeof(iv::Point2D);
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+ if(nplansize < 1)
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+ std::cout<<"UpdatePlanTrace_left size is 0................. "<<std::endl;
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+// return;
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int npsize = sizeof(iv::Point2D);
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int i;
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for(i=0;i<nplansize;i++)
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@@ -1414,6 +1424,8 @@ void ADCIntelligentVehicle::UpdatePlanTrace_right(const char * strdata,const uns
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mMutexPlan_right.lock();
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m_plan_right.clear();
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int nplansize = nSize/sizeof(iv::Point2D);
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+ if(nplansize < 1)
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+ std::cout<<"UpdatePlanTrace_right size is 0................. "<<std::endl;
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int npsize = sizeof(iv::Point2D);
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int i;
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for(i=0;i<nplansize;i++)
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