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chartview.cpp
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chartview.cpp
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#include "chartview.h"
/* @brief:构造函数
* @param [in]:NONE
* @param [out]:NONE
* @return:NONE
*/
ChartView::ChartView(QWidget *parent)
: QChartView(parent), m_isPress(false), m_coordItem(nullptr), _chart(new QChart())
{
this->setDragMode(QGraphicsView::RubberBandDrag);
this->setMouseTracking(false);
}
/* @brief:析构函数
* @param [in]:NONE
* @param [out]:NONE
* @return:NONE
*/
ChartView::~ChartView()
{
delete _chart;
}
/* @brief:鼠标按下事件
* @param [in]:NONE
* @param [out]:NONE
* @return:NONE
*/
void ChartView::mousePressEvent(QMouseEvent *event)
{
if (event->button() == Qt::LeftButton)
{
m_lastPoint = event->pos();
m_isPress = true;
}
QChartView::mousePressEvent(event); //仍可相应原事件
}
/* @brief:鼠标移动事件
* @param [in]:NONE
* @param [out]:NONE
* @return:NONE
*/
void ChartView::mouseMoveEvent(QMouseEvent *event)
{
if (!m_coordItem)
{
m_coordItem = new QGraphicsSimpleTextItem(this->chart());
m_coordItem->setZValue(5);
m_coordItem->setPos(60, 20);
m_coordItem->show();
}
const QPoint curPos = event->pos();
QPointF curVal = this->chart()->mapToValue(QPointF(curPos));
QString coordStr = QString("X = %1\nY = %2").arg(curVal.x(), 0, 'f', 6).arg(curVal.y(), 0, 'f', 6);
m_coordItem->setText(coordStr);
if (m_isPress)
{
QPointF offset = curPos - m_lastPoint;
m_lastPoint = curPos;
this->chart()->scroll(-offset.x(), offset.y());
}
}
/* @brief:鼠标释放事件
* @param [in]:NONE
* @param [out]:NONE
* @return:NONE
*/
void ChartView::mouseReleaseEvent(QMouseEvent *event)
{
m_isPress = false;
if (event->button() == Qt::RightButton) //鼠标右键,重置坐标系
{
this->chart()->axisX()->setRange(minx, maxx);
this->chart()->axisY()->setRange(miny, maxy);
}
QChartView::mouseReleaseEvent(event);
}
/* @brief:滚轮滚动事件
* @param [in]:NONE
* @param [out]:NONE
* @return:NONE
*/
void ChartView::wheelEvent(QWheelEvent *event)
{
// float length = (oPlotAreaRect.width() + oPlotAreaRect.height())/2.0;
// length *= rVal;
// // 2. 水平调整
// oPlotAreaRect.setWidth(length);
// // 3. 竖直调整
// oPlotAreaRect.setHeight(length);
qreal rVal = std::pow(0.999, event->delta()); // 设置比例
// 1. 读取视图基本信息
QRectF oPlotAreaRect = this->chart()->plotArea();
float length = (oPlotAreaRect.width() + oPlotAreaRect.height())/2.0;
QPointF oCenterPoint = oPlotAreaRect.center();
// 2. 水平调整
oPlotAreaRect.setWidth(oPlotAreaRect.width() * rVal);
// 3. 竖直调整
oPlotAreaRect.setHeight(oPlotAreaRect.height() * rVal);
// oPlotAreaRect.setWidth(length* rVal);
// 3. 竖直调整
// oPlotAreaRect.setHeight(length * rVal);
// qDebug()<<oPlotAreaRect.width()<<" "<<oPlotAreaRect.height()<<" "<<length*rVal;
// 4.1 计算视点,视点不变,围绕中心缩放
//QPointF oNewCenterPoint(oCenterPoint);
// 4.2 计算视点,让鼠标点击的位置移动到窗口中心
//QPointF oNewCenterPoint(pEvent->pos());
// 4.3 计算视点,让鼠标点击的位置尽量保持不动(等比换算,存在一点误差)
QPointF oNewCenterPoint(2 * oCenterPoint - event->pos() - (oCenterPoint - event->pos()) / rVal);
// 5. 设置视点
oPlotAreaRect.moveCenter(oNewCenterPoint);
// 6. 提交缩放调整
this->chart()->zoomIn(oPlotAreaRect);
}
/* @brief: 显示帧信息
* @param [in]: NONE
* @param [out]: NONE
* @return 无
*/
void ChartView::on_LegendMarkerClicked()
{
QLegendMarker* marker = qobject_cast<QLegendMarker*> (sender());
// switch (marker->type())
// {
// case QLegendMarker::LegendMarkerTypeXY:
// {
marker->series()->setVisible(!marker->series()->isVisible());
marker->setVisible(true);
// }
// }
}
/* @brief:初始化坐标系
* @param [in]:NONE
* @param [out]:NONE
* @return:NONE
*/
void ChartView::chartInit(double minx, double maxx, double miny, double maxy, QString title)
{
this->minx = minx;
this->maxx = maxx;
this->miny = miny;
this->maxy = maxy;
_chart->setTitle(title);
this->setChart(_chart);
QValueAxis *axisX = new QValueAxis ();
QValueAxis *axisY = new QValueAxis ();
axisX->setMinorTickCount(4); //设置副标尺个数
axisY->setMinorTickCount(4);
axisX->setRange(minx, maxx); //设置坐标轴范围
axisY->setRange(miny, maxy);
axisX->setTitleText("X");
axisY->setTitleText("Y");
QScatterSeries *series[3];
for(int i = 0; i < 3; i++)
{
series[i] = new QScatterSeries(this);
_chart->addSeries(series[i]);
series[i]->setPen(QPen(Qt::NoPen));
series[i]->setMarkerSize(3);
_chart->setAxisX(axisX, series[i]);
_chart->setAxisY(axisY, series[i]);
}
series[0]->setName("origin");
series[1]->setName("edge");
series[2]->setName("obstacle");
series[0]->append(0, 0);
series[0]->setColor(QColor(0, 0, 0));
QLineSeries *series_car = new QLineSeries(this);
_chart->addSeries(series_car);
series_car->setName("car");
//series_car->setColor(QColor(237,145,33));
_chart->setAxisX(axisX, series_car);
_chart->setAxisY(axisY, series_car);
//点击选择是否显示系列
foreach (QLegendMarker* marker, _chart->legend()->markers())
{
disconnect(marker, SIGNAL(clicked()), this, SLOT(on_LegendMarkerClicked()));
connect(marker, SIGNAL(clicked()), this, SLOT(on_LegendMarkerClicked()));
}
}
void ChartView::init(double minx, double maxx, double miny, double maxy, QString title)
{
this->minx = minx;
this->maxx = maxx;
this->miny = miny;
this->maxy = maxy;
_chart->setTitle(title);
this->setChart(_chart);
QValueAxis *axisX = new QValueAxis ();
QValueAxis *axisY = new QValueAxis ();
axisX->setMinorTickCount(4); //设置副标尺个数
axisY->setMinorTickCount(4);
axisX->setRange(minx, maxx); //设置坐标轴范围
axisY->setRange(miny, maxy);
axisX->setTitleText("X");
axisY->setTitleText("Y");
QScatterSeries *series[9];
for(int i = 0; i < 3; i++)
{
series[i] = new QScatterSeries(this);
_chart->addSeries(series[i]);
series[i]->setPen(QPen(Qt::NoPen));
series[i]->setMarkerSize(5);
_chart->setAxisX(axisX, series[i]);
_chart->setAxisY(axisY, series[i]);
}
series[0]->setName("origin");
series[1]->setName("edge");
series[2]->setName("obstacle");
series[0]->append(0, 0);
series[0]->setColor(QColor(0, 0, 0));
QLineSeries *series_car = new QLineSeries(this);
_chart->addSeries(series_car);
series_car->setName("car");
//series_car->setColor(QColor(237,145,33));
_chart->setAxisX(axisX, series_car);
_chart->setAxisY(axisY, series_car);
//点击选择是否显示系列
foreach (QLegendMarker* marker, _chart->legend()->markers())
{
disconnect(marker, SIGNAL(clicked()), this, SLOT(on_LegendMarkerClicked()));
connect(marker, SIGNAL(clicked()), this, SLOT(on_LegendMarkerClicked()));
}
}
/* @brief:显示地图
* @param [in]:NONE
* @param [out]:NONE
* @return:NONE
*/
void ChartView::dispMap(QVector<QPointF> map[],double minx, double maxx, double miny, double maxy, bool CCU)
{
if(maxx - minx > maxy - miny) //计算坐标系坐标范围
{
this->minx = minx;
this->maxx = maxx;
this->miny = (maxy + miny)/2 - (maxx - minx)/2;
this->maxy = (maxy + miny)/2 + (maxx - minx)/2;
} else{
this->minx = (maxx + minx)/2 - (maxy - miny)/2;
this->maxx = (maxx + minx)/2 + (maxy - miny)/2;
this->miny = miny;
this->maxy = maxy;
}
QScatterSeries *series[6];
QValueAxis *axisX = (QValueAxis *)this->chart()->axisX();
QValueAxis *axisY = (QValueAxis *)this->chart()->axisY();
axisX->setRange(this->minx, this->maxx); //设置坐标轴范围
axisY->setRange(this->miny, this->maxy);
if(CCU){
for(int i = 0; i<6; i++)
series[i] = (QScatterSeries *)this->chart()->series().at(i+4);
}else{
for(int i = 0; i<6; i++)
{
if(mapIn) series[i] = (QScatterSeries *)this->chart()->series().at(i+4);
else
{
series[i] = new QScatterSeries(this);
_chart->addSeries(series[i]);
series[i]->setPen(QPen(Qt::NoPen));
series[i]->setMarkerSize(1);
_chart->setAxisX(axisX, series[i]);
_chart->setAxisY(axisY, series[i]);
}
}
if(!mapIn)
{
series[0]->setName("f0");
series[1]->setName("f1");
series[2]->setName("ll");
series[3]->setName("lr");
series[4]->setName("rl");
series[5]->setName("rr");
}
}
for(int i = 0; i<6; i++) series[i]->replace(map[i]);
foreach (QLegendMarker* marker, _chart->legend()->markers())
{
disconnect(marker, SIGNAL(clicked()), this, SLOT(on_LegendMarkerClicked()));
connect(marker, SIGNAL(clicked()), this, SLOT(on_LegendMarkerClicked()));
}
mapIn = true;
}
/* @brief:更新本地坐标系
* @param [in]:NONE
* @param [out]:NONE
* @return:NONE
*/
void ChartView::updateLocal(Frame &frame)
{
QScatterSeries *series_edge = (QScatterSeries *)this->chart()->series().at(1);
QScatterSeries *series_obs = (QScatterSeries *)this->chart()->series().at(2);
QLineSeries *series_car = (QLineSeries *)this->chart()->series().at(3);
series_edge->clear();
series_obs->clear();
series_car->clear();
for(int i = 0; i < frame.points.size(); i++)
{
if(frame.points[i].type == 0) series_edge->append(frame.points[i].xyz(0), frame.points[i].xyz(1)); else
if(frame.points[i].type == 1) series_obs->append(frame.points[i].xyz(0), frame.points[i].xyz(1));
}
for(int i = 0; i < 5; i++) series_car->append(frame.car[i].xyz(0),frame.car[i].xyz(1));
}
/* @brief:更新utm坐标系
* @param [in]:NONE
* @param [out]:NONE
* @return:NONE
*/
void ChartView::updateGlobal(Frame &frame)
{
QScatterSeries *series_edge = (QScatterSeries *)this->chart()->series().at(1);
QScatterSeries *series_obs = (QScatterSeries *)this->chart()->series().at(2);
QLineSeries *series_car = (QLineSeries *)this->chart()->series().at(3);
series_edge->clear();
series_obs->clear();
series_car->clear();
for(int i = 0; i < frame.points.size(); i++)
{
if(frame.points[i].type == 0) series_edge->append(frame.points[i].utm(0), frame.points[i].utm(1));
else if(frame.points[i].type == 1) series_obs->append(frame.points[i].utm(0), frame.points[i].utm(1));
}
for(int i = 0; i < 5; i++) series_car->append(frame.car[i].utm(0),frame.car[i].utm(1));
}
/* @brief:设置障碍物点尺寸
* @param [in]:NONE
* @param [out]:NONE
* @return:NONE
*/
void ChartView::setPointSizeObj(int &size)
{
QScatterSeries *series_edge = (QScatterSeries *)this->chart()->series().at(1);
QScatterSeries *series_obs = (QScatterSeries *)this->chart()->series().at(2);
series_edge->setMarkerSize(size);
series_obs->setMarkerSize(size);
}
/* @brief:设置障碍物点尺寸
* @param [in]:NONE
* @param [out]:NONE
* @return:NONE
*/
void ChartView::setPointSizeMap(int &size)
{
QScatterSeries *series[6];
for(int i = 0; i<6; i++)
{
series[i] = (QScatterSeries *)this->chart()->series().at(i+4);
series[i]->setMarkerSize(size);
}
}