making Lidar - step 02 : One selected and circles drawn

 

# -*- coding: utf-8 -*-
"""
From main library's example, ScatterPlot.py, 
I will take out one of chart to make it for Lidar data display.
"""
from pyqtgraph.Qt import QtGui, QtCore
import pyqtgraph as pg
import numpy as np
from collections import namedtuple
from itertools import chain

app = QtGui.QApplication([])
mw = QtGui.QMainWindow()
mw.resize(530,500)
view = pg.GraphicsLayoutWidget()  ## GraphicsView with GraphicsLayout inserted by default
mw.setCentralWidget(view)
mw.show()
mw.setWindowTitle('Lidar Test')

## create four areas to add plots
w1 = view.addPlot()

# Add polar grid lines
w1.addLine(x=0, pen=0.3)
w1.addLine(y=0, pen=0.3)
for r in range(2, 2000, 200):   # Draw 10 circles
   # Adding circle (x, y, width, height)
   cwidth = r * 2
   cheight = r * 2
   circle = pg.QtGui.QGraphicsEllipseItem(-r, -r, cwidth, cheight)
   circle.setPen(pg.mkPen(0.3))
   w1.addItem(circle)  

###### 이제 여기 아래만 집중적으로 공략하면 라이다 데이타를 적을수 있게 될 듯 하다.  #######
n = 360
s1 = pg.ScatterPlotItem(size=5, pen=pg.mkPen(None), brush=pg.mkBrush(255, 255, 255, 120))
# Make 2 Dimension (X,Y) points array of 360 dots on scale of 500 for 500 mm.
pos = np.random.normal(size=(2,n), scale=500)
spots = [{'pos': pos[:,i], 'data': 1} for i in range(n)] + [{'pos': [0,0], 'data': 1}]
s1.addPoints(spots)
w1.addItem(s1)

if __name__ == '__main__':
    import sys
    if (sys.flags.interactive != 1) or not hasattr(QtCore, 'PYQT_VERSION'):
        QtGui.QApplication.instance().exec_()