OpenGL基于32线激光雷达的机器人结构化环境建模
本文对基于32线激光雷达的机器人结构化环境建模的系统需求与可行性予以了分析，设计并具体实现了系统的功能模块。系统使用32线激光雷达扫描周围环境，对返回的雷达数据进行分析和处理，动态生成周围环境的图像，同时保存收集到的雷达数据，用于后期处理和应用。
关键词 32线激光雷达 环境建模 MFC 双缓冲 OpenGL
毕业论文设计说明书（论文）外文摘要
Title Robot Modeling structured environment based on the Lidar HDL-32E
Abstract
With the development of science and technology,The field of human studies has been extended from land to deep sea and space. The use of robotic space exploration and development, has become one of the main means in the 21st century world of technology developed in various countries to develop space resources. Development of robot technology is the degree of a country's level of science and technology and industrial automation important symbol and embodiment. Robotics is a combination of computer, control theory, multi-disciplinary structure, information and sensor technology, artificial intelligence and simulation learning technology, is the main direction of current research in science and technology.
In this paper,I analyzed the feasibility and the system requirements of Robot Modeling structured environment based on the Lidar HDL-32E, design and implementation of the functional modules of the system. The system uses the Lidar HDL-32E to scan the surroundings,analysis and processing the radar data returned, a dynamically generated image of the surrounding environment, while preserving the collected radar data for post-processing and applications.
Keywords：The Lidar HDL-32E，Environmental Modeling，MFC，double buffering， OpenGL
目 次
1 引言 1
1.1研究背景 1
1.2 国内外研究现状 2
1.3 研究内容 5
1.4 现有技术 5
1.5 研究意义与总结 6
2 基本技术概述 6
2.1 32线激光雷达简介 6
2.1.1 32线雷达重要参数 6
2.1.2 雷达垂直和水平分辨率 7
2.1.3 雷达放置位置与雷达成像模型 9
2.2 MFC简介 9
2.2.1 MFC的框架 10
2.2.2 MFC与封装 10
2.3 OpenGL简介 10
2.3.1 OpenGL的功能 11
2.3.2 OpenGL的环境配置 12
3 基于MFC的雷达数据的二文环境建模 13
3.1 32线激光雷达的编码及数据解析 13
3.1.1 32线激光雷达的数据解析 13
3.1.2 32线激光雷达的坐标换算 16
3.2 MFC中的数据采集与保存 19