From 982e04286e84b06bf08519d080f5333018ed0280 Mon Sep 17 00:00:00 2001
From: gferret <gatien.ferret@kitware.com>
Date: Mon, 22 Aug 2022 14:55:10 +0200
Subject: [PATCH] [feat] Add in the UI of the ensor list tool to live transform
data
Add sliders for translations and rotation updates, linked to lidar proxies to help manipulate the sensor data
---
.../lqLoadLidarStateReaction.cxx | 75 +--
.../lqLoadLidarStateReaction.h | 13 -
.../SensorWidget/lqSensorReaderWidget.cxx | 5 +-
.../SensorWidget/lqSensorReaderWidget.h | 5 +
.../SensorWidget/lqSensorWidget.cxx | 362 ++++++++++++++
.../SensorWidget/lqSensorWidget.h | 72 +++
.../SensorWidget/lqSensorWidget.ui | 461 +++++++++++++++++-
ApplicationComponents/lqHelper.cxx | 69 +++
ApplicationComponents/lqHelper.h | 13 +
9 files changed, 975 insertions(+), 100 deletions(-)
diff --git a/ApplicationComponents/SaveAndLoadLidarState/lqLoadLidarStateReaction.cxx b/ApplicationComponents/SaveAndLoadLidarState/lqLoadLidarStateReaction.cxx
index 50752f3b8..6e6b9c3a7 100644
--- a/ApplicationComponents/SaveAndLoadLidarState/lqLoadLidarStateReaction.cxx
+++ b/ApplicationComponents/SaveAndLoadLidarState/lqLoadLidarStateReaction.cxx
@@ -110,8 +110,8 @@ void lqLoadLidarStateReaction::LoadLidarState(vtkSMProxy * lidarCurrentProxy)
QMessageBox::information(nullptr, tr(""), tr(message.c_str()) );
}
else
- {
- lqLoadLidarStateReaction::UpdateProxyProperty(lidarProxy, propertyName, currentProp.values);
+ {
+ UpdateProxyProperty(lidarProxy, propertyName, currentProp.values);
}
}
}
@@ -162,74 +162,3 @@ void lqLoadLidarStateReaction::ParseJsonContent(Json::Value contents, std::strin
}
}
}
-
-//-----------------------------------------------------------------------------
-int lqLoadLidarStateReaction::UpdateProxyProperty(vtkSMProxy * proxy, const std::string &propNameToFind,
- const std::vector<std::string> &values)
-{
- // If there is no value to set, the request is skipped
- if(values.empty())
- {
- std::string message = "Property " + propNameToFind + " couldn't be applied";
- QMessageBox::information(nullptr, QObject::tr(""), QObject::tr(message.c_str()) );
- return 0;
- }
-
- vtkSMProperty* prop = GetPropertyFromProxy(proxy, propNameToFind);
-
- if(!prop)
- {
- return 0;
- }
-
- std::vector<double> propertyAsDoubleArray = vtkSMPropertyHelper(prop).GetDoubleArray();
- if(propertyAsDoubleArray.size() > 1)
- {
- if(propertyAsDoubleArray.size() != values.size())
- {
- std::cout << "Values to applied and base property does not have the same size" << std::endl;
- }
- std::vector<double> d;
- for(unsigned int j = 0; j < values.size(); j++)
- {
- d.push_back(std::stod(values[j]));
- }
- vtkSMPropertyHelper(prop).Set(d.data(), d.size());
- proxy->UpdateProperty(propNameToFind.c_str());
- return 1;
- }
- else
- {
- // If the property is a valid variant we display it to the user
- vtkVariant propertyAsVariant = vtkSMPropertyHelper(prop).GetAsVariant(0);
- if(propertyAsVariant.IsValid())
- {
- if(propertyAsVariant.IsInt())
- {
- vtkSMBooleanDomain * boolDomain = vtkSMBooleanDomain::SafeDownCast(prop->FindDomain("vtkSMBooleanDomain"));
- if(boolDomain && (values[0].compare("false") == 0 || values[0].compare("true") == 0))
- {
- int value = (values[0].compare("false") == 0) ? 0 : 1;
- vtkSMPropertyHelper(prop).Set(value);
- }
- else
- {
- vtkSMPropertyHelper(prop).Set(std::stoi(values[0]));
- }
- }
- else if(propertyAsVariant.IsNumeric())
- {
- vtkSMPropertyHelper(prop).Set(std::stof(values[0]));
-
- }
- else if(propertyAsVariant.IsString())
- {
- vtkSMPropertyHelper(prop).Set(values[0].c_str());
- }
- proxy->UpdateProperty(propNameToFind.c_str());
- return 1;
- }
- }
- return 0;
-}
-
diff --git a/ApplicationComponents/SaveAndLoadLidarState/lqLoadLidarStateReaction.h b/ApplicationComponents/SaveAndLoadLidarState/lqLoadLidarStateReaction.h
index ba5bc7299..03afbca23 100644
--- a/ApplicationComponents/SaveAndLoadLidarState/lqLoadLidarStateReaction.h
+++ b/ApplicationComponents/SaveAndLoadLidarState/lqLoadLidarStateReaction.h
@@ -27,19 +27,6 @@ public:
static void LoadLidarState(vtkSMProxy * lidarCurrentProxy);
- /**
- * @brief UpdateProxyProperty set the values to the property "propNameToFind" of the proxy
- * If the property is not found in the proxy, a message is displayed but nothing is done.
- * This function is useful, if the property type is unknown.
- * If it is known, you should directly use vtkSMPropertyHelper to set the property
- * @param proxy proxy where to search the property
- * @param propNameToFind name of the property
- * @param values properties values to set
- * @return 1 if the property has been well set, 0 otherwise
- */
- static int UpdateProxyProperty(vtkSMProxy * proxy, const std::string & propNameToFind,
- const std::vector<std::string> & values);
-
public slots:
/**
* Called when the action is triggered.
diff --git a/ApplicationComponents/SensorWidget/lqSensorReaderWidget.cxx b/ApplicationComponents/SensorWidget/lqSensorReaderWidget.cxx
index 960609d7c..0ce8dc8a2 100644
--- a/ApplicationComponents/SensorWidget/lqSensorReaderWidget.cxx
+++ b/ApplicationComponents/SensorWidget/lqSensorReaderWidget.cxx
@@ -7,6 +7,9 @@
#include <vtkSMPropertyHelper.h>
#include <vtkSMProxy.h>
+#include <iostream>
+#include <fstream>
+
//-----------------------------------------------------------------------------
lqSensorReaderWidget::lqSensorReaderWidget(QWidget *parent) :
lqSensorWidget(parent)
@@ -14,7 +17,7 @@ lqSensorReaderWidget::lqSensorReaderWidget(QWidget *parent) :
// In reading mode, we only read the packet received on the right lidarPort.
// This is why we want to expose it in reader mode too
this->UI->lidarPort->setVisible(true);
-}
+ }
//-----------------------------------------------------------------------------
void lqSensorReaderWidget::onUpdateUI()
diff --git a/ApplicationComponents/SensorWidget/lqSensorReaderWidget.h b/ApplicationComponents/SensorWidget/lqSensorReaderWidget.h
index 4c160a2c3..044cecc6a 100644
--- a/ApplicationComponents/SensorWidget/lqSensorReaderWidget.h
+++ b/ApplicationComponents/SensorWidget/lqSensorReaderWidget.h
@@ -9,6 +9,8 @@
class pqPipelineSource;
+
+
/**
* @brief The lqSensorWidget enable to handle some function of a Lidar with buttons.
*
@@ -25,6 +27,9 @@ class LQAPPLICATIONCOMPONENTS_EXPORT lqSensorReaderWidget : public lqSensorWidge
QString GetExplanationOnUI() override;
public slots:
+ /*!
+ * @brief Function slot used to update the text of the UI depending on whether we are in reader or stream mode
+ */
void onUpdateUI() override;
private:
diff --git a/ApplicationComponents/SensorWidget/lqSensorWidget.cxx b/ApplicationComponents/SensorWidget/lqSensorWidget.cxx
index b2bb69472..ff92c6c49 100644
--- a/ApplicationComponents/SensorWidget/lqSensorWidget.cxx
+++ b/ApplicationComponents/SensorWidget/lqSensorWidget.cxx
@@ -1,4 +1,5 @@
#include "lqSensorWidget.h"
+#include "lqHelper.h"
#include "ui_lqSensorWidget.h"
#include "lqLoadLidarStateReaction.h"
@@ -13,6 +14,7 @@
#include <vtkSMProperty.h>
#include <vtkSMPropertyHelper.h>
#include <vtkSMProxy.h>
+#include <vtkSMSourceProxy.h>
#include "vtkLidarStream.h"
@@ -44,6 +46,108 @@ lqSensorWidget::lqSensorWidget(QWidget *parent) :
this->setFocusPolicy(Qt::StrongFocus);
this->SourceToDisplay = nullptr;
+
+
+ this->UI->enableLiveDataTransformCheckBox->setVisible(true);
+
+ // set up arrays to point on sliders and spinboxes corresponding to each transform param
+ this->slider_Array[TRANSFORMVALUE_INDEX::POS_X] = this->UI->TxSlider;
+ this->slider_Array[TRANSFORMVALUE_INDEX::POS_Y] = this->UI->TySlider;
+ this->slider_Array[TRANSFORMVALUE_INDEX::POS_Z] = this->UI->TzSlider;
+ this->slider_Array[TRANSFORMVALUE_INDEX::ROT_ROLL] = this->UI->RollSlider;
+ this->slider_Array[TRANSFORMVALUE_INDEX::ROT_PITCH] = this->UI->PitchSlider;
+ this->slider_Array[TRANSFORMVALUE_INDEX::ROT_YAW] = this->UI->YawSlider;
+
+ this->spinbox_Array[TRANSFORMVALUE_INDEX::POS_X] = this->UI->TxSpinBox;
+ this->spinbox_Array[TRANSFORMVALUE_INDEX::POS_Y] = this->UI->TySpinBox;
+ this->spinbox_Array[TRANSFORMVALUE_INDEX::POS_Z] = this->UI->TzSpinBox;
+ this->spinbox_Array[TRANSFORMVALUE_INDEX::ROT_ROLL] = this->UI->RollSpinBox;
+ this->spinbox_Array[TRANSFORMVALUE_INDEX::ROT_PITCH] = this->UI->PitchSpinBox;
+ this->spinbox_Array[TRANSFORMVALUE_INDEX::ROT_YAW] = this->UI->YawSpinBox;
+
+ // Hide UI that shall not be shown if not in live transform mode
+ this->onEnableLiveTransformToggle();
+
+ // init internal values from UI defaults
+ for (unsigned int idxValue = 0; idxValue < TRANSFORMVALUE_INDEX::TRANSFORM_SIZE; idxValue++)
+ {
+ min_Transform[idxValue] = this->spinbox_Array[idxValue]->minimum();
+ max_Transform[idxValue] = this->spinbox_Array[idxValue]->maximum();
+ curr_Transform[idxValue] = this->spinbox_Array[idxValue]->value();
+ }
+
+ connect(this->UI->enableLiveDataTransformCheckBox, &QCheckBox::stateChanged, this,
+ [this] { lqSensorWidget::onEnableLiveTransformToggle(); });
+
+ // Connect Slider movement to transform updating function
+ connect(this->UI->TxSlider, &QSlider::sliderMoved, this,
+ [this] { lqSensorWidget::onSliderUpdate(TRANSFORMVALUE_INDEX::POS_X); });
+ connect(this->UI->TySlider, &QSlider::sliderMoved, this,
+ [this] { lqSensorWidget::onSliderUpdate(TRANSFORMVALUE_INDEX::POS_Y); });
+ connect(this->UI->TzSlider, &QSlider::sliderMoved, this,
+ [this] { lqSensorWidget::onSliderUpdate(TRANSFORMVALUE_INDEX::POS_Z); });
+ connect(this->UI->RollSlider, &QSlider::sliderMoved, this,
+ [this] { lqSensorWidget::onSliderUpdate(TRANSFORMVALUE_INDEX::ROT_ROLL); });
+ connect(this->UI->PitchSlider, &QSlider::sliderMoved, this,
+ [this] { lqSensorWidget::onSliderUpdate(TRANSFORMVALUE_INDEX::ROT_PITCH); });
+ connect(this->UI->YawSlider, &QSlider::sliderMoved, this,
+ [this] { lqSensorWidget::onSliderUpdate(TRANSFORMVALUE_INDEX::ROT_YAW); });
+
+ // connect Slider Release signal to make sur last value of the slider is recorded
+ connect(this->UI->TxSlider, &QSlider::sliderReleased, this,
+ [this] { lqSensorWidget::onSliderUpdate(TRANSFORMVALUE_INDEX::POS_X); });
+ connect(this->UI->TySlider, &QSlider::sliderReleased, this,
+ [this] { lqSensorWidget::onSliderUpdate(TRANSFORMVALUE_INDEX::POS_Y); });
+ connect(this->UI->TzSlider, &QSlider::sliderReleased, this,
+ [this] { lqSensorWidget::onSliderUpdate(TRANSFORMVALUE_INDEX::POS_Z); });
+ connect(this->UI->RollSlider, &QSlider::sliderReleased, this,
+ [this] { lqSensorWidget::onSliderUpdate(TRANSFORMVALUE_INDEX::ROT_ROLL); });
+ connect(this->UI->PitchSlider, &QSlider::sliderReleased, this,
+ [this] { lqSensorWidget::onSliderUpdate(TRANSFORMVALUE_INDEX::ROT_PITCH); });
+ connect(this->UI->YawSlider, &QSlider::sliderReleased, this,
+ [this] { lqSensorWidget::onSliderUpdate(TRANSFORMVALUE_INDEX::ROT_YAW); });
+
+ // connect value spinboxes to corresponding function
+ connect(this->UI->TxSpinBox, &QDoubleSpinBox::editingFinished, this,
+ [this] { lqSensorWidget::onValueSpinBoxUpdate(TRANSFORMVALUE_INDEX::POS_X); });
+ connect(this->UI->TySpinBox, &QDoubleSpinBox::editingFinished, this,
+ [this] { lqSensorWidget::onValueSpinBoxUpdate(TRANSFORMVALUE_INDEX::POS_Y); });
+ connect(this->UI->TzSpinBox, &QDoubleSpinBox::editingFinished, this,
+ [this] { lqSensorWidget::onValueSpinBoxUpdate(TRANSFORMVALUE_INDEX::POS_Z); });
+ connect(this->UI->RollSpinBox, &QDoubleSpinBox::editingFinished, this,
+ [this] { lqSensorWidget::onValueSpinBoxUpdate(TRANSFORMVALUE_INDEX::ROT_ROLL); });
+ connect(this->UI->PitchSpinBox, &QDoubleSpinBox::editingFinished, this,
+ [this] { lqSensorWidget::onValueSpinBoxUpdate(TRANSFORMVALUE_INDEX::ROT_PITCH); });
+ connect(this->UI->YawSpinBox, &QDoubleSpinBox::editingFinished, this,
+ [this] { lqSensorWidget::onValueSpinBoxUpdate(TRANSFORMVALUE_INDEX::ROT_YAW); });
+
+ // connect min max spin boxes to corresponding function
+ connect(this->UI->MinTranslationValueSpinBox, &QDoubleSpinBox::editingFinished, this,
+ [this] { lqSensorWidget::onMinMaxValueSpinBoxUpdate(TRANSFORMVALUE_INDEX::POS_X); });
+ connect(this->UI->MinTranslationValueSpinBox, &QDoubleSpinBox::editingFinished, this,
+ [this] { lqSensorWidget::onMinMaxValueSpinBoxUpdate(TRANSFORMVALUE_INDEX::POS_Y); });
+ connect(this->UI->MinTranslationValueSpinBox, &QDoubleSpinBox::editingFinished, this,
+ [this] { lqSensorWidget::onMinMaxValueSpinBoxUpdate(TRANSFORMVALUE_INDEX::POS_Z); });
+ connect(this->UI->MinRotationValueSpinBox, &QDoubleSpinBox::editingFinished, this,
+ [this] { lqSensorWidget::onMinMaxValueSpinBoxUpdate(TRANSFORMVALUE_INDEX::ROT_ROLL); });
+ connect(this->UI->MinRotationValueSpinBox, &QDoubleSpinBox::editingFinished, this,
+ [this] { lqSensorWidget::onMinMaxValueSpinBoxUpdate(TRANSFORMVALUE_INDEX::ROT_PITCH); });
+ connect(this->UI->MinRotationValueSpinBox, &QDoubleSpinBox::editingFinished, this,
+ [this] { lqSensorWidget::onMinMaxValueSpinBoxUpdate(TRANSFORMVALUE_INDEX::ROT_YAW); });
+
+ // connect min max spin boxes to corresponding function
+ connect(this->UI->MaxTranslationValueSpinBox, &QDoubleSpinBox::editingFinished, this,
+ [this] { lqSensorWidget::onMinMaxValueSpinBoxUpdate(TRANSFORMVALUE_INDEX::POS_X); });
+ connect(this->UI->MaxTranslationValueSpinBox, &QDoubleSpinBox::editingFinished, this,
+ [this] { lqSensorWidget::onMinMaxValueSpinBoxUpdate(TRANSFORMVALUE_INDEX::POS_Y); });
+ connect(this->UI->MaxTranslationValueSpinBox, &QDoubleSpinBox::editingFinished, this,
+ [this] { lqSensorWidget::onMinMaxValueSpinBoxUpdate(TRANSFORMVALUE_INDEX::POS_Z); });
+ connect(this->UI->MaxRotationValueSpinBox, &QDoubleSpinBox::editingFinished, this,
+ [this] { lqSensorWidget::onMinMaxValueSpinBoxUpdate(TRANSFORMVALUE_INDEX::ROT_ROLL); });
+ connect(this->UI->MaxRotationValueSpinBox, &QDoubleSpinBox::editingFinished, this,
+ [this] { lqSensorWidget::onMinMaxValueSpinBoxUpdate(TRANSFORMVALUE_INDEX::ROT_PITCH); });
+ connect(this->UI->MaxRotationValueSpinBox, &QDoubleSpinBox::editingFinished, this,
+ [this] { lqSensorWidget::onMinMaxValueSpinBoxUpdate(TRANSFORMVALUE_INDEX::ROT_YAW); });
}
//-----------------------------------------------------------------------------
@@ -151,6 +255,9 @@ void lqSensorWidget::onCalibrate()
{
this->CalibrationFunction(this->LidarSource, this->PositionOrientationSource);
}
+ // update internal transform based on updated proxy transform
+ ReadValueFromProxy();
+
}
//-----------------------------------------------------------------------------
@@ -250,3 +357,258 @@ void lqSensorWidget::focusInEvent(QFocusEvent*)
{
emit selected(this);
}
+
+void lqSensorWidget::onEnableLiveTransformToggle()
+{
+ // Get enable flag for the check box
+ bool isLiveTransformVisible = this->UI->enableLiveDataTransformCheckBox->isChecked();
+
+ // set / unset visibility of the tools to move the lidar data
+ this->UI->TranslationLabel->setVisible(isLiveTransformVisible);
+ this->UI->labelMinMaxTranslation->setVisible(isLiveTransformVisible);
+ this->UI->MinTranslationValueSpinBox->setVisible(isLiveTransformVisible);
+ this->UI->MaxTranslationValueSpinBox->setVisible(isLiveTransformVisible);
+ this->UI->TxSlider->setVisible(isLiveTransformVisible);
+ this->UI->TxSpinBox->setVisible(isLiveTransformVisible);
+ this->UI->TySlider->setVisible(isLiveTransformVisible);
+ this->UI->TySpinBox->setVisible(isLiveTransformVisible);
+ this->UI->TzSlider->setVisible(isLiveTransformVisible);
+ this->UI->TzSpinBox->setVisible(isLiveTransformVisible);
+ this->UI->RotationLabel->setVisible(isLiveTransformVisible);
+ this->UI->labelMinMaxRotation->setVisible(isLiveTransformVisible);
+ this->UI->MinRotationValueSpinBox->setVisible(isLiveTransformVisible);
+ this->UI->MaxRotationValueSpinBox->setVisible(isLiveTransformVisible);
+ this->UI->RollSlider->setVisible(isLiveTransformVisible);
+ this->UI->RollSpinBox->setVisible(isLiveTransformVisible);
+ this->UI->PitchSlider->setVisible(isLiveTransformVisible);
+ this->UI->PitchSpinBox->setVisible(isLiveTransformVisible);
+ this->UI->YawSlider->setVisible(isLiveTransformVisible);
+ this->UI->YawSpinBox->setVisible(isLiveTransformVisible);
+
+ ReadValueFromProxy();
+}
+
+void lqSensorWidget::onSliderUpdate(unsigned int idxValue)
+{
+ // get value from slider
+ // update MinMax values
+ if (idxValue <= POS_Z)
+ {
+ min_Transform[idxValue] = this->UI->MinTranslationValueSpinBox->value();
+ max_Transform[idxValue] = this->UI->MaxTranslationValueSpinBox->value();
+ }
+ else
+ {
+ min_Transform[idxValue] = this->UI->MinRotationValueSpinBox->value();
+ max_Transform[idxValue] = this->UI->MaxRotationValueSpinBox->value();
+ }
+
+ // compute value represented by the slider position
+ double sliderRange = std::max(
+ static_cast<double>(slider_Array[idxValue]->maximum() - slider_Array[idxValue]->minimum()),
+ 1.0);
+ double value =
+ (static_cast<double>((slider_Array[idxValue]->value() - slider_Array[idxValue]->minimum())) /
+ sliderRange) *
+ (max_Transform[idxValue] - min_Transform[idxValue]) +
+ min_Transform[idxValue];
+
+ // update internal value
+ curr_Transform[idxValue] = value;
+
+ // update corresponding spinbox
+ this->spinbox_Array[idxValue]->setValue(value);
+
+ // call update transform
+ onUpdateTransform();
+}
+
+void lqSensorWidget::onValueSpinBoxUpdate(unsigned int idxValue)
+{
+ // update internal value
+ curr_Transform[idxValue] = this->spinbox_Array[idxValue]->value();
+ // update slider position based on scaling
+ int sliderPosition = slider_Array[idxValue]->minimum() +
+ ((slider_Array[idxValue]->maximum() - slider_Array[idxValue]->minimum()) *
+ (curr_Transform[idxValue] - min_Transform[idxValue]) /
+ (max_Transform[idxValue] - min_Transform[idxValue]));
+ this->slider_Array[idxValue]->setValue(sliderPosition);
+
+ // call update transform
+ onUpdateTransform();
+}
+
+void lqSensorWidget::onMinMaxValueSpinBoxUpdate(unsigned int idxValue)
+{
+ // update MinMax values ( assumption is that first values are translation then rotation, in
+ // X,Y,Z,Roll,Pitch,Yaw order)
+ if (idxValue <= POS_Z)
+ {
+ min_Transform[idxValue] = this->UI->MinTranslationValueSpinBox->value();
+ max_Transform[idxValue] = this->UI->MaxTranslationValueSpinBox->value();
+ }
+ else
+ {
+ min_Transform[idxValue] = this->UI->MinRotationValueSpinBox->value();
+ max_Transform[idxValue] = this->UI->MaxRotationValueSpinBox->value();
+ }
+ // Saturate internal values
+ if (min_Transform[idxValue] > curr_Transform[idxValue])
+ {
+ curr_Transform[idxValue] = min_Transform[idxValue];
+ }
+ if (max_Transform[idxValue] < curr_Transform[idxValue])
+ {
+ curr_Transform[idxValue] = max_Transform[idxValue];
+ }
+
+ // update widgets
+ UpdateSpinBoxAndSliderFromInternalValues(idxValue);
+
+ // call update transform
+ onUpdateTransform();
+}
+
+void lqSensorWidget::UpdateSpinBoxAndSliderFromInternalValues(unsigned int idxValue)
+{
+ // update spinbox min and max
+ this->spinbox_Array[idxValue]->setMinimum(min_Transform[idxValue]);
+ this->spinbox_Array[idxValue]->setMaximum(max_Transform[idxValue]);
+
+ // update spinbox / slider position based on scaling
+ this->spinbox_Array[idxValue]->setValue(curr_Transform[idxValue]);
+
+ int sliderPosition = slider_Array[idxValue]->minimum() +
+ ((slider_Array[idxValue]->maximum() - slider_Array[idxValue]->minimum()) *
+ (curr_Transform[idxValue] - min_Transform[idxValue]) /
+ (max_Transform[idxValue] - min_Transform[idxValue]));
+ this->slider_Array[idxValue]->setValue(sliderPosition);
+}
+
+void lqSensorWidget::ReadValueFromProxy()
+{
+ // Get lidar proxy
+ if (this->LidarSource)
+ {
+ vtkSMProxy* lidarProxy = this->LidarSource->getProxy();
+
+ // names of the lidarreader proxy
+ std::string propertyNameTranslation = "Position";
+ std::string propertyNameRotation = "Rotation";
+ std::string TransformproxyName = "Transform2";
+
+ if (lidarProxy)
+ {
+ // Get transform proxy
+ vtkSMProxy* TransformProxy = SearchProxyByName(lidarProxy, TransformproxyName);
+ // Get translation property
+ vtkSMProperty* propTranslation =
+ GetPropertyFromProxy(TransformProxy, propertyNameTranslation);
+ std::vector<double> TranslationVector = vtkSMPropertyHelper(propTranslation).GetDoubleArray();
+
+ // Get Translation parameters
+ double Tx = TranslationVector[0];
+ double Ty = TranslationVector[1];
+ double Tz = TranslationVector[2];
+
+ // Get translation property
+ vtkSMProperty* propRotation = GetPropertyFromProxy(TransformProxy, propertyNameRotation);
+ std::vector<double> RotationVector = vtkSMPropertyHelper(propRotation).GetDoubleArray();
+ // Get Rotation parameters
+ double Roll = RotationVector[0];
+ double Pitch = RotationVector[1];
+ double Yaw = RotationVector[2];
+
+ // Concatenate them in a vector
+ double TransformParams[TRANSFORMVALUE_INDEX::TRANSFORM_SIZE] = { Tx, Ty, Tz, Roll, Pitch,
+ Yaw };
+
+ // update internal values
+ // Get current min and max for rotation and translation
+ double minMinTranslation = this->UI->MinTranslationValueSpinBox->value();
+ double maxMaxTranslation = this->UI->MaxTranslationValueSpinBox->value();
+ double minMinRotation = this->UI->MinRotationValueSpinBox->value();
+ double maxMaxRotation = this->UI->MaxRotationValueSpinBox->value();
+
+ // Loop over parameters to update the current values with what is found on the proxy
+ for (unsigned int idxValue = 0; idxValue < TRANSFORMVALUE_INDEX::TRANSFORM_SIZE; idxValue++)
+ {
+ // update current value
+ curr_Transform[idxValue] = TransformParams[idxValue];
+
+ // update min and max if necessary
+ min_Transform[idxValue] = std::min(min_Transform[idxValue], curr_Transform[idxValue]);
+ max_Transform[idxValue] = std::max(max_Transform[idxValue], curr_Transform[idxValue]);
+ this->spinbox_Array[idxValue]->setMinimum(min_Transform[idxValue]);
+ this->spinbox_Array[idxValue]->setMaximum(max_Transform[idxValue]);
+
+ // collect overall minimum and maximum to be able to update the min and max spinboxes
+ if (idxValue <= POS_Z)
+ {
+ minMinTranslation = std::min(minMinTranslation, min_Transform[idxValue]);
+ maxMaxTranslation = std::max(maxMaxTranslation, max_Transform[idxValue]);
+ }
+ else
+ {
+ minMinRotation = std::min(minMinRotation, min_Transform[idxValue]);
+ maxMaxRotation = std::max(maxMaxRotation, max_Transform[idxValue]);
+ }
+ // update spinbox and slider
+ UpdateSpinBoxAndSliderFromInternalValues(idxValue);
+
+ } // End for loop on transforms
+
+ // set min and max spinboxes with the minimum found
+ this->UI->MinTranslationValueSpinBox->setValue(minMinTranslation);
+ this->UI->MaxTranslationValueSpinBox->setValue(maxMaxTranslation);
+ this->UI->MinRotationValueSpinBox->setValue(minMinRotation);
+ this->UI->MaxRotationValueSpinBox->setValue(maxMaxRotation);
+
+ } // end if lidarProxy
+ } // end if LidarSource
+}
+
+void lqSensorWidget::onUpdateTransform()
+{
+ vtkSMProxy* lidarProxy = this->LidarSource->getProxy();
+
+ // names of the lidarreader proxy
+ std::string propertyNameTranslation = "Position";
+ std::string propertyNameRotation = "Rotation";
+ std::string TransformproxyName = "Transform2";
+
+ if (lidarProxy)
+ {
+ // Recover translation from sliders
+ double Tx = curr_Transform[TRANSFORMVALUE_INDEX::POS_X];
+ double Ty = curr_Transform[TRANSFORMVALUE_INDEX::POS_Y];
+ double Tz = curr_Transform[TRANSFORMVALUE_INDEX::POS_Z];
+ std::vector<std::string> TranslationValues = { std::to_string(Tx), std::to_string(Ty),
+ std::to_string(Tz) };
+
+ // Recover Rotation from sliders
+ double Roll = curr_Transform[TRANSFORMVALUE_INDEX::ROT_ROLL];
+ double Pitch = curr_Transform[TRANSFORMVALUE_INDEX::ROT_PITCH];
+ double Yaw = curr_Transform[TRANSFORMVALUE_INDEX::ROT_YAW];
+ std::vector<std::string> RotationValues = { std::to_string(Roll), std::to_string(Pitch),
+ std::to_string(Yaw) };
+
+ // Get transform proxy
+ vtkSMProxy* TransformProxy = SearchProxyByName(lidarProxy, TransformproxyName);
+
+ // update proxy properties
+ vtkSMProperty* prop = GetPropertyFromProxy(TransformProxy, propertyNameTranslation);
+ UpdateProxyProperty(TransformProxy, propertyNameTranslation, TranslationValues);
+
+ prop = GetPropertyFromProxy(TransformProxy, propertyNameRotation);
+ UpdateProxyProperty(TransformProxy, propertyNameRotation, RotationValues);
+
+ lidarProxy->UpdateSelfAndAllInputs();
+ vtkSMSourceProxy* sourcelidarProxy = vtkSMSourceProxy::SafeDownCast(lidarProxy);
+ if (sourcelidarProxy)
+ {
+ sourcelidarProxy->UpdatePipelineInformation();
+ }
+ pqApplicationCore::instance()->render();
+ }
+}
diff --git a/ApplicationComponents/SensorWidget/lqSensorWidget.h b/ApplicationComponents/SensorWidget/lqSensorWidget.h
index 82d9ba194..3d1dbddfa 100644
--- a/ApplicationComponents/SensorWidget/lqSensorWidget.h
+++ b/ApplicationComponents/SensorWidget/lqSensorWidget.h
@@ -4,6 +4,8 @@
#include "lqapplicationcomponents_export.h"
#include <QWidget>
+#include <QSlider>
+#include <QDoubleSpinBox>
#include <functional>
class pqPipelineSource;
@@ -23,6 +25,19 @@ class LQAPPLICATIONCOMPONENTS_EXPORT lqSensorWidget : public QWidget
{
Q_OBJECT
+ // method to identify the normal of the plane containing the turn
+ enum TRANSFORMVALUE_INDEX
+ {
+ POS_X = 0,
+ POS_Y = 1,
+ POS_Z = 2,
+ ROT_ROLL = 3,
+ ROT_PITCH = 4,
+ ROT_YAW = 5,
+ TRANSFORM_SIZE = 6
+ };
+
+
public:
explicit lqSensorWidget(QWidget *parent = 0);
~lqSensorWidget();
@@ -46,6 +61,12 @@ class LQAPPLICATIONCOMPONENTS_EXPORT lqSensorWidget : public QWidget
virtual QString GetExplanationOnUI() = 0;
+ /*!
+ * @brief Function used to get the transfrom data from a proxy and update the internal data /
+ * spinbox and sliders of this class accordingly
+ */
+ void ReadValueFromProxy();
+
public slots:
virtual void onUpdateUI();
void onCalibrate();
@@ -54,6 +75,36 @@ class LQAPPLICATIONCOMPONENTS_EXPORT lqSensorWidget : public QWidget
void onSaveLidarState();
void onLoadLidarState();
+ protected slots:
+ /*!
+ * @brief Function slot used to update the transform of the lidarsource based on the data
+ * entered in the UI
+ */
+ void onUpdateTransform();
+ /*!
+ * @brief Function slot used to react to an update of a spinbox of a value
+ * This will store the data entered in internal variables, update the associated slider
+ * accordingly and update the transform
+ */
+ void onValueSpinBoxUpdate(unsigned int idxValue);
+ /*!
+ * @brief Function slot used to react to an update of a slider of a value. This will update the
+ * internal variables for this and update the transform
+ */
+ void onSliderUpdate(unsigned int idxValue);
+ /*!
+ * @brief Function slot used to react of an update of the min / max spinboxes for translations
+ * or rotations This will saturate the values used in the transform and update spinboxes /
+ * sliders accordingly
+ */
+ void onMinMaxValueSpinBoxUpdate(unsigned int idxValue);
+ /*!
+ * @brief Function slot used to react on the toggling of the check box to enable or not the live
+ * transform This will hide / show the whole interface and read the data from the proxy to feed
+ * to the interface
+ */
+ void onEnableLiveTransformToggle();
+
signals:
void selected(lqSensorWidget*);
@@ -69,6 +120,27 @@ protected:
bool IsClosing;
Ui::lqSensorWidget* UI;
std::function<void(pqPipelineSource* &, pqPipelineSource* &)> CalibrationFunction;
+
+
+ /*!
+ * @brief common function to update internal QT widgets to internal values
+ */
+ void UpdateSpinBoxAndSliderFromInternalValues(unsigned int idxValue);
+
+ // maximum value for the sliders scaling
+ double min_Transform[TRANSFORMVALUE_INDEX::TRANSFORM_SIZE]; // in order : X,Y,Z,Roll,Pitch,Yaw
+
+ // minimum value for the slider / spinbox scaling
+ double max_Transform[TRANSFORMVALUE_INDEX::TRANSFORM_SIZE]; // in order : X,Y,Z,Roll,Pitch,Yaw
+
+ // current value for each transform
+ double curr_Transform[TRANSFORMVALUE_INDEX::TRANSFORM_SIZE]; // in order : X,Y,Z,Roll,Pitch,Yaw
+
+ // current value for each transform
+ QSlider* slider_Array[TRANSFORMVALUE_INDEX::TRANSFORM_SIZE]; // in order : X,Y,Z,Roll,Pitch,Yaw
+
+ // current value for each transform
+ QDoubleSpinBox* spinbox_Array[TRANSFORMVALUE_INDEX::TRANSFORM_SIZE]; // in order : X,Y,Z,Roll,Pitch,Yaw
};
#endif // LQSENSORWIDGET_H
diff --git a/ApplicationComponents/SensorWidget/lqSensorWidget.ui b/ApplicationComponents/SensorWidget/lqSensorWidget.ui
index 5d43b31e5..c2be0832c 100644
--- a/ApplicationComponents/SensorWidget/lqSensorWidget.ui
+++ b/ApplicationComponents/SensorWidget/lqSensorWidget.ui
@@ -6,12 +6,12 @@
<rect>
<x>0</x>
<y>0</y>
- <width>330</width>
- <height>150</height>
+ <width>334</width>
+ <height>300</height>
</rect>
</property>
<property name="sizePolicy">
- <sizepolicy hsizetype="Expanding" vsizetype="Fixed">
+ <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
@@ -19,13 +19,13 @@
<property name="minimumSize">
<size>
<width>330</width>
- <height>150</height>
+ <height>225</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>16777215</width>
- <height>300</height>
+ <height>500</height>
</size>
</property>
<property name="windowTitle">
@@ -323,6 +323,441 @@
</item>
</layout>
</item>
+ <item>
+ <layout class="QVBoxLayout" name="verticalLayout_2">
+ <item>
+ <layout class="QHBoxLayout" name="horizontalLayout_7">
+ <item>
+ <widget class="QCheckBox" name="enableLiveDataTransformCheckBox">
+ <property name="layoutDirection">
+ <enum>Qt::RightToLeft</enum>
+ </property>
+ <property name="text">
+ <string>Enable Live Data Transform</string>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ <item>
+ <layout class="QHBoxLayout" name="horizontalLayout_12">
+ <item>
+ <widget class="QLabel" name="TranslationLabel">
+ <property name="toolTip">
+ <string><html><head/><body><p>Translate the data in X,Y, and Z directions within boundaries defined by Min and Max value. You may use the sliders of the boxes below to change the values.</p></body></html></string>
+ </property>
+ <property name="text">
+ <string>Translation [X;Y;Z]</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <spacer name="horizontalSpacer_17">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ <property name="sizeType">
+ <enum>QSizePolicy::MinimumExpanding</enum>
+ </property>
+ <property name="sizeHint" stdset="0">
+ <size>
+ <width>40</width>
+ <height>20</height>
+ </size>
+ </property>
+ </spacer>
+ </item>
+ <item>
+ <widget class="QLabel" name="labelMinMaxTranslation">
+ <property name="text">
+ <string>[Min;Max]</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QDoubleSpinBox" name="MinTranslationValueSpinBox">
+ <property name="minimum">
+ <double>-2000.000000000000000</double>
+ </property>
+ <property name="maximum">
+ <double>2000.000000000000000</double>
+ </property>
+ <property name="value">
+ <double>-5.000000000000000</double>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QDoubleSpinBox" name="MaxTranslationValueSpinBox">
+ <property name="minimum">
+ <double>-2000.000000000000000</double>
+ </property>
+ <property name="maximum">
+ <double>2000.000000000000000</double>
+ </property>
+ <property name="value">
+ <double>5.000000000000000</double>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ <item>
+ <layout class="QHBoxLayout" name="LayoutTranslationSliders">
+ <item>
+ <widget class="QSlider" name="TxSlider">
+ <property name="minimum">
+ <number>-50</number>
+ </property>
+ <property name="maximum">
+ <number>50</number>
+ </property>
+ <property name="value">
+ <number>0</number>
+ </property>
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <spacer name="horizontalSpacer_8">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ <property name="sizeHint" stdset="0">
+ <size>
+ <width>40</width>
+ <height>20</height>
+ </size>
+ </property>
+ </spacer>
+ </item>
+ <item>
+ <widget class="QDoubleSpinBox" name="TxSpinBox">
+ <property name="minimum">
+ <double>-5.000000000000000</double>
+ </property>
+ <property name="maximum">
+ <double>5.000000000000000</double>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <spacer name="horizontalSpacer_5">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ <property name="sizeHint" stdset="0">
+ <size>
+ <width>10</width>
+ <height>20</height>
+ </size>
+ </property>
+ </spacer>
+ </item>
+ <item>
+ <widget class="QSlider" name="TySlider">
+ <property name="minimum">
+ <number>-50</number>
+ </property>
+ <property name="maximum">
+ <number>50</number>
+ </property>
+ <property name="value">
+ <number>0</number>
+ </property>
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <spacer name="horizontalSpacer_9">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ <property name="sizeHint" stdset="0">
+ <size>
+ <width>40</width>
+ <height>20</height>
+ </size>
+ </property>
+ </spacer>
+ </item>
+ <item>
+ <widget class="QDoubleSpinBox" name="TySpinBox">
+ <property name="minimum">
+ <double>-5.000000000000000</double>
+ </property>
+ <property name="maximum">
+ <double>5.000000000000000</double>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <spacer name="horizontalSpacer_4">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ <property name="sizeHint" stdset="0">
+ <size>
+ <width>10</width>
+ <height>20</height>
+ </size>
+ </property>
+ </spacer>
+ </item>
+ <item>
+ <widget class="QSlider" name="TzSlider">
+ <property name="minimum">
+ <number>-50</number>
+ </property>
+ <property name="maximum">
+ <number>50</number>
+ </property>
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <spacer name="horizontalSpacer_10">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ <property name="sizeHint" stdset="0">
+ <size>
+ <width>40</width>
+ <height>20</height>
+ </size>
+ </property>
+ </spacer>
+ </item>
+ <item>
+ <widget class="QDoubleSpinBox" name="TzSpinBox">
+ <property name="minimum">
+ <double>-5.000000000000000</double>
+ </property>
+ <property name="maximum">
+ <double>5.000000000000000</double>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ <item>
+ <layout class="QHBoxLayout" name="horizontalLayout_9">
+ <item>
+ <widget class="QLabel" name="RotationLabel">
+ <property name="toolTip">
+ <string><html><head/><body><p>Rotate the data according to base axis with values defined between min and max values</p><p>Roll corresponds to rotation around the X axis</p><p>Pitch corresponds to rotation around the Y axis</p><p>Yaw corresponds to rotation around the Z axis </p></body></html></string>
+ </property>
+ <property name="text">
+ <string>Rotation [Roll;Pitch;Yaw]</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <spacer name="horizontalSpacer_16">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ <property name="sizeType">
+ <enum>QSizePolicy::MinimumExpanding</enum>
+ </property>
+ <property name="sizeHint" stdset="0">
+ <size>
+ <width>40</width>
+ <height>20</height>
+ </size>
+ </property>
+ </spacer>
+ </item>
+ <item>
+ <widget class="QLabel" name="labelMinMaxRotation">
+ <property name="text">
+ <string>[Min;Max]</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QDoubleSpinBox" name="MinRotationValueSpinBox">
+ <property name="maximum">
+ <double>360.000000000000000</double>
+ </property>
+ <property name="singleStep">
+ <double>1.000000000000000</double>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QDoubleSpinBox" name="MaxRotationValueSpinBox">
+ <property name="maximum">
+ <double>360.000000000000000</double>
+ </property>
+ <property name="singleStep">
+ <double>1.000000000000000</double>
+ </property>
+ <property name="value">
+ <double>360.000000000000000</double>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ <item>
+ <layout class="QHBoxLayout" name="LayoutRotationSliders">
+ <item>
+ <widget class="QSlider" name="RollSlider">
+ <property name="minimum">
+ <number>-500</number>
+ </property>
+ <property name="maximum">
+ <number>500</number>
+ </property>
+ <property name="value">
+ <number>-500</number>
+ </property>
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <spacer name="horizontalSpacer_11">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ <property name="sizeHint" stdset="0">
+ <size>
+ <width>40</width>
+ <height>20</height>
+ </size>
+ </property>
+ </spacer>
+ </item>
+ <item>
+ <widget class="QDoubleSpinBox" name="RollSpinBox">
+ <property name="minimum">
+ <double>0.000000000000000</double>
+ </property>
+ <property name="maximum">
+ <double>360.000000000000000</double>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <spacer name="horizontalSpacer_6">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ <property name="sizeHint" stdset="0">
+ <size>
+ <width>10</width>
+ <height>20</height>
+ </size>
+ </property>
+ </spacer>
+ </item>
+ <item>
+ <widget class="QSlider" name="PitchSlider">
+ <property name="minimum">
+ <number>-500</number>
+ </property>
+ <property name="maximum">
+ <number>500</number>
+ </property>
+ <property name="value">
+ <number>-500</number>
+ </property>
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <spacer name="horizontalSpacer_12">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ <property name="sizeHint" stdset="0">
+ <size>
+ <width>40</width>
+ <height>20</height>
+ </size>
+ </property>
+ </spacer>
+ </item>
+ <item>
+ <widget class="QDoubleSpinBox" name="PitchSpinBox">
+ <property name="minimum">
+ <double>0.000000000000000</double>
+ </property>
+ <property name="maximum">
+ <double>360.000000000000000</double>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <spacer name="horizontalSpacer_7">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ <property name="sizeHint" stdset="0">
+ <size>
+ <width>10</width>
+ <height>20</height>
+ </size>
+ </property>
+ </spacer>
+ </item>
+ <item>
+ <widget class="QSlider" name="YawSlider">
+ <property name="maximumSize">
+ <size>
+ <width>16777215</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="minimum">
+ <number>-500</number>
+ </property>
+ <property name="maximum">
+ <number>500</number>
+ </property>
+ <property name="value">
+ <number>-500</number>
+ </property>
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <spacer name="horizontalSpacer_13">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ <property name="sizeHint" stdset="0">
+ <size>
+ <width>40</width>
+ <height>20</height>
+ </size>
+ </property>
+ </spacer>
+ </item>
+ <item>
+ <widget class="QDoubleSpinBox" name="YawSpinBox">
+ <property name="maximum">
+ <double>360.000000000000000</double>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ </layout>
+ </item>
<item>
<spacer name="verticalSpacer">
<property name="orientation">
@@ -418,24 +853,24 @@
</item>
<item>
<widget class="QPushButton" name="SaveLidarState">
+ <property name="toolTip">
+ <string>Save Lidar state</string>
+ </property>
<property name="icon">
- <iconset resource="../LVCore/ApplicationComponents/lqResources.qrc">
+ <iconset>
<normaloff>:/lqResources/Icons/pqSaveState.png</normaloff>:/lqResources/Icons/pqSaveState.png</iconset>
</property>
- <property name="toolTip">
- <string>Save Lidar state</string>
- </property>
</widget>
</item>
<item>
<widget class="QPushButton" name="LoadLidarState">
+ <property name="toolTip">
+ <string>Load Lidar state</string>
+ </property>
<property name="icon">
- <iconset resource="../LVCore/ApplicationComponents/lqResources.qrc">
+ <iconset>
<normaloff>:/lqResources/Icons/pqLoadState.png</normaloff>:/lqResources/Icons/pqLoadState.png</iconset>
</property>
- <property name="toolTip">
- <string>Load Lidar state</string>
- </property>
</widget>
</item>
<item>
diff --git a/ApplicationComponents/lqHelper.cxx b/ApplicationComponents/lqHelper.cxx
index 7dfaa4c8f..99b150670 100644
--- a/ApplicationComponents/lqHelper.cxx
+++ b/ApplicationComponents/lqHelper.cxx
@@ -222,6 +222,75 @@ vtkSMProperty* GetPropertyFromProxy(vtkSMProxy * proxy, const std::string &propN
return nullptr;
}
+//-----------------------------------------------------------------------------
+int UpdateProxyProperty(vtkSMProxy* proxy, const std::string& propNameToFind, const std::vector<std::string>& values)
+{
+ // If there is no value to set, the request is skipped
+ if (values.empty())
+ {
+ std::string message = "Property " + propNameToFind + " couldn't be applied";
+ QMessageBox::information(nullptr, QObject::tr(""), QObject::tr(message.c_str()));
+ return 0;
+ }
+
+ vtkSMProperty* prop = GetPropertyFromProxy(proxy, propNameToFind);
+
+ if (!prop)
+ {
+ return 0;
+ }
+
+ std::vector<double> propertyAsDoubleArray = vtkSMPropertyHelper(prop).GetDoubleArray();
+ if (propertyAsDoubleArray.size() > 1)
+ {
+ if (propertyAsDoubleArray.size() != values.size())
+ {
+ std::cout << "Values to applied and base property does not have the same size" << std::endl;
+ }
+ std::vector<double> d;
+ for (unsigned int j = 0; j < values.size(); j++)
+ {
+ d.push_back(std::stod(values[j]));
+ }
+ vtkSMPropertyHelper(prop).Set(d.data(), d.size());
+ proxy->UpdateProperty(propNameToFind.c_str());
+ return 1;
+ }
+ else
+ {
+ // If the property is a valid variant we display it to the user
+ vtkVariant propertyAsVariant = vtkSMPropertyHelper(prop).GetAsVariant(0);
+ if (propertyAsVariant.IsValid())
+ {
+ if (propertyAsVariant.IsInt())
+ {
+ vtkSMBooleanDomain* boolDomain =
+ vtkSMBooleanDomain::SafeDownCast(prop->FindDomain("vtkSMBooleanDomain"));
+ if (boolDomain && (values[0].compare("false") == 0 || values[0].compare("true") == 0))
+ {
+ int value = (values[0].compare("false") == 0) ? 0 : 1;
+ vtkSMPropertyHelper(prop).Set(value);
+ }
+ else
+ {
+ vtkSMPropertyHelper(prop).Set(std::stoi(values[0]));
+ }
+ }
+ else if (propertyAsVariant.IsNumeric())
+ {
+ vtkSMPropertyHelper(prop).Set(std::stof(values[0]));
+ }
+ else if (propertyAsVariant.IsString())
+ {
+ vtkSMPropertyHelper(prop).Set(values[0].c_str());
+ }
+ proxy->UpdateProperty(propNameToFind.c_str());
+ return 1;
+ }
+ }
+ return 0;
+}
+
std::string GetGroupName(vtkSMProxy * existingProxy, const std::string & proxyToFindName)
{
vtkSMSessionProxyManager* pxm = existingProxy->GetSessionProxyManager();
diff --git a/ApplicationComponents/lqHelper.h b/ApplicationComponents/lqHelper.h
index ec4affe1e..75ca0325f 100644
--- a/ApplicationComponents/lqHelper.h
+++ b/ApplicationComponents/lqHelper.h
@@ -140,6 +140,19 @@ std::vector<vtkSMProxy*> GetLidarsProxy();
*/
vtkSMProperty* GetPropertyFromProxy(vtkSMProxy * proxy, const std::string &propNameToFind);
+
+ /**
+ * @brief UpdateProxyProperty set the values to the property "propNameToFind" of the proxy
+ * If the property is not found in the proxy, a message is displayed but nothing is done.
+ * This function is useful, if the property type is unknown.
+ * If it is known, you should directly use vtkSMPropertyHelper to set the property
+ * @param proxy proxy where to search the property
+ * @param propNameToFind name of the property
+ * @param values properties values to set
+ * @return 1 if the property has been well set, 0 otherwise
+ */
+int UpdateProxyProperty(vtkSMProxy* proxy, const std::string& propNameToFind, const std::vector<std::string>& values);
+
/**
* @brief GetGroupName Get the name of the first group where appear a proxy
* @param existingProxy a proxy of the pipeline, use to get the ProxyDefinitionManager
--
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