ApplicationComponents/SaveAndLoadLidarState/lqLidarStateDialog.cxx

@@ -14,6 +14,9 @@ lqLidarStateDialog::lqLidarStateDialog(QWidget* parent,
   this->properties = propertiesVector;
   this->instructions = QString(instruction.c_str());
 
+  this->allCheckbox = new QCheckBox(QString("Select all"));
+  connect(this->allCheckbox, SIGNAL(stateChanged(int)), this, SLOT(AllCheckboxStateUpdate(int)));
+
   QVBoxLayout* vbox = new QVBoxLayout;
 
   this->CreateStateDialog(vbox);
@@ -39,9 +42,12 @@ void lqLidarStateDialog::CreateStateDialog(QVBoxLayout* vbox)
   // Display a message to give a tip to the user :
   if (!this->instructions.isEmpty())
   {
+    QHBoxLayout* hboxLayout = new QHBoxLayout();
     QLabel* label = new QLabel(this->instructions);
     label->setStyleSheet("font: italic;font-size: 12px ; color: grey");
-    vbox->addWidget(label, 0, Qt::AlignLeft);
+    hboxLayout->addWidget(label, 0, Qt::AlignLeft);
+    hboxLayout->addWidget(this->allCheckbox, 0, Qt::AlignRight);
+    vbox->addLayout(hboxLayout);
   }
 
   for (unsigned int i = 0; i < this->properties.size(); i++)
@@ -66,6 +72,51 @@ void lqLidarStateDialog::CreateStateDialog(QVBoxLayout* vbox)
       hboxLayout->addWidget(currentProperty.checkbox, 0, Qt::AlignLeft);
       hboxLayout->addWidget(label, 0, Qt::AlignLeft);
       vbox->addLayout(hboxLayout);
+
+      QObject::connect(
+        currentProperty.checkbox, SIGNAL(toggled(bool)), this, SLOT(UpdateAllCheckStates()));
     }
   }
 }
+
+//-----------------------------------------------------------------------------
+void lqLidarStateDialog::UpdateAllCheckStates()
+{
+  size_t checked = 0;
+  for (auto& cb : this->properties)
+  {
+    checked += (cb.checkbox->isChecked() ? 1 : 0);
+  }
+
+  QSignalBlocker sblocker(this->allCheckbox);
+  if (checked == this->properties.size())
+  {
+    allCheckbox->setCheckState(Qt::Checked);
+    allCheckbox->setTristate(false);
+  }
+  else if (checked == 0)
+  {
+    allCheckbox->setCheckState(Qt::Unchecked);
+    allCheckbox->setTristate(false);
+  }
+  else
+  {
+    allCheckbox->setCheckState(Qt::PartiallyChecked);
+  }
+}
+
+//-----------------------------------------------------------------------------
+void lqLidarStateDialog::AllCheckboxStateUpdate(int checkState)
+{
+  for (auto& cb : this->properties)
+  {
+    if (!cb.isProxy())
+    {
+      QCheckBox* currentCheckbox = cb.checkbox;
+      QSignalBlocker sblocker(currentCheckbox);
+      currentCheckbox->setChecked(checkState == Qt::Checked);
+    }
+  }
+
+  this->allCheckbox->setTristate(false);
+}
\ No newline at end of file

ApplicationComponents/SaveAndLoadLidarState/lqLidarStateDialog.h

@@ -71,10 +71,16 @@ public:
 
   ~lqLidarStateDialog() {}
 
-  void CreateStateDialog(QVBoxLayout* vbox);
-
   std::vector<propertyInfo> properties;
 
+private slots:
+  void UpdateAllCheckStates();
+  void AllCheckboxStateUpdate(int checkState);
+
+private:
+  void CreateStateDialog(QVBoxLayout* vbox);
+
+  QCheckBox* allCheckbox;
   QString instructions;
 };
 #endif // LQLIDARSTATEDIALOG_H

ApplicationComponents/SensorWidget/lqSensorListWidget.cxx

@@ -281,17 +281,17 @@ void lqSensorListWidget::onSourceRemoved(pqPipelineSource* src)
 {
   if (IsLidarProxy(src->getProxy()))
   {
-    // Remove Source associated Widget
-    const auto it = std::remove_if(this->sensorWidgets.begin(),
-      this->sensorWidgets.end(),
-      [&](const lqSensorWidget* widget) { return widget->IsWidgetLidarSource(src); });
-    if (it == this->sensorWidgets.end())
+    // Remove and close each Source associated Widget from the sensor list
+    for (unsigned int index = 0; index < this->sensorWidgets.size(); index++)
     {
-      vtkGenericWarningMacro("LidarSource removed but unaccounted for in lqSensorListWidget");
-      return;
+      lqSensorWidget* widget = this->sensorWidgets[index];
+      // Check this is the source to be removed
+      if (widget->IsWidgetLidarSource(src))
+      {
+        this->sensorWidgets.erase(this->sensorWidgets.begin() + index);
+        widget->onClose();
+      }
     }
-    this->sensorWidgets.erase(it);
-    (*it)->onClose();
 
     // Emit lidarStreamModeChanged Signal
     if (IsLidarStreamProxy(src->getProxy()) && !isInLiveSensorMode())

LidarSlam @ 5cd7b759

-Subproject commit dffecb3cdefd2a2f289a93c5850224611142c1ab
+Subproject commit 5cd7b759f961d9836d0d83430e71dd106a12b2fe

Utilities/Examples/plane_fit_and_process.py

+"""
+Select points with a query and save all the frame of the current selection
+
+You can download CarLoop_VLP16.pcap here: https://drive.google.com/drive/folders/1yrNUelUsjKcXdC8FH8DpXeOPTyiB_pLS
+"""
+
+import lidarview.applogic as lv
+import paraview.simple as smp
+
+################################################################################
+carloop_pcap = "/home/user/data/CarLoop_VLP16.pcap"
+calibration_file = "/path/to/lidarview/build/.../install/share/VLP-16.xml"
+default_filename = "/home/user/data/test.csv"
+################################################################################
+
+def extractFromSelectMultipleQueries(queries = []):
+    """ Workaround to do a selection based on multiple queries """
+    selection = None
+    for query in queries:
+        smp.SelectPoints(query)
+        smp.Render()
+        tmp = smp.ExtractSelection()
+        # Delete intermediate selection
+        if selection:
+            smp.Delete(selection)
+        selection = tmp
+    return selection
+
+def planeFitSelection(source):
+    """ Do a plane fit on the source and return a plane fitter """
+    # Select all point on extracted source
+    smp.SelectPoints("", source)
+    smp.Render()
+
+    # Call planeFit implementation (see Application/Ui/python/lidariew/planefit.py)
+    lv.planeFit()
+
+    # Return plane fit source
+    return smp.FindSource("PlaneFitter")
+
+def executeProgrammableFilter(plane_fitter):
+    """ Create a programmable filter to perform computation on data """
+    prog_filter = smp.ProgrammableFilter(Input=[plane_fitter])
+
+    # Docs to use programmable filters https://docs.paraview.org/en/latest/ReferenceManual/pythonProgrammableFilter.html#
+    # Docs to use numpy in paraview https://docs.paraview.org/en/latest/ReferenceManual/vtkNumPyIntegration.html
+    prog_filter.Script = """
+from paraview.vtk.numpy_interface import dataset_adapter as dsa
+from paraview.vtk.numpy_interface import algorithms as algs
+
+import numpy as np
+
+data = inputs[0]
+
+npts = data.RowData["npts"]
+normaly = data.RowData["normaly"]
+print(type(npts))                       # <class 'paraview.vtk.numpy_interface.dataset_adapter.VTKArray'>
+print(isinstance(npts, numpy.ndarray))  # True
+approxrollangle = numpy.arcsin(normaly) * 180/3.1415    # vtk datasets are tied to numpy array
+
+# Other treatment here
+
+output.RowData.append(npts, "npts")       # Append data in output
+output.RowData.append(approxrollangle, "roll_angle") # Append data in output
+    """
+
+    prog_filter.UpdatePipeline()
+    return prog_filter
+
+def saveProgrammableFilterOutput(filename, prog_filter):
+    """ Save programmabl filter ouput to a csv """
+    writer = smp.CreateWriter(filename, prog_filter)
+    writer.Precision = 16
+    writer.UpdatePipeline()
+    smp.Delete(writer)
+
+
+def planeFitAndProcessExample():
+    """ How to use this example """
+    # Open pcap
+    lv.openPcap(carloop_pcap, calibration_file)
+
+    # Select region on hardcoded requirement (in this case in front of lidar)
+    selection = extractFromSelectMultipleQueries(["azimuth > 34500", "vertical_angle < -10"])
+
+    plane_fitter = planeFitSelection(selection)
+    prog_filter = executeProgrammableFilter(plane_fitter)
+    saveProgrammableFilterOutput(default_filename, prog_filter)
+
+# Uncomment below to execute the script directly when loaded
+# planeFitAndProcessExample()

Utilities/Examples/save_selected_point_on_multiple_frames.py

+"""
+Select points with a query and save all the frame of the current selection
+"""
+
+import os
+
+import lidarview.applogic as lv
+import paraview.simple as smp
+import lidarviewcore.kiwiviewerExporter as kiwiExporter
+
+################################################################################
+default_filename = "/home/user/data/selected_frames.csv"
+default_timesteps = range(50, 100)
+################################################################################
+
+def renderSelection(query = "intensity > 20"):
+    """ Selects points and render the selection using a query"""
+    smp.SelectPoints(query)
+    smp.Render()
+
+def extractSelection():
+    """ Get the trailing frame with selection then
+    create and return the new filter 'ExtractSelection'"""
+    trailingFrame = smp.GetActiveSource()
+    extractSelection = smp.ExtractSelection(Input=trailingFrame)
+    return extractSelection
+
+def saveCSVSelectionAndFrames(selection, filename = default_filename, timesteps = default_timesteps):
+    """ Save the selection for each frame defined in timesteps to a zip directory """
+    # Create a temporary directory to save all frames
+    tmp_dir = kiwiExporter.tempfile.mkdtemp()
+    basename_without_extension = os.path.splitext(os.path.basename(filename))[0]
+    out_dir = os.path.join(tmp_dir, basename_without_extension)
+    name_template = os.path.join(out_dir, basename_without_extension + " (Frame %04d).csv")
+    os.makedirs(out_dir)
+
+    # Create a new writer to save frames
+    writer = smp.CreateWriter('tmp.csv', selection)
+    writer.FieldAssociation = "Point Data"
+    writer.Precision = 16
+
+    # Get player controller to be able to search for each frame
+    controller = lv.getPlayerController()
+
+    for i in timesteps:
+        # Load each frame
+        controller.onSeekFrame(i)
+        # Name the current frame with its number
+        writer.FileName = name_template % i
+        writer.UpdatePipeline()
+        # Format csv file
+        lv.rotateCSVFile(writer.FileName)
+
+    # Clean up writer
+    smp.Delete(writer)
+
+    # Zip the directory with all frames and clean up temporary directory
+    zip_name = os.path.dirname(filename) + '/' + basename_without_extension + ".zip"
+    kiwiExporter.zipDir(out_dir, zip_name)
+    kiwiExporter.shutil.rmtree(tmp_dir)
+
+def saveSelectPointsOnMultipleFramesExample():
+    """ How to use this example """
+    renderSelection() # This could be replaced by a manual selection
+    selection = extractSelection()
+    saveCSVSelectionAndFrames(selection)
+
+# Uncomment below to execute the script directly when loaded
+# saveSelectPointsOnMultipleFramesExample()
\ No newline at end of file