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Commit fe523ec6 authored by Nick Laurenson's avatar Nick Laurenson Committed by Arnaud Billon
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[feat] Offer Interpreter Brand Selection 

Hesai calibration file are csv
parent 9bfaf3b3
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1 merge request!119Hesai Interpreter Integration
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Application/Ui/Widgets/vvCalibrationDialog.cxx
+ 16
− 1
View file @ fe523ec6
......@@ -698,6 +698,21 @@ QString vvCalibrationDialog::selectedCalibrationFile() const
return this->Internal->ListWidget->item(row)->data(Qt::UserRole).toString();
}
//-----------------------------------------------------------------------------
QString vvCalibrationDialog::selectedInterpreterName() const
{
// Return first Checked RadioButton
Q_FOREACH(QRadioButton* button, this->Internal->InterpreterBox->findChildren<QRadioButton*>())
{
if(button->isChecked()){
return button->objectName();
}
}
// None Checked
return QString();
}
//-----------------------------------------------------------------------------
bool vvCalibrationDialog::isCrashAnalysing() const
{
......@@ -940,7 +955,7 @@ void vvCalibrationDialog::addFile()
pqFileDialog dial(
pqActiveObjects::instance().activeServer(), pqCoreUtilities::mainWidget(),
tr("Choose Calibration File"), defaultDir, tr("xml (*.xml)")
tr("Choose Calibration File"), defaultDir
);
dial.setObjectName("LidarFileCalibDialog");
dial.setFileMode(pqFileDialog::ExistingFile);
......
Application/Ui/Widgets/vvCalibrationDialog.h
+ 1
− 0
View file @ fe523ec6
......@@ -29,6 +29,7 @@ public:
virtual ~vvCalibrationDialog();
Q_INVOKABLE QString selectedCalibrationFile() const;
Q_INVOKABLE QString selectedInterpreterName() const;
Q_INVOKABLE QStringList calibrationFiles() const;
......
Application/Ui/Widgets/vvCalibrationDialog.ui
+ 226
− 200
View file @ fe523ec6
......@@ -6,8 +6,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>716</width>
<height>523</height>
<width>846</width>
<height>699</height>
</rect>
</property>
<property name="windowTitle">
......@@ -283,6 +283,16 @@
</layout>
</widget>
</item>
<item row="6" column="0" colspan="3">
<widget class="QDialogButtonBox" name="ButtonBox">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="standardButtons">
<set>QDialogButtonBox::Cancel|QDialogButtonBox::Ok</set>
</property>
</widget>
</item>
<item row="4" column="2">
<widget class="QGroupBox" name="NetworkForwardingGroup">
<property name="title">
......@@ -388,12 +398,12 @@
</item>
<item row="1" column="1">
<widget class="QSpinBox" name="GPSPortSpinBox">
<property name="maximum">
<number>65535</number>
</property>
<property name="enabled">
<bool>false</bool>
</property>
<property name="maximum">
<number>65535</number>
</property>
</widget>
</item>
<item row="2" column="0">
......@@ -425,220 +435,236 @@
<bool>false</bool>
</property>
<layout class="QVBoxLayout" name="verticalLayout_2">
<item row="0">
<widget class="QCheckBox" name="EnableInterpretGPSPackets">
<property name="enabled">
<bool>true</bool>
</property>
<property name="text">
<string>Enable interpreting GPS packets</string>
</property>
</widget>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_2">
<item>
<layout class="QFormLayout" name="formLayout_4">
<item row="0" column="0">
<widget class="QLabel" name="GpsXLabel">
<property name="text">
<string>X</string>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QDoubleSpinBox" name="GpsXSpinBox">
<property name="minimum">
<double>-100.000000000000000</double>
</property>
<property name="maximum">
<double>100.000000000000000</double>
</property>
<property name="enabled">
<bool>false</bool>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QLabel" name="GpsYLabel">
<property name="text">
<string>Y</string>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QDoubleSpinBox" name="GpsYSpinBox">
<property name="minimum">
<double>-100.000000000000000</double>
</property>
<property name="maximum">
<double>100.000000000000000</double>
</property>
<property name="enabled">
<bool>false</bool>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QLabel" name="GpsZLabel">
<property name="text">
<string>Z</string>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QDoubleSpinBox" name="GpsZSpinBox">
<property name="minimum">
<double>-100.000000000000000</double>
</property>
<property name="maximum">
<double>100.000000000000000</double>
</property>
<property name="enabled">
<bool>false</bool>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QLabel" name="gpsTimeOffsetLabel">
<property name="text">
<string>Time offset</string>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QDoubleSpinBox" name="gpsTimeOffsetSpinBox">
<property name="minimum">
<double>-1000000000.000000000000000</double>
</property>
<property name="maximum">
<double>1000000000.000000000000000</double>
</property>
<property name="enabled">
<bool>false</bool>
</property>
</widget>
</item>
</layout>
</item>
<item>
<spacer name="horizontalSpacer_6">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Fixed</enum>
<widget class="QCheckBox" name="EnableInterpretGPSPackets">
<property name="enabled">
<bool>true</bool>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>12</width>
<height>20</height>
</size>
<property name="text">
<string>Enable interpreting GPS packets</string>
</property>
</spacer>
</widget>
</item>
<item>
<layout class="QFormLayout">
<property name="fieldGrowthPolicy">
<enum>QFormLayout::AllNonFixedFieldsGrow</enum>
</property>
<item row="1" column="0">
<widget class="QLabel" name="GpsRollLabel">
<property name="text">
<string>Roll</string>
</property>
</widget>
<layout class="QHBoxLayout" name="horizontalLayout_2">
<item>
<layout class="QFormLayout" name="formLayout_4">
<item row="0" column="0">
<widget class="QLabel" name="GpsXLabel">
<property name="text">
<string>X</string>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QDoubleSpinBox" name="GpsXSpinBox">
<property name="enabled">
<bool>false</bool>
</property>
<property name="minimum">
<double>-100.000000000000000</double>
</property>
<property name="maximum">
<double>100.000000000000000</double>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QLabel" name="GpsYLabel">
<property name="text">
<string>Y</string>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QDoubleSpinBox" name="GpsYSpinBox">
<property name="enabled">
<bool>false</bool>
</property>
<property name="minimum">
<double>-100.000000000000000</double>
</property>
<property name="maximum">
<double>100.000000000000000</double>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QLabel" name="GpsZLabel">
<property name="text">
<string>Z</string>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QDoubleSpinBox" name="GpsZSpinBox">
<property name="enabled">
<bool>false</bool>
</property>
<property name="minimum">
<double>-100.000000000000000</double>
</property>
<property name="maximum">
<double>100.000000000000000</double>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QLabel" name="gpsTimeOffsetLabel">
<property name="text">
<string>Time offset</string>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QDoubleSpinBox" name="gpsTimeOffsetSpinBox">
<property name="enabled">
<bool>false</bool>
</property>
<property name="minimum">
<double>-1000000000.000000000000000</double>
</property>
<property name="maximum">
<double>1000000000.000000000000000</double>
</property>
</widget>
</item>
</layout>
</item>
<item row="1" column="1">
<widget class="QDoubleSpinBox" name="GpsRollSpinBox">
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
<item>
<spacer name="horizontalSpacer_6">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="minimum">
<double>-180.000000000000000</double>
</property>
<property name="maximum">
<double>180.000000000000000</double>
<property name="sizeType">
<enum>QSizePolicy::Fixed</enum>
</property>
<property name="enabled">
<bool>false</bool>
<property name="sizeHint" stdset="0">
<size>
<width>12</width>
<height>20</height>
</size>
</property>
</widget>
</spacer>
</item>
<item row="2" column="0">
<widget class="QLabel" name="GpsPitchLabel">
<property name="text">
<string>Pitch</string>
</property>
</widget>
<item>
<layout class="QFormLayout">
<property name="fieldGrowthPolicy">
<enum>QFormLayout::AllNonFixedFieldsGrow</enum>
</property>
<item row="1" column="0">
<widget class="QLabel" name="GpsRollLabel">
<property name="text">
<string>Roll</string>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QDoubleSpinBox" name="GpsRollSpinBox">
<property name="enabled">
<bool>false</bool>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
<property name="minimum">
<double>-180.000000000000000</double>
</property>
<property name="maximum">
<double>180.000000000000000</double>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QLabel" name="GpsPitchLabel">
<property name="text">
<string>Pitch</string>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QDoubleSpinBox" name="GpsPitchSpinBox">
<property name="enabled">
<bool>false</bool>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
<property name="minimum">
<double>-90.000000000000000</double>
</property>
<property name="maximum">
<double>90.000000000000000</double>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QLabel" name="GpsYawLabel">
<property name="text">
<string>Yaw</string>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QDoubleSpinBox" name="GpsYawSpinBox">
<property name="enabled">
<bool>false</bool>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
<property name="minimum">
<double>-360.000000000000000</double>
</property>
<property name="maximum">
<double>360.000000000000000</double>
</property>
</widget>
</item>
</layout>
</item>
<item row="2" column="1">
<widget class="QDoubleSpinBox" name="GpsPitchSpinBox">
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
<property name="minimum">
<double>-90.000000000000000</double>
</property>
<property name="maximum">
<double>90.000000000000000</double>
</property>
<property name="enabled">
<bool>false</bool>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QLabel" name="GpsYawLabel">
<property name="text">
<string>Yaw</string>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QDoubleSpinBox" name="GpsYawSpinBox">
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
<property name="minimum">
<double>-360.000000000000000</double>
</property>
<property name="maximum">
<double>360.000000000000000</double>
</property>
<property name="enabled">
<bool>false</bool>
</property>
</widget>
<item>
<spacer name="horizontalSpacer_4">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
</layout>
</item>
</layout>
</widget>
</item>
<item row="0" column="0" colspan="3">
<widget class="QGroupBox" name="InterpreterBox">
<property name="title">
<string>GroupBox</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout">
<item>
<spacer name="horizontalSpacer_4">
<property name="orientation">
<enum>Qt::Horizontal</enum>
<widget class="QRadioButton" name="interpreterRadio_velodyne">
<property name="text">
<string>Velodyne Interpreter</string>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>20</height>
</size>
<property name="checked">
<bool>true</bool>
</property>
</spacer>
</widget>
</item>
<item>
<widget class="QRadioButton" name="interpreterRadio_hesai">
<property name="text">
<string>Hesai Interpreter</string>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</widget>
</item>
<item row="6" column="0" colspan="3">
<widget class="QDialogButtonBox" name="ButtonBox">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="standardButtons">
<set>QDialogButtonBox::Cancel|QDialogButtonBox::Ok</set>
</property>
</widget>
</item>
</layout>
......
Application/Ui/lqUpdateCalibrationReaction.cxx
+ 28
− 6
View file @ fe523ec6
......@@ -109,6 +109,7 @@ void lqUpdateCalibrationReaction::setNetworkCalibration(vtkSMProxy * proxy, doub
//-----------------------------------------------------------------------------
void lqUpdateCalibrationReaction::setCalibrationFileAndDefaultInterpreter(vtkSMProxy * proxy,
QString interpreterName,
QString calibrationFile)
{
if(IsLidarProxy(proxy))
......@@ -123,21 +124,42 @@ void lqUpdateCalibrationReaction::setCalibrationFileAndDefaultInterpreter(vtkSMP
vtkSMProxyProperty* proxyProperty = vtkSMProxyProperty::SafeDownCast(interpreterProp);
if (!proxyProperty)
{
qCritical() << "LidarProxy has no Interpreter Property";
return;
}
vtkSMProxyListDomain * proxyListDomain = vtkSMProxyListDomain::SafeDownCast(proxyProperty->FindDomain("vtkSMProxyListDomain"));
if (!proxyListDomain)
{
qCritical() << "LidarProxy Interpreter has no proxyListDomain";
return;
}
vtkSMProxy* defaultProxy = proxyListDomain->FindProxy("LidarPacketInterpreter", "VelodyneMetaPacketInterpreter");
if ((calibrationFile.contains("velarray", Qt::CaseInsensitive)))
{
defaultProxy = proxyListDomain->FindProxy("LidarPacketInterpreter", "VelodyneSpecialVelarrayPacketInterpreter");
// Choose Interpreter
// WIP Dawn of the Heterogeneous Sensors Features
// probably should detect Plugin loading state
vtkSMProxy* defaultProxy = nullptr;
if (interpreterName == "interpreterRadio_hesai"){
// Set General Packet Interpreter based on SDK as default
defaultProxy = proxyListDomain->FindProxy("LidarPacketInterpreter", "HesaiGeneralPacketInterpreter");
// Set Custom Interpreter for Pandar128 if name implies it
if ((calibrationFile.contains("Pandar128", Qt::CaseInsensitive)))
{
defaultProxy = proxyListDomain->FindProxy("LidarPacketInterpreter", "HesaiPacketInterpreter");
}
}else if(interpreterName == "interpreterRadio_velodyne"){
// Set Meta Interpreter as Default
defaultProxy = proxyListDomain->FindProxy("LidarPacketInterpreter", "VelodyneMetaPacketInterpreter");
// Use SpecialVelarray if name implies it
if ((calibrationFile.contains("velarray", Qt::CaseInsensitive)))
{
defaultProxy = proxyListDomain->FindProxy("LidarPacketInterpreter", "VelodyneSpecialVelarrayPacketInterpreter");
}
}else{
qCritical() << "Unknown Interpreter Type";
return;
}
// Set the found proxy in the proxy list domain to the lidar property
// This allows to update the "drop down" menu in the interpreter ui property
vtkSMPropertyHelper(interpreterProp).Set(defaultProxy);
......@@ -158,7 +180,7 @@ void lqUpdateCalibrationReaction::UpdateCalibration(pqPipelineSource* & lidarSou
}
// Set the calibration File and the lidar interpreter
lqUpdateCalibrationReaction::setCalibrationFileAndDefaultInterpreter(lidarProxy, dialog.selectedCalibrationFile());
lqUpdateCalibrationReaction::setCalibrationFileAndDefaultInterpreter(lidarProxy, dialog.selectedInterpreterName(), dialog.selectedCalibrationFile());
// Set the transform of the lidar Sensor
......
Application/Ui/lqUpdateCalibrationReaction.h
+ 1
− 1
View file @ fe523ec6
......@@ -29,7 +29,7 @@ public:
bool isForwarding, QString ipAddressForwarding,
bool isCrashAnalysing, bool multiSensors);
static void setCalibrationFileAndDefaultInterpreter(vtkSMProxy * proxy, QString calibrationFile);
static void setCalibrationFileAndDefaultInterpreter(vtkSMProxy * proxy, QString interpreterName ,QString calibrationFile);
static void UpdateCalibration(pqPipelineSource* & lidarSource,
......
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