From fe523ec6cfb30f2ecd9590dad3c46a487b2b757e Mon Sep 17 00:00:00 2001
From: Nick Laurenson <nick.laurenson@kitware.com>
Date: Tue, 17 Aug 2021 10:11:40 +0200
Subject: [PATCH] [feat] Offer Interpreter Brand Selection
Hesai calibration file are csv
---
.../Ui/Widgets/vvCalibrationDialog.cxx | 17 +-
Application/Ui/Widgets/vvCalibrationDialog.h | 1 +
Application/Ui/Widgets/vvCalibrationDialog.ui | 426 ++++++++++--------
.../Ui/lqUpdateCalibrationReaction.cxx | 34 +-
Application/Ui/lqUpdateCalibrationReaction.h | 2 +-
5 files changed, 272 insertions(+), 208 deletions(-)
diff --git a/Application/Ui/Widgets/vvCalibrationDialog.cxx b/Application/Ui/Widgets/vvCalibrationDialog.cxx
index 78b020c3e..38dd35a58 100644
--- a/Application/Ui/Widgets/vvCalibrationDialog.cxx
+++ b/Application/Ui/Widgets/vvCalibrationDialog.cxx
@@ -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);
diff --git a/Application/Ui/Widgets/vvCalibrationDialog.h b/Application/Ui/Widgets/vvCalibrationDialog.h
index 406ff7196..3dc5299da 100644
--- a/Application/Ui/Widgets/vvCalibrationDialog.h
+++ b/Application/Ui/Widgets/vvCalibrationDialog.h
@@ -29,6 +29,7 @@ public:
virtual ~vvCalibrationDialog();
Q_INVOKABLE QString selectedCalibrationFile() const;
+ Q_INVOKABLE QString selectedInterpreterName() const;
Q_INVOKABLE QStringList calibrationFiles() const;
diff --git a/Application/Ui/Widgets/vvCalibrationDialog.ui b/Application/Ui/Widgets/vvCalibrationDialog.ui
index a508bc244..a50bda848 100644
--- a/Application/Ui/Widgets/vvCalibrationDialog.ui
+++ b/Application/Ui/Widgets/vvCalibrationDialog.ui
@@ -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>
diff --git a/Application/Ui/lqUpdateCalibrationReaction.cxx b/Application/Ui/lqUpdateCalibrationReaction.cxx
index 7dec467b3..466ab68c9 100644
--- a/Application/Ui/lqUpdateCalibrationReaction.cxx
+++ b/Application/Ui/lqUpdateCalibrationReaction.cxx
@@ -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
diff --git a/Application/Ui/lqUpdateCalibrationReaction.h b/Application/Ui/lqUpdateCalibrationReaction.h
index 7a2e62dbf..ebafde9f4 100644
--- a/Application/Ui/lqUpdateCalibrationReaction.h
+++ b/Application/Ui/lqUpdateCalibrationReaction.h
@@ -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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