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Added lidar component inspector (#1203)
* Support editing air pressure sensor in the GUI Signed-off-by: Nate Koenig <[email protected]> * Add noise to qrc Signed-off-by: Nate Koenig <[email protected]> * Add noise to qrc Signed-off-by: Nate Koenig <[email protected]> * Added altimeter sensor inspector Signed-off-by: Nate Koenig <[email protected]> * Added magnetometer inspector Signed-off-by: Nate Koenig <[email protected]> * Fix lint Signed-off-by: Michael Carroll <[email protected]> * Update sensor icon Signed-off-by: Nate Koenig <[email protected]> * Move AirPressure functions out of ComponentInspector (#1179) Signed-off-by: Louise Poubel <[email protected]> * Fix get decimals, and address comments Signed-off-by: Nate Koenig <[email protected]> * cleanup and simplification Signed-off-by: Nate Koenig <[email protected]> * Require sdf 12.1.0 Signed-off-by: Nate Koenig <[email protected]> * missign width Signed-off-by: Nate Koenig <[email protected]> * Added simulation state aware spin box Signed-off-by: Nate Koenig <[email protected]> * Merged Signed-off-by: Nate Koenig <[email protected]> * merged Signed-off-by: Nate Koenig <[email protected]> * Remove console output Signed-off-by: Nate Koenig <[email protected]> * alphabetize Signed-off-by: Nate Koenig <[email protected]> * Fix build Signed-off-by: Nate Koenig <[email protected]> * Add IMU component inspector Signed-off-by: Nate Koenig <[email protected]> * Added lidar component inspector Signed-off-by: Nate Koenig <[email protected]> * Fix codecheck Signed-off-by: Nate Koenig <[email protected]> Co-authored-by: Nate Koenig <[email protected]> Co-authored-by: Michael Carroll <[email protected]> Co-authored-by: Louise Poubel <[email protected]>
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,153 @@ | ||
| /* | ||
| * Copyright (C) 2021 Open Source Robotics Foundation | ||
| * | ||
| * Licensed under the Apache License, Version 2.0 (the "License"); | ||
| * you may not use this file except in compliance with the License. | ||
| * You may obtain a copy of the License at | ||
| * | ||
| * http://www.apache.org/licenses/LICENSE-2.0 | ||
| * | ||
| * Unless required by applicable law or agreed to in writing, software | ||
| * distributed under the License is distributed on an "AS IS" BASIS, | ||
| * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| * See the License for the specific language governing permissions and | ||
| * limitations under the License. | ||
| * | ||
| */ | ||
| #include <sdf/Lidar.hh> | ||
|
|
||
| #include <ignition/common/Console.hh> | ||
| #include <ignition/gazebo/components/GpuLidar.hh> | ||
| #include <ignition/gazebo/EntityComponentManager.hh> | ||
|
|
||
| #include "ComponentInspector.hh" | ||
| #include "Lidar.hh" | ||
| #include "Types.hh" | ||
|
|
||
| using namespace ignition; | ||
| using namespace gazebo; | ||
|
|
||
| ///////////////////////////////////////////////// | ||
| Lidar::Lidar(ComponentInspector *_inspector) | ||
| { | ||
| _inspector->Context()->setContextProperty("LidarImpl", this); | ||
| this->inspector = _inspector; | ||
|
|
||
| ComponentCreator creator = | ||
| [=](EntityComponentManager &_ecm, Entity _entity, QStandardItem *_item) | ||
| { | ||
| auto comp = _ecm.Component<components::GpuLidar>(_entity); | ||
| if (nullptr == _item || nullptr == comp) | ||
| return; | ||
| const sdf::Lidar *lidar = comp->Data().LidarSensor(); | ||
|
|
||
| _item->setData(QString("Lidar"), | ||
| ComponentsModel::RoleNames().key("dataType")); | ||
| _item->setData(QList({ | ||
| QVariant(lidar->LidarNoise().Mean()), | ||
| QVariant(lidar->LidarNoise().BiasMean()), | ||
| QVariant(lidar->LidarNoise().StdDev()), | ||
| QVariant(lidar->LidarNoise().BiasStdDev()), | ||
| QVariant(lidar->LidarNoise().DynamicBiasStdDev()), | ||
| QVariant(lidar->LidarNoise().DynamicBiasCorrelationTime()), | ||
|
|
||
| QVariant(lidar->HorizontalScanSamples()), | ||
| QVariant(lidar->HorizontalScanResolution()), | ||
| QVariant(lidar->HorizontalScanMinAngle().Radian()), | ||
| QVariant(lidar->HorizontalScanMaxAngle().Radian()), | ||
|
|
||
| QVariant(lidar->VerticalScanSamples()), | ||
| QVariant(lidar->VerticalScanResolution()), | ||
| QVariant(lidar->VerticalScanMinAngle().Radian()), | ||
| QVariant(lidar->VerticalScanMaxAngle().Radian()), | ||
|
|
||
| QVariant(lidar->RangeMin()), | ||
| QVariant(lidar->RangeMax()), | ||
| QVariant(lidar->RangeResolution()), | ||
|
|
||
| }), ComponentsModel::RoleNames().key("data")); | ||
| }; | ||
|
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| this->inspector->RegisterComponentCreator( | ||
| components::GpuLidar::typeId, creator); | ||
| } | ||
|
|
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| ///////////////////////////////////////////////// | ||
| Q_INVOKABLE void Lidar::OnLidarNoise( | ||
| double _mean, double _meanBias, double _stdDev, | ||
| double _stdDevBias, double _dynamicBiasStdDev, | ||
| double _dynamicBiasCorrelationTime) | ||
| { | ||
| ignition::gazebo::UpdateCallback cb = | ||
| [=](EntityComponentManager &_ecm) | ||
| { | ||
| auto comp = _ecm.Component<components::GpuLidar>( | ||
| this->inspector->Entity()); | ||
| if (comp) | ||
| { | ||
| sdf::Lidar *lidar = comp->Data().LidarSensor(); | ||
| if (lidar) | ||
| { | ||
| sdf::Noise noise = lidar->LidarNoise(); | ||
|
|
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| setNoise(noise, _mean, _meanBias, _stdDev, _stdDevBias, | ||
| _dynamicBiasStdDev, _dynamicBiasCorrelationTime); | ||
|
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| lidar->SetLidarNoise(noise); | ||
| } | ||
| else | ||
| ignerr << "Unable to get the lidar noise data.\n"; | ||
| } | ||
| else | ||
| { | ||
| ignerr << "Unable to get the lidar component.\n"; | ||
| } | ||
| }; | ||
| this->inspector->AddUpdateCallback(cb); | ||
| } | ||
|
|
||
| ///////////////////////////////////////////////// | ||
| Q_INVOKABLE void Lidar::OnLidarChange( | ||
| double _rangeMin, double _rangeMax, | ||
| double _rangeResolution, double _horizontalScanSamples, | ||
| double _horizontalScanResolution, | ||
| double _horizontalScanMinAngle, | ||
| double _horizontalScanMaxAngle, double _verticalScanSamples, | ||
| double _verticalScanResolution, double _verticalScanMinAngle, | ||
| double _verticalScanMaxAngle) | ||
| { | ||
| ignition::gazebo::UpdateCallback cb = | ||
| [=](EntityComponentManager &_ecm) | ||
| { | ||
| auto comp = _ecm.Component<components::GpuLidar>( | ||
| this->inspector->Entity()); | ||
| if (comp) | ||
| { | ||
| sdf::Lidar *lidar = comp->Data().LidarSensor(); | ||
| if (lidar) | ||
| { | ||
| lidar->SetRangeMin(_rangeMin); | ||
| lidar->SetRangeMax(_rangeMax); | ||
| lidar->SetRangeResolution(_rangeResolution); | ||
|
|
||
| lidar->SetHorizontalScanSamples(_horizontalScanSamples); | ||
| lidar->SetHorizontalScanResolution(_horizontalScanResolution); | ||
| lidar->SetHorizontalScanMinAngle(_horizontalScanMinAngle); | ||
| lidar->SetHorizontalScanMaxAngle(_horizontalScanMaxAngle); | ||
|
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||
| lidar->SetVerticalScanSamples(_verticalScanSamples); | ||
| lidar->SetVerticalScanResolution(_verticalScanResolution); | ||
| lidar->SetVerticalScanMinAngle(_verticalScanMinAngle); | ||
| lidar->SetVerticalScanMaxAngle(_verticalScanMaxAngle); | ||
| } | ||
| else | ||
| ignerr << "Unable to get the lidar data.\n"; | ||
| } | ||
| else | ||
| { | ||
| ignerr << "Unable to get the lidar component.\n"; | ||
| } | ||
| }; | ||
| this->inspector->AddUpdateCallback(cb); | ||
| } | ||
|
|
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,66 @@ | ||
| /* | ||
| * Copyright (C) 2021 Open Source Robotics Foundation | ||
| * | ||
| * Licensed under the Apache License, Version 2.0 (the "License"); | ||
| * you may not use this file except in compliance with the License. | ||
| * You may obtain a copy of the License at | ||
| * | ||
| * http://www.apache.org/licenses/LICENSE-2.0 | ||
| * | ||
| * Unless required by applicable law or agreed to in writing, software | ||
| * distributed under the License is distributed on an "AS IS" BASIS, | ||
| * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| * See the License for the specific language governing permissions and | ||
| * limitations under the License. | ||
| * | ||
| */ | ||
| #ifndef IGNITION_GAZEBO_GUI_COMPONENTINSPECTOR_LIDAR_HH_ | ||
| #define IGNITION_GAZEBO_GUI_COMPONENTINSPECTOR_LIDAR_HH_ | ||
|
|
||
| #include <ignition/gazebo/gui/GuiSystem.hh> | ||
|
|
||
| namespace ignition | ||
| { | ||
| namespace gazebo | ||
| { | ||
| class ComponentInspector; | ||
|
|
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| /// \brief A class that handles Lidar sensor changes. | ||
| class Lidar : public QObject | ||
| { | ||
| Q_OBJECT | ||
|
|
||
| /// \brief Constructor | ||
| /// \param[in] _inspector The component inspector. | ||
| public: explicit Lidar(ComponentInspector *_inspector); | ||
|
|
||
| /// \brief This function is called when a user changes values in the | ||
| /// Lidar sensor's linear acceleration X noise values. | ||
| /// \param[in] _mean Mean value | ||
| /// \param[in] _meanBias Bias mean value | ||
| /// \param[in] _stdDev Standard deviation value | ||
| /// \param[in] _stdDevBias Bias standard deviation value | ||
| /// \param[in] _dynamicBiasStdDev Dynamic bias standard deviation value | ||
| /// \param[in] _dynamicBiasCorrelationTime Dynamic bias correlation time | ||
| /// value | ||
| public: Q_INVOKABLE void OnLidarNoise( | ||
| double _mean, double _meanBias, double _stdDev, | ||
| double _stdDevBias, double _dynamicBiasStdDev, | ||
| double _dynamicBiasCorrelationTime); | ||
|
|
||
| public: Q_INVOKABLE void OnLidarChange( | ||
| double _rangeMin, double _rangeMax, | ||
| double _rangeResolution, double _horizontalScanSamples, | ||
| double _horizontalScanResolution, | ||
| double _horizontalScanMinAngle, | ||
| double _horizontalScanMaxAngle, double _verticalScanSamples, | ||
| double _verticalScanResolution, double _verticalScanMinAngle, | ||
| double _verticalScanMaxAngle); | ||
|
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| /// \brief Pointer to the component inspector. This is used to add | ||
| /// update callbacks that modify the ECM. | ||
| private: ComponentInspector *inspector{nullptr}; | ||
| }; | ||
| } | ||
| } | ||
| #endif |
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