freeimu_cal.ui

<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
 <class>FreeIMUCal</class>
 <widget class="QMainWindow" name="FreeIMUCal">
  <property name="enabled">
   <bool>true</bool>
  </property>
  <property name="geometry">
   <rect>
    <x>0</x>
    <y>0</y>
    <width>840</width>
    <height>840</height>
   </rect>
  </property>
  <property name="sizePolicy">
   <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
    <horstretch>0</horstretch>
    <verstretch>0</verstretch>
   </sizepolicy>
  </property>
  <property name="minimumSize">
   <size>
    <width>840</width>
    <height>840</height>
   </size>
  </property>
  <property name="maximumSize">
   <size>
    <width>840</width>
    <height>840</height>
   </size>
  </property>
  <property name="windowTitle">
   <string>FreeIMU Calibration Application</string>
  </property>
  <property name="documentMode">
   <bool>false</bool>
  </property>
  <widget class="QWidget" name="centralwidget">
   <property name="sizePolicy">
    <sizepolicy hsizetype="Maximum" vsizetype="Maximum">
     <horstretch>0</horstretch>
     <verstretch>0</verstretch>
    </sizepolicy>
   </property>
   <widget class="Line" name="line">
    <property name="geometry">
     <rect>
      <x>0</x>
      <y>80</y>
      <width>881</width>
      <height>16</height>
     </rect>
    </property>
    <property name="orientation">
     <enum>Qt::Horizontal</enum>
    </property>
   </widget>
   <widget class="QWidget" name="gridLayoutWidget">
    <property name="geometry">
     <rect>
      <x>0</x>
      <y>0</y>
      <width>829</width>
      <height>95</height>
     </rect>
    </property>
    <layout class="QGridLayout" name="gridLayout" rowstretch="0,0,0">
     <property name="sizeConstraint">
      <enum>QLayout::SetDefaultConstraint</enum>
     </property>
     <item row="0" column="9">
      <widget class="QComboBox" name="calAlgorithmComboBox">
       <property name="enabled">
        <bool>false</bool>
       </property>
       <property name="toolTip">
        <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;Calibration Algorithm used.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
       </property>
       <item>
        <property name="text">
         <string>Ellipsoid to Sphere</string>
        </property>
       </item>
      </widget>
     </item>
     <item row="0" column="10">
      <widget class="QPushButton" name="calibrateButton">
       <property name="enabled">
        <bool>false</bool>
       </property>
       <property name="toolTip">
        <string>Run calibration algorithm over the data collected</string>
       </property>
       <property name="text">
        <string>Calibrate</string>
       </property>
      </widget>
     </item>
     <item row="0" column="1">
      <widget class="QLineEdit" name="imuTopicEdit"/>
     </item>
     <item row="0" column="4">
      <widget class="Line" name="line_2">
       <property name="orientation">
        <enum>Qt::Vertical</enum>
       </property>
      </widget>
     </item>
     <item row="0" column="7">
      <spacer name="horizontalSpacer">
       <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 row="0" column="0">
      <widget class="QLabel" name="label">
       <property name="text">
        <string>ROS topic IMU</string>
       </property>
      </widget>
     </item>
     <item row="2" column="1">
      <widget class="QLineEdit" name="magnTopicEdit"/>
     </item>
     <item row="2" column="0">
      <widget class="QLabel" name="label_5">
       <property name="text">
        <string>ROS topic MAG</string>
       </property>
      </widget>
     </item>
     <item row="0" column="8">
      <widget class="QPushButton" name="samplingToggleButton">
       <property name="enabled">
        <bool>false</bool>
       </property>
       <property name="toolTip">
        <string>Toggle Start/Stop sampling of sensor data from the IMU</string>
       </property>
       <property name="text">
        <string>Start Sampling</string>
       </property>
       <property name="autoDefault">
        <bool>false</bool>
       </property>
       <property name="default">
        <bool>false</bool>
       </property>
       <property name="flat">
        <bool>false</bool>
       </property>
      </widget>
     </item>
     <item row="2" column="9">
      <widget class="QLabel" name="label_6">
       <property name="text">
        <string>Values multiplied by 1e3</string>
       </property>
      </widget>
     </item>
     <item row="0" column="2">
      <widget class="QPushButton" name="connectButton">
       <property name="toolTip">
        <string>Connect or Disconnect from ROS topic</string>
       </property>
       <property name="text">
        <string>Connect</string>
       </property>
      </widget>
     </item>
     <item row="2" column="4">
      <widget class="Line" name="line_4">
       <property name="orientation">
        <enum>Qt::Vertical</enum>
       </property>
      </widget>
     </item>
     <item row="0" column="3">
      <spacer name="horizontalSpacer_2">
       <property name="orientation">
        <enum>Qt::Horizontal</enum>
       </property>
       <property name="sizeHint" stdset="0">
        <size>
         <width>40</width>
         <height>20</height>
        </size>
       </property>
      </spacer>
     </item>
    </layout>
   </widget>
   <widget class="QTabWidget" name="tabWidget">
    <property name="geometry">
     <rect>
      <x>10</x>
      <y>100</y>
      <width>801</width>
      <height>711</height>
     </rect>
    </property>
    <property name="currentIndex">
     <number>0</number>
    </property>
    <widget class="QWidget" name="uncalibratedTab">
     <attribute name="title">
      <string>Uncalibrated</string>
     </attribute>
     <widget class="QWidget" name="gridLayoutWidget_4">
      <property name="geometry">
       <rect>
        <x>0</x>
        <y>10</y>
        <width>791</width>
        <height>588</height>
       </rect>
      </property>
      <layout class="QGridLayout" name="gridLayout_4" rowstretch="0,0">
       <property name="sizeConstraint">
        <enum>QLayout::SetMaximumSize</enum>
       </property>
       <item row="1" column="0">
        <layout class="QGridLayout" name="gridLayout_5">
         <item row="0" column="1">
          <widget class="QLabel" name="label_2">
           <property name="text">
            <string>Accelerometer</string>
           </property>
           <property name="alignment">
            <set>Qt::AlignCenter</set>
           </property>
          </widget>
         </item>
         <item row="1" column="0">
          <widget class="PlotWidget" name="accYZ">
           <property name="sizePolicy">
            <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
             <horstretch>0</horstretch>
             <verstretch>1</verstretch>
            </sizepolicy>
           </property>
          </widget>
         </item>
         <item row="1" column="1">
          <widget class="PlotWidget" name="accZX">
           <property name="sizePolicy">
            <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
             <horstretch>0</horstretch>
             <verstretch>1</verstretch>
            </sizepolicy>
           </property>
          </widget>
         </item>
         <item row="0" column="0">
          <widget class="PlotWidget" name="accXY">
           <property name="sizePolicy">
            <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
             <horstretch>0</horstretch>
             <verstretch>1</verstretch>
            </sizepolicy>
           </property>
          </widget>
         </item>
        </layout>
       </item>
       <item row="1" column="2">
        <layout class="QGridLayout" name="gridLayout_3" columnstretch="0,0">
         <property name="sizeConstraint">
          <enum>QLayout::SetFixedSize</enum>
         </property>
         <item row="0" column="0">
          <widget class="PlotWidget" name="magnXY">
           <property name="sizePolicy">
            <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
             <horstretch>0</horstretch>
             <verstretch>1</verstretch>
            </sizepolicy>
           </property>
          </widget>
         </item>
         <item row="1" column="0">
          <widget class="PlotWidget" name="magnYZ">
           <property name="sizePolicy">
            <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
             <horstretch>0</horstretch>
             <verstretch>1</verstretch>
            </sizepolicy>
           </property>
          </widget>
         </item>
         <item row="1" column="1">
          <widget class="PlotWidget" name="magnZX">
           <property name="sizePolicy">
            <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
             <horstretch>0</horstretch>
             <verstretch>1</verstretch>
            </sizepolicy>
           </property>
          </widget>
         </item>
         <item row="0" column="1">
          <widget class="QLabel" name="label_3">
           <property name="text">
            <string>Magnetometer</string>
           </property>
           <property name="alignment">
            <set>Qt::AlignCenter</set>
           </property>
          </widget>
         </item>
        </layout>
       </item>
       <item row="0" column="2">
        <widget class="GLViewWidget" name="magn3D">
         <property name="sizePolicy">
          <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
           <horstretch>0</horstretch>
           <verstretch>0</verstretch>
          </sizepolicy>
         </property>
        </widget>
       </item>
       <item row="0" column="0">
        <widget class="GLViewWidget" name="acc3D">
         <property name="sizePolicy">
          <sizepolicy hsizetype="Minimum" vsizetype="Expanding">
           <horstretch>0</horstretch>
           <verstretch>0</verstretch>
          </sizepolicy>
         </property>
        </widget>
       </item>
       <item row="1" column="1">
        <widget class="Line" name="line_3">
         <property name="lineWidth">
          <number>1</number>
         </property>
         <property name="orientation">
          <enum>Qt::Vertical</enum>
         </property>
        </widget>
       </item>
      </layout>
     </widget>
    </widget>
    <widget class="QWidget" name="calibratedTab">
     <attribute name="title">
      <string>Calibrated</string>
     </attribute>
     <widget class="QWidget" name="horizontalLayoutWidget">
      <property name="geometry">
       <rect>
        <x>0</x>
        <y>380</y>
        <width>791</width>
        <height>231</height>
       </rect>
      </property>
      <layout class="QHBoxLayout" name="horizontalLayout">
       <item>
        <widget class="QGroupBox" name="groupBox">
         <property name="title">
          <string>Accelerometer</string>
         </property>
         <property name="alignment">
          <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
         </property>
         <property name="flat">
          <bool>false</bool>
         </property>
         <property name="checkable">
          <bool>false</bool>
         </property>
         <widget class="QWidget" name="layoutWidget">
          <property name="geometry">
           <rect>
            <x>10</x>
            <y>20</y>
            <width>381</width>
            <height>201</height>
           </rect>
          </property>
          <layout class="QFormLayout" name="formLayout_3">
           <property name="sizeConstraint">
            <enum>QLayout::SetNoConstraint</enum>
           </property>
           <property name="fieldGrowthPolicy">
            <enum>QFormLayout::ExpandingFieldsGrow</enum>
           </property>
           <property name="labelAlignment">
            <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
           </property>
           <item row="0" column="0">
            <widget class="QLabel" name="label_14">
             <property name="text">
              <string>Offset X</string>
             </property>
            </widget>
           </item>
           <item row="0" column="1">
            <widget class="QLineEdit" name="calRes_acc_OSx"/>
           </item>
           <item row="1" column="0">
            <widget class="QLabel" name="label_15">
             <property name="text">
              <string>Offset Y</string>
             </property>
            </widget>
           </item>
           <item row="1" column="1">
            <widget class="QLineEdit" name="calRes_acc_OSy">
             <property name="sizePolicy">
              <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
               <horstretch>0</horstretch>
               <verstretch>0</verstretch>
              </sizepolicy>
             </property>
            </widget>
           </item>
           <item row="2" column="0">
            <widget class="QLabel" name="label_16">
             <property name="text">
              <string>Offset Z</string>
             </property>
            </widget>
           </item>
           <item row="2" column="1">
            <widget class="QLineEdit" name="calRes_acc_OSz"/>
           </item>
           <item row="3" column="0">
            <widget class="QLabel" name="label_17">
             <property name="text">
              <string>Scale X</string>
             </property>
            </widget>
           </item>
           <item row="3" column="1">
            <widget class="QLineEdit" name="calRes_acc_SCx"/>
           </item>
           <item row="4" column="0">
            <widget class="QLabel" name="label_18">
             <property name="text">
              <string>Scale Y</string>
             </property>
            </widget>
           </item>
           <item row="4" column="1">
            <widget class="QLineEdit" name="calRes_acc_SCy"/>
           </item>
           <item row="5" column="0">
            <widget class="QLabel" name="label_19">
             <property name="text">
              <string>Scale Z</string>
             </property>
            </widget>
           </item>
           <item row="5" column="1">
            <widget class="QLineEdit" name="calRes_acc_SCz"/>
           </item>
          </layout>
         </widget>
        </widget>
       </item>
       <item>
        <widget class="QGroupBox" name="groupBox_2">
         <property name="title">
          <string>Magnetometer</string>
         </property>
         <widget class="QWidget" name="layoutWidget_2">
          <property name="geometry">
           <rect>
            <x>10</x>
            <y>20</y>
            <width>381</width>
            <height>201</height>
           </rect>
          </property>
          <layout class="QFormLayout" name="formLayout_5">
           <property name="sizeConstraint">
            <enum>QLayout::SetNoConstraint</enum>
           </property>
           <property name="fieldGrowthPolicy">
            <enum>QFormLayout::ExpandingFieldsGrow</enum>
           </property>
           <property name="labelAlignment">
            <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
           </property>
           <item row="0" column="0">
            <widget class="QLabel" name="label_27">
             <property name="text">
              <string>Offset X</string>
             </property>
            </widget>
           </item>
           <item row="0" column="1">
            <widget class="QLineEdit" name="calRes_magn_OSx"/>
           </item>
           <item row="1" column="0">
            <widget class="QLabel" name="label_28">
             <property name="text">
              <string>Offset Y</string>
             </property>
            </widget>
           </item>
           <item row="1" column="1">
            <widget class="QLineEdit" name="calRes_magn_OSy">
             <property name="sizePolicy">
              <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
               <horstretch>0</horstretch>
               <verstretch>0</verstretch>
              </sizepolicy>
             </property>
            </widget>
           </item>
           <item row="2" column="0">
            <widget class="QLabel" name="label_29">
             <property name="text">
              <string>Offset Z</string>
             </property>
            </widget>
           </item>
           <item row="2" column="1">
            <widget class="QLineEdit" name="calRes_magn_OSz"/>
           </item>
           <item row="3" column="0">
            <widget class="QLabel" name="label_30">
             <property name="text">
              <string>Scale X</string>
             </property>
            </widget>
           </item>
           <item row="3" column="1">
            <widget class="QLineEdit" name="calRes_magn_SCx"/>
           </item>
           <item row="4" column="0">
            <widget class="QLabel" name="label_31">
             <property name="text">
              <string>Scale Y</string>
             </property>
            </widget>
           </item>
           <item row="4" column="1">
            <widget class="QLineEdit" name="calRes_magn_SCy"/>
           </item>
           <item row="5" column="0">
            <widget class="QLabel" name="label_32">
             <property name="text">
              <string>Scale Z</string>
             </property>
            </widget>
           </item>
           <item row="5" column="1">
            <widget class="QLineEdit" name="calRes_magn_SCz"/>
           </item>
          </layout>
         </widget>
        </widget>
       </item>
      </layout>
     </widget>
     <widget class="QWidget" name="horizontalLayoutWidget_2">
      <property name="geometry">
       <rect>
        <x>260</x>
        <y>620</y>
        <width>301</width>
        <height>51</height>
       </rect>
      </property>
      <layout class="QHBoxLayout" name="horizontalLayout_2">
       <item>
        <widget class="QPushButton" name="saveCalibrationHeaderButton">
         <property name="enabled">
          <bool>false</bool>
         </property>
         <property name="toolTip">
          <string>Store the calibration parameters in an header .h file.</string>
         </property>
         <property name="text">
          <string>Save to calibration.json</string>
         </property>
        </widget>
       </item>
      </layout>
     </widget>
     <widget class="QWidget" name="horizontalLayoutWidget_3">
      <property name="geometry">
       <rect>
        <x>0</x>
        <y>0</y>
        <width>791</width>
        <height>381</height>
       </rect>
      </property>
      <layout class="QHBoxLayout" name="horizontalLayout_3">
       <item>
        <widget class="QTabWidget" name="tabWidget_2">
         <property name="tabPosition">
          <enum>QTabWidget::South</enum>
         </property>
         <property name="tabShape">
          <enum>QTabWidget::Rounded</enum>
         </property>
         <property name="currentIndex">
          <number>0</number>
         </property>
         <property name="usesScrollButtons">
          <bool>true</bool>
         </property>
         <property name="documentMode">
          <bool>false</bool>
         </property>
         <property name="tabsClosable">
          <bool>false</bool>
         </property>
         <property name="movable">
          <bool>false</bool>
         </property>
         <widget class="QWidget" name="tab">
          <attribute name="title">
           <string>Acc XY</string>
          </attribute>
          <widget class="PlotWidget" name="accXY_cal">
           <property name="geometry">
            <rect>
             <x>0</x>
             <y>0</y>
             <width>781</width>
             <height>351</height>
            </rect>
           </property>
           <property name="sizePolicy">
            <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
             <horstretch>0</horstretch>
             <verstretch>1</verstretch>
            </sizepolicy>
           </property>
          </widget>
         </widget>
         <widget class="QWidget" name="tab_4">
          <attribute name="title">
           <string>Acc YZ</string>
          </attribute>
          <widget class="PlotWidget" name="accYZ_cal">
           <property name="geometry">
            <rect>
             <x>0</x>
             <y>0</y>
             <width>781</width>
             <height>351</height>
            </rect>
           </property>
           <property name="sizePolicy">
            <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
             <horstretch>0</horstretch>
             <verstretch>1</verstretch>
            </sizepolicy>
           </property>
          </widget>
         </widget>
         <widget class="QWidget" name="tab_3">
          <attribute name="title">
           <string>Acc ZX</string>
          </attribute>
          <widget class="PlotWidget" name="accZX_cal">
           <property name="geometry">
            <rect>
             <x>0</x>
             <y>0</y>
             <width>781</width>
             <height>351</height>
            </rect>
           </property>
           <property name="sizePolicy">
            <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
             <horstretch>0</horstretch>
             <verstretch>1</verstretch>
            </sizepolicy>
           </property>
          </widget>
         </widget>
         <widget class="QWidget" name="tab_7">
          <attribute name="title">
           <string>Acc 3D</string>
          </attribute>
          <widget class="GLViewWidget" name="acc3D_cal">
           <property name="geometry">
            <rect>
             <x>0</x>
             <y>0</y>
             <width>389</width>
             <height>351</height>
            </rect>
           </property>
           <property name="sizePolicy">
            <sizepolicy hsizetype="Minimum" vsizetype="Expanding">
             <horstretch>0</horstretch>
             <verstretch>0</verstretch>
            </sizepolicy>
           </property>
          </widget>
         </widget>
        </widget>
       </item>
       <item>
        <widget class="QTabWidget" name="tabWidget_3">
         <property name="tabPosition">
          <enum>QTabWidget::South</enum>
         </property>
         <property name="tabShape">
          <enum>QTabWidget::Rounded</enum>
         </property>
         <property name="currentIndex">
          <number>0</number>
         </property>
         <property name="usesScrollButtons">
          <bool>true</bool>
         </property>
         <property name="documentMode">
          <bool>false</bool>
         </property>
         <property name="tabsClosable">
          <bool>false</bool>
         </property>
         <property name="movable">
          <bool>false</bool>
         </property>
         <widget class="QWidget" name="tab_2">
          <attribute name="title">
           <string>Magn XY</string>
          </attribute>
          <widget class="PlotWidget" name="magnXY_cal">
           <property name="geometry">
            <rect>
             <x>-10</x>
             <y>0</y>
             <width>781</width>
             <height>351</height>
            </rect>
           </property>
           <property name="sizePolicy">
            <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
             <horstretch>0</horstretch>
             <verstretch>1</verstretch>
            </sizepolicy>
           </property>
          </widget>
         </widget>
         <widget class="QWidget" name="tab_5">
          <attribute name="title">
           <string>Magn YZ</string>
          </attribute>
          <widget class="PlotWidget" name="magnYZ_cal">
           <property name="geometry">
            <rect>
             <x>0</x>
             <y>0</y>
             <width>781</width>
             <height>351</height>
            </rect>
           </property>
           <property name="sizePolicy">
            <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
             <horstretch>0</horstretch>
             <verstretch>1</verstretch>
            </sizepolicy>
           </property>
          </widget>
         </widget>
         <widget class="QWidget" name="tab_6">
          <attribute name="title">
           <string>Magn ZX</string>
          </attribute>
          <widget class="PlotWidget" name="magnZX_cal">
           <property name="geometry">
            <rect>
             <x>0</x>
             <y>0</y>
             <width>781</width>
             <height>351</height>
            </rect>
           </property>
           <property name="sizePolicy">
            <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
             <horstretch>0</horstretch>
             <verstretch>1</verstretch>
            </sizepolicy>
           </property>
          </widget>
         </widget>
         <widget class="QWidget" name="tab_8">
          <attribute name="title">
           <string>Magn 3D</string>
          </attribute>
          <widget class="GLViewWidget" name="magn3D_cal">
           <property name="geometry">
            <rect>
             <x>0</x>
             <y>0</y>
             <width>389</width>
             <height>351</height>
            </rect>
           </property>
           <property name="sizePolicy">
            <sizepolicy hsizetype="Minimum" vsizetype="Expanding">
             <horstretch>0</horstretch>
             <verstretch>0</verstretch>
            </sizepolicy>
           </property>
          </widget>
         </widget>
        </widget>
       </item>
      </layout>
     </widget>
    </widget>
    <widget class="QWidget" name="tab_9">
     <attribute name="title">
      <string>Orientation Sensing Test</string>
     </attribute>
     <widget class="QLabel" name="label_4">
      <property name="geometry">
       <rect>
        <x>290</x>
        <y>270</y>
        <width>261</width>
        <height>16</height>
       </rect>
      </property>
      <property name="text">
       <string>To Be Implemented</string>
      </property>
     </widget>
    </widget>
   </widget>
  </widget>
  <widget class="QStatusBar" name="statusbar"/>
 </widget>
 <customwidgets>
  <customwidget>
   <class>PlotWidget</class>
   <extends>QGraphicsView</extends>
   <header>pyqtgraph</header>
  </customwidget>
  <customwidget>
   <class>GLViewWidget</class>
   <extends>QGraphicsView</extends>
   <header>pyqtgraph.opengl</header>
  </customwidget>
 </customwidgets>
 <resources/>
 <connections/>
</ui>