change radar4d_ars548. test decode ok, show ok. next test in vehicle.

src/driver/driver_radar_4d_ars548/ars548recv.cpp

@@ -98,12 +98,14 @@ void ars548recv::threadrecv()
     while(mbRun)
     {
         int nrtn = 0;
+        (void)nrtn;
         struct pollfd fds;
         fds.fd = listen_fd_;
         fds.events = POLLIN;
         int ready_num = poll(&fds, 1, timeout_ms);
         if (ready_num > 0) {
             char buf[32] = {0};  // larger than ReadableInfo::kSize
+            (void)buf;
             ssize_t nbytes = recvfrom(listen_fd_, pdata_ptr.get(),MAX_LEN, 0, nullptr, nullptr);
             if (nbytes == -1) {
                 std::cout << "fail to recvfrom, " << strerror(errno)<<std::endl;
@@ -125,7 +127,7 @@ void ars548recv::threadrecv()
                 mmutexbuf.unlock();
                 mcv.notify_all();
                 pdata_ptr = std::shared_ptr<char>(new char[MAX_LEN]);
-                std::cout<<" recv data: "<<nbytes<<std::endl;
+//                std::cout<<" recv data: "<<nbytes<<std::endl;
             }
     //          return info->DeserializeFrom(buf, nbytes);
         } else if (ready_num == 0) {
@@ -187,14 +189,14 @@ void ars548recv::DecodePac(iv::ars548recv_pac &ap)
 
     if(pac.GetPacType() == ars548pactype::TypeDectect)
     {
-        std::cout<<"detect. "<<std::endl;
+//        std::cout<<"detect. "<<std::endl;
         iv::radar::radar4ddetectarray * pdetarray = pac.GetDetArray();
         SetDetect(pdetarray);
     }
 
     if(pac.GetPacType() == ars548pactype::TypeObject)
     {
-        std::cout<<"object. "<<std::endl;
+ //       std::cout<<"object. "<<std::endl;
         iv::radar::radar4dobjectarray * pobjarray = pac.GetObjArray();
         SetObject(pobjarray);
     }

src/driver/driver_radar_4d_ars548/mainwindow.cpp

@@ -7,11 +7,30 @@
 #include <QTimer>
 
 
+
+
 MainWindow::MainWindow(QWidget *parent)
     : QMainWindow(parent)
     , ui(new Ui::MainWindow)
 {
     ui->setupUi(this);
+
+    ui->actionNoClassification->setChecked(true);
+    ui->actionNoise->setChecked(true);
+    ui->actionGround->setChecked(true);
+    ui->actionTraversableUnder->setChecked(true);
+    ui->actionObstacle->setChecked(true);
+    ui->actionInvalid->setChecked(true);
+
+    ui->actionCar->setChecked(true);
+    ui->actionTruck->setChecked(true);
+    ui->actionMotorcycle->setChecked(true);
+    ui->actionBicycle->setChecked(true);
+    ui->actionPedestrian->setChecked(true);
+    ui->actionAnimal->setChecked(true);
+    ui->actionHazard->setChecked(true);
+    ui->actionUnknown->setChecked(true);
+
     vtkSmartPointer<vtkRenderer> renderer = vtkSmartPointer<vtkRenderer>::New();
     vtkSmartPointer<vtkGenericOpenGLRenderWindow> renderWindow = vtkSmartPointer<vtkGenericOpenGLRenderWindow>::New();
     renderWindow->AddRenderer(renderer);
@@ -33,15 +52,52 @@ MainWindow::MainWindow(QWidget *parent)
 
     DrawAxis();
 
+    // Create a sphere.
+
+    int i;
+    for(i=0;i<NUM_DET_MAX;i++){
+      detSource[i]->SetBounds(-0.001,-0.001,-0.001,0.001,0.001,0.001);
+      detSource[i]->Update();
+
+      detmapper[i]->SetInputData(detSource[i]->GetOutput());
+
+      // Create an actor.
+      vtkNew<vtkActor> actor;
+      vtkNew<vtkNamedColors> colors;
+      actor->GetProperty()->SetColor(colors->GetColor3d("Yellow").GetData());
+      actor->SetMapper(detmapper[i]);
+
+      renderer->AddActor(actor);
+     }
+
+    for(i=0;i<NUM_OBJ_MAX;i++){
+      sphereSource[i]->SetCenter(0,0,0);
+      sphereSource[i]->SetRadius(0.001);
+      sphereSource[i]->Update();
+
+      mapper[i]->SetInputData(sphereSource[i]->GetOutput());
+
+      // Create an actor.
+      vtkNew<vtkActor> actor;
+      vtkNew<vtkNamedColors> colors;
+      actor->GetProperty()->SetColor(colors->GetColor3d("Red").GetData());
+      actor->SetMapper(mapper[i]);
+
+      renderer->AddActor(actor);
+     }
+
     QTimer * timer1 = new QTimer();
     connect(timer1,SIGNAL(timeout()),this,SLOT(onTimer()));
- //   timer1->start(10);
+//    timer1->start(100);
 
     mprecv = new ars548recv();
 
     connect(this,SIGNAL(detupdate()),this,SLOT(onDetUpdate()));
 
-    std::thread * pthread = new std::thread(&MainWindow::threaddet,this);
+    mpthreaddet =  new std::thread(&MainWindow::threaddet,this);
+    mpthreadobj =  new std::thread(&MainWindow::threadobj,this);
+
+
 
     setWindowTitle("ARS548 Viewer");
 
@@ -49,6 +105,9 @@ MainWindow::MainWindow(QWidget *parent)
 
 MainWindow::~MainWindow()
 {
+    mbThreadRun = false;
+    mpthreadobj->join();
+    mpthreaddet->join();
     delete mprecv;
     delete ui;
 }
@@ -60,11 +119,11 @@ void MainWindow::DrawAxis()
 
     pcl::PointXYZ p1(-300,0,0);
     pcl::PointXYZ p2(300,0,0);
-    view->addLine(p1,p2,1.0f,1.0f,0.0f,"axis_x");
+    view->addLine(p1,p2,1.0f,1.0f,1.0f,"axis_x");
 
     p1.x = 0;p1.y = -300;
     p2.x=  0;p2.y = 300;
-    view->addLine(p1,p2,1.0f,1.0f,0.0f,"axis_y");
+    view->addLine(p1,p2,1.0f,1.0f,1.0f,"axis_y");
 
     int i;
 
@@ -134,12 +193,12 @@ void MainWindow::DrawAxis()
             view->addText3D(strtext,p1,orientation,0.5,1.0,1.0,1.0,strname);
     }
 
-    double base_size = 0.2;
-    double base_height = 0.2;
-    double sigx = 15;
-    double sigy = 15;
-    double sigz = 1.0;
-    view->addCube(sigx-base_size/2.0,sigx + base_size/2.0,sigy-base_size/2.0,sigy+base_size/2.0,sigz-base_height/2.0,sigz + base_height/2.0,1.0,0.0,0.0,"cube1");
+//    double base_size = 0.2;
+//    double base_height = 0.2;
+//    double sigx = 15;
+//    double sigy = 15;
+//    double sigz = 1.0;
+//    view->addCube(sigx-base_size/2.0,sigx + base_size/2.0,sigy-base_size/2.0,sigy+base_size/2.0,sigz-base_height/2.0,sigz + base_height/2.0,1.0,0.0,0.0,"cube1");
 
     view->setCameraPosition(0,0,100,0,0,0,0,1,0);
     view->resetCamera();    //视角
@@ -164,6 +223,7 @@ void MainWindow::resizeEvent(QResizeEvent *event)
 void MainWindow::onTimer()
 {
 
+    int64_t nstart = std::chrono::system_clock::now().time_since_epoch().count();
     static bool bSetCam = false;
     if(bSetCam == false)
     {
@@ -179,31 +239,79 @@ void MainWindow::onTimer()
     double sigx = 15;
     double sigy = 15 + nindex * 0.01;
     double sigz = 1.0;
-    view->removeShape("cube1");
-    view->addCube(sigx-base_size/2.0,sigx + base_size/2.0,sigy-base_size/2.0,sigy+base_size/2.0,sigz-base_height/2.0,sigz + base_height/2.0,1.0,0.0,0.0,"cube1");
+    (void)base_size;
+    (void)base_height;
+    (void)sigx;
+    (void)sigz;
+//    view->removeShape("cube1");
+//    view->addCube(sigx-base_size/2.0,sigx + base_size/2.0,sigy-base_size/2.0,sigy+base_size/2.0,sigz-base_height/2.0,sigz + base_height/2.0,1.0,0.0,0.0,"cube1");
+
+
+
+    int i;
+    for(i=0;i<100;i++){
+    sphereSource[i]->SetCenter(i, sigy, 0.0);
+    sphereSource[i]->Update();
+    }
+
+
+    // Create a mapper.
+
+//    mapper->SetInputData(sphereSource->GetOutput());
 
 #if VTK890
     ui->vtk->renderWindow()->Render();
 #else
     ui->vtk->GetRenderWindow()->Render();
 #endif
+
+    int64_t nend = std::chrono::system_clock::now().time_since_epoch().count();
+    std::cout<<" update use : "<<(nend -nstart)/1e6<<std::endl;
 }
 
 void MainWindow::onDetUpdate()
 {
+    static int64_t nlastup = 0;
+
+    int64_t nnow = std::chrono::system_clock::now().time_since_epoch().count();
+    int64_t ndiff = (nnow - nlastup)/1e6;
+    if(abs(ndiff)<10)
+    {
+//        nlastup = nnow;
+        return;
+    }
+
+    bool bdetupdate = false;
+    bool bobjupdate = false;
+
+    int64_t nstart = std::chrono::system_clock::now().time_since_epoch().count();
     iv::radar::radar4ddetectarray xdetarray;
     mmutexdet.lock();
-    xdetarray.CopyFrom(mdetarray);
-    mbdetupdate = false;
+    if(mbdetupdate){
+        xdetarray.CopyFrom(mdetarray);
+        mbdetupdate = false;
+        bdetupdate = true;
+    }
     mmutexdet.unlock();
 
-    static int nskip = 0;
-    nskip++;
-    if(nskip <10)
-    {
-        return;
+    iv::radar::radar4dobjectarray xobjarray;
+    mmutexobj.lock();
+    if(mbobjupdate){
+        xobjarray.CopyFrom(mobjarray);
+        mbobjupdate = false;
+        bobjupdate = true;
     }
-    nskip = 0;
+    mmutexobj.unlock();
+
+//    static int nskip = 0;
+//    nskip++;
+//    if(nskip <2)
+//    {
+//        return;
+//    }
+//    nskip = 0;
+
+
 
     static bool bSetCam = false;
     if(bSetCam == false)
@@ -213,35 +321,108 @@ void MainWindow::onDetUpdate()
 //        view->resetCamera();    //视角
     }
 
-    int nsize = static_cast<int>(mvectordetname.size());
     int i;
-    for(i=0;i<nsize;i++){
-        view->removeShape(mvectordetname[i]);
-    }
-    mvectordetname.clear();
 
-    double base_size = 0.5;
-    double base_height = 0.5;
+
+
+
+    double base_size = 0.2;
+    double obj_size = 0.5;
     double sigx = 15;
     double sigy = 15 ;
     double sigz = 1.0;
+    int nsize;
 
-    nsize = static_cast<int>(xdetarray.mdet_size());
+    if(bdetupdate){
+        nsize = static_cast<int>(xdetarray.mdet_size());
 
-    for(i=0;i<nsize;i++)
-    {
-        iv::radar::radar4ddetect * pdet = xdetarray.mutable_mdet(i);
-        if(pdet->detection_radial_distance()<0.001)continue;
-        sigx = pdet->detection_radial_distance() * cos(pdet->unaligned_detection_elevation_angle()) * cos(pdet->unaligned_detection_azimuth_angle() + M_PI/2.0);
-        sigy = pdet->detection_radial_distance() * cos(pdet->unaligned_detection_elevation_angle()) * sin(pdet->unaligned_detection_azimuth_angle() + M_PI/2.0);
-        sigz = pdet->detection_radial_distance() * sin(pdet->unaligned_detection_elevation_angle());
-        char strname[256];
-        snprintf(strname,256,"%det%d",i);
-        view->addCube(sigx-base_size/2.0,sigx + base_size/2.0,sigy-base_size/2.0,sigy+base_size/2.0,sigz-base_height/2.0,sigz + base_height/2.0,1.0,0.0,0.0,strname);
-        mvectordetname.push_back(std::string(strname));
+        if(nsize > NUM_DET_MAX){
+            nsize = NUM_DET_MAX;
+        }
+
+        for(i=0;i<nsize;i++)
+        {
+            iv::radar::radar4ddetect * pdet = xdetarray.mutable_mdet(i);
+
+
+            if((pdet->detection_radial_distance()<0.001) || (pdet->detection_classification() != iv::radar::radar4ddetect::Obstacle))
+            {
+                detSource[i]->SetBounds(1000.0,1000.1,-0.001,0.001,0.001,0.001);
+                detSource[i]->Update();
+                continue;
+            }
+            bool bshow = false;
+            if(ui->actionAll->isChecked())bshow = true;
+            if((ui->actionNoClassification->isChecked())&&(pdet->detection_classification() == iv::radar::radar4ddetect::NoClassification))bshow = true;
+            if((ui->actionNoise->isChecked())&&(pdet->detection_classification() == iv::radar::radar4ddetect::Noise))bshow = true;
+            if((ui->actionGround->isChecked())&&(pdet->detection_classification() == iv::radar::radar4ddetect::Ground))bshow = true;
+            if((ui->actionTraversableUnder->isChecked())&&(pdet->detection_classification() == iv::radar::radar4ddetect::TraversableUnder))bshow = true;
+            if((ui->actionObstacle->isChecked())&&(pdet->detection_classification() == iv::radar::radar4ddetect::Obstacle))bshow = true;
+            if((ui->actionInvalid->isChecked())&&(pdet->detection_classification() == iv::radar::radar4ddetect::Invalid))bshow = true;
+            if(bshow == true){
+                sigx = pdet->detection_radial_distance() * cos(pdet->unaligned_detection_elevation_angle()) * cos(pdet->unaligned_detection_azimuth_angle() + M_PI/2.0);
+                sigy = pdet->detection_radial_distance() * cos(pdet->unaligned_detection_elevation_angle()) * sin(pdet->unaligned_detection_azimuth_angle() + M_PI/2.0);
+                sigz = pdet->detection_radial_distance() * sin(pdet->unaligned_detection_elevation_angle());
+                detSource[i]->SetBounds(sigx-base_size/2.0,sigx+base_size/2.0,sigy - base_size/2.0,sigy + base_size/2.0, sigz - base_size/2.0,
+                                        sigz + base_size/2.0);
+                detSource[i]->Update();
+            }
+            else {
+                detSource[i]->SetBounds(1000.0,1000.1,-0.001,0.001,0.001,0.001);
+                detSource[i]->Update();
+            }
+        }
     }
 
-    std::cout<<"update det."<<std::endl;
+    if(bobjupdate){
+        nsize = static_cast<int>(xobjarray.mobj_size());
+
+        if(nsize > NUM_OBJ_MAX){
+            nsize = NUM_OBJ_MAX;
+        }
+
+        for(i=0;i<nsize;i++)
+        {
+            iv::radar::radar4dobject * pobj = xobjarray.mutable_mobj(i);
+
+//            std::cout<<" i: "<<i<<" unkown: "<<pobj->u_classification_unknown()<<" car: "<<pobj->u_classification_car()
+//                       <<" truck: "<<pobj->u_classification_truck()
+//                         <<" motocycle: "<<pobj->u_classification_motorcycle()
+//                           <<" bycycle: "<<pobj->u_classification_bicycle()
+//                             <<" ped: "<<pobj->u_classification_pedestrian()
+//                     <<" animal: "<<pobj->u_classification_animal()
+//                     <<" hazard: "<<pobj->u_classification_hazard()
+//                    <<"exist: "<<pobj->u_existence_probability()<<std::endl;
+            sigx = pobj->u_position_y() * (-1);
+            sigy = pobj->u_position_x();
+            sigz = pobj->u_position_z();
+            bool bShow = false;
+            unsigned int nMinProb = 30;
+            if(ui->actionObjectAll->isChecked())bShow = true;
+            if((ui->actionCar->isChecked())&&(pobj->u_classification_car()>=nMinProb))bShow = true;
+            if((ui->actionTruck->isChecked())&&(pobj->u_classification_truck()>=nMinProb))bShow = true;
+            if((ui->actionMotorcycle->isChecked())&&(pobj->u_classification_motorcycle()>=nMinProb))bShow = true;
+            if((ui->actionBicycle->isChecked())&&(pobj->u_classification_bicycle()>=nMinProb))bShow = true;
+            if((ui->actionPedestrian->isChecked())&&(pobj->u_classification_pedestrian()>=nMinProb))bShow = true;
+            if((ui->actionAnimal->isChecked())&&(pobj->u_classification_animal()>=nMinProb))bShow = true;
+            if((ui->actionHazard->isChecked())&&(pobj->u_classification_hazard()>=nMinProb))bShow = true;
+            if((ui->actionUnknown->isChecked())&&(pobj->u_classification_unknown()>=nMinProb))bShow = true;
+            if((pobj->u_existence_probability() >0)&&bShow){
+
+                sphereSource[i]->SetCenter(sigx,sigy,sigz);
+                sphereSource[i]->SetRadius(obj_size/2.0);
+            }
+            else{
+                sphereSource[i]->SetCenter(0.0,0.0,0.0);
+                sphereSource[i]->SetRadius(0.001);
+            }
+
+            sphereSource[i]->Update();
+        }
+    }
+
+
+//    std::cout<<"update det."<<std::endl;
 
 #if VTK890
     ui->vtk->renderWindow()->Render();
@@ -249,9 +430,14 @@ void MainWindow::onDetUpdate()
     ui->vtk->GetRenderWindow()->Render();
 #endif
 
+    int64_t nend = std::chrono::system_clock::now().time_since_epoch().count();
 
+    int64_t nuse = nend- nstart;
+    std::cout<<" draw use : "<<nuse/1e6<<std::endl;
 
 
+    nlastup = std::chrono::system_clock::now().time_since_epoch().count();
+
 }
 
 void MainWindow::on_actionReset_Camera_triggered()
@@ -288,7 +474,7 @@ void MainWindow::keyReleaseEvent(QKeyEvent *event)
 
 void MainWindow::threaddet()
 {
-    while(1)
+    while(mbThreadRun)
     {
         iv::radar::radar4ddetectarray xdetarray;
         if(mprecv->GetDetect(10,xdetarray) == 1)
@@ -302,3 +488,66 @@ void MainWindow::threaddet()
     }
 }
 
+void MainWindow::threadobj()
+{
+    while(mbThreadRun)
+    {
+        iv::radar::radar4dobjectarray xobjarray;
+        if(mprecv->GetObj(10,xobjarray) == 1)
+        {
+            mmutexobj.lock();
+            mobjarray.CopyFrom(xobjarray);
+            mbobjupdate = true;
+            mmutexobj.unlock();
+            emit detupdate();
+        }
+    }
+}
+
+
+void MainWindow::on_actionAll_triggered()
+{
+    if(ui->actionAll->isChecked()){
+        ui->actionNoClassification->setChecked(true);
+        ui->actionNoise->setChecked(true);
+        ui->actionGround->setChecked(true);
+        ui->actionTraversableUnder->setChecked(true);
+        ui->actionObstacle->setChecked(true);
+        ui->actionInvalid->setChecked(true);
+    }
+    else
+    {
+        ui->actionNoClassification->setChecked(false);
+        ui->actionNoise->setChecked(false);
+        ui->actionGround->setChecked(false);
+        ui->actionTraversableUnder->setChecked(false);
+        ui->actionObstacle->setChecked(false);
+        ui->actionInvalid->setChecked(false);
+    }
+}
+
+
+void MainWindow::on_actionObjectAll_triggered()
+{
+    if(ui->actionObjectAll->isChecked()){
+        ui->actionCar->setChecked(true);
+        ui->actionTruck->setChecked(true);
+        ui->actionMotorcycle->setChecked(true);
+        ui->actionBicycle->setChecked(true);
+        ui->actionPedestrian->setChecked(true);
+        ui->actionAnimal->setChecked(true);
+        ui->actionHazard->setChecked(true);
+        ui->actionUnknown->setChecked(true);
+    }
+    else{
+        ui->actionCar->setChecked(false);
+        ui->actionTruck->setChecked(false);
+        ui->actionMotorcycle->setChecked(false);
+        ui->actionBicycle->setChecked(false);
+        ui->actionPedestrian->setChecked(false);
+        ui->actionAnimal->setChecked(false);
+        ui->actionHazard->setChecked(false);
+        ui->actionUnknown->setChecked(false);
+    }
+}
+

src/driver/driver_radar_4d_ars548/mainwindow.h

@@ -29,11 +29,16 @@
 
 #include "ars548recv.h"
 
+#include "vtkCubeSource.h"
+
 #if VTK_VERSION_NUMBER >= 89000000000ULL
 #define VTK890 1
 #endif
 
 
+#define NUM_DET_MAX 800
+#define NUM_OBJ_MAX 50
+
 QT_BEGIN_NAMESPACE
 namespace Ui {
 class MainWindow;
@@ -65,6 +70,10 @@ private slots:
 
     void onDetUpdate();
 
+    void on_actionAll_triggered();
+
+    void on_actionObjectAll_triggered();
+
 private:
     Ui::MainWindow *ui;
 
@@ -78,6 +87,10 @@ private:
 
 private:
     void threaddet();
+    void threadobj();
+    bool mbThreadRun = true;
+    std::thread * mpthreaddet;
+    std::thread * mpthreadobj;
 
     iv::radar::radar4ddetectarray mdetarray;
     std::mutex mmutexdet;
@@ -88,5 +101,11 @@ private:
 
     std::vector<std::string> mvectordetname;
 
+    vtkNew<vtkSphereSource> sphereSource[NUM_OBJ_MAX];
+    vtkNew<vtkPolyDataMapper> mapper[NUM_OBJ_MAX];
+
+    vtkNew<vtkCubeSource> detSource[NUM_DET_MAX];
+    vtkNew<vtkPolyDataMapper> detmapper[NUM_DET_MAX];
+
 };
 #endif // MAINWINDOW_H

src/driver/driver_radar_4d_ars548/mainwindow.ui

@@ -6,8 +6,8 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>800</width>
-    <height>600</height>
+    <width>1280</width>
+    <height>800</height>
    </rect>
   </property>
   <property name="windowTitle">
@@ -30,7 +30,7 @@
     <rect>
      <x>0</x>
      <y>0</y>
-     <width>800</width>
+     <width>1280</width>
      <height>22</height>
     </rect>
    </property>
@@ -46,8 +46,40 @@
     <addaction name="actionFull_Screem"/>
     <addaction name="actionReset_Camera"/>
    </widget>
+   <widget class="QMenu" name="menuDetect">
+    <property name="title">
+     <string>Detect</string>
+    </property>
+    <addaction name="actionAll"/>
+    <addaction name="separator"/>
+    <addaction name="separator"/>
+    <addaction name="actionNoClassification"/>
+    <addaction name="actionNoise"/>
+    <addaction name="actionGround"/>
+    <addaction name="actionTraversableUnder"/>
+    <addaction name="actionObstacle"/>
+    <addaction name="actionInvalid"/>
+   </widget>
+   <widget class="QMenu" name="menuObject">
+    <property name="title">
+     <string>Object</string>
+    </property>
+    <addaction name="actionObjectAll"/>
+    <addaction name="separator"/>
+    <addaction name="separator"/>
+    <addaction name="actionCar"/>
+    <addaction name="actionTruck"/>
+    <addaction name="actionMotorcycle"/>
+    <addaction name="actionBicycle"/>
+    <addaction name="actionPedestrian"/>
+    <addaction name="actionAnimal"/>
+    <addaction name="actionHazard"/>
+    <addaction name="actionUnknown"/>
+   </widget>
    <addaction name="menuFile"/>
    <addaction name="menuView"/>
+   <addaction name="menuDetect"/>
+   <addaction name="menuObject"/>
   </widget>
   <widget class="QStatusBar" name="statusbar"/>
   <widget class="QToolBar" name="toolBar">
@@ -71,6 +103,134 @@
     <string>Reset Camera</string>
    </property>
   </action>
+  <action name="actionAll">
+   <property name="checkable">
+    <bool>true</bool>
+   </property>
+   <property name="text">
+    <string>All</string>
+   </property>
+  </action>
+  <action name="actionNoClassification">
+   <property name="checkable">
+    <bool>true</bool>
+   </property>
+   <property name="text">
+    <string>NoClassification</string>
+   </property>
+  </action>
+  <action name="actionNoise">
+   <property name="checkable">
+    <bool>true</bool>
+   </property>
+   <property name="text">
+    <string>Noise</string>
+   </property>
+  </action>
+  <action name="actionGround">
+   <property name="checkable">
+    <bool>true</bool>
+   </property>
+   <property name="text">
+    <string>Ground</string>
+   </property>
+  </action>
+  <action name="actionTraversableUnder">
+   <property name="checkable">
+    <bool>true</bool>
+   </property>
+   <property name="text">
+    <string>TraversableUnder</string>
+   </property>
+  </action>
+  <action name="actionObstacle">
+   <property name="checkable">
+    <bool>true</bool>
+   </property>
+   <property name="text">
+    <string>Obstacle</string>
+   </property>
+  </action>
+  <action name="actionInvalid">
+   <property name="checkable">
+    <bool>true</bool>
+   </property>
+   <property name="text">
+    <string>Invalid</string>
+   </property>
+  </action>
+  <action name="actionObjectAll">
+   <property name="checkable">
+    <bool>true</bool>
+   </property>
+   <property name="text">
+    <string>All</string>
+   </property>
+  </action>
+  <action name="actionCar">
+   <property name="checkable">
+    <bool>true</bool>
+   </property>
+   <property name="text">
+    <string>Car</string>
+   </property>
+  </action>
+  <action name="actionTruck">
+   <property name="checkable">
+    <bool>true</bool>
+   </property>
+   <property name="text">
+    <string>Truck</string>
+   </property>
+  </action>
+  <action name="actionMotorcycle">
+   <property name="checkable">
+    <bool>true</bool>
+   </property>
+   <property name="text">
+    <string>Motorcycle</string>
+   </property>
+  </action>
+  <action name="actionBicycle">
+   <property name="checkable">
+    <bool>true</bool>
+   </property>
+   <property name="text">
+    <string>Bicycle</string>
+   </property>
+  </action>
+  <action name="actionPedestrian">
+   <property name="checkable">
+    <bool>true</bool>
+   </property>
+   <property name="text">
+    <string>Pedestrian</string>
+   </property>
+  </action>
+  <action name="actionAnimal">
+   <property name="checkable">
+    <bool>true</bool>
+   </property>
+   <property name="text">
+    <string>Animal</string>
+   </property>
+  </action>
+  <action name="actionHazard">
+   <property name="checkable">
+    <bool>true</bool>
+   </property>
+   <property name="text">
+    <string>Hazard</string>
+   </property>
+  </action>
+  <action name="actionUnknown">
+   <property name="checkable">
+    <bool>true</bool>
+   </property>
+   <property name="text">
+    <string>Unknown</string>
+   </property>
+  </action>
  </widget>
  <customwidgets>
   <customwidget>