class ControlWorkbench(WorkbenchConnection):
def __init__(self, parent):
WorkbenchConnection.__init__(self, parent)
self.driver = Driver.Instance()
self.load()
def load(self):
#-- Toolbar Configuration
self.toolbar.Realize()
self.scrollPanel = wx.lib.scrolledpanel.ScrolledPanel(self._panel,
size=(290, -1))
self.scrollPanel.SetupScrolling(scroll_x=False, scrollIntoView=False)
self.scrollPanel.SetAutoLayout(1)
self.controls = ExpandableControl(self.scrollPanel)
self.controls.addPanel('camera_control', CameraControl(self.controls))
self.controls.addPanel('laser_control', LaserControl(self.controls))
self.controls.addPanel('ldr_value', LDRControl(self.controls))
self.controls.addPanel('motor_control', MotorControl(self.controls))
self.controls.addPanel('gcode_control', GcodeControl(self.controls))
self.videoView = VideoView(self._panel, self.getFrame, 10)
self.videoView.SetBackgroundColour(wx.BLACK)
#-- Layout
vsbox = wx.BoxSizer(wx.VERTICAL)
vsbox.Add(self.controls, 0, wx.ALL | wx.EXPAND, 0)
self.scrollPanel.SetSizer(vsbox)
vsbox.Fit(self.scrollPanel)
self.addToPanel(self.scrollPanel, 0)
self.addToPanel(self.videoView, 1)
self.Layout()
def initialize(self):
self.controls.initialize()
def getFrame(self):
return self.driver.camera.captureImage()
def updateToolbarStatus(self, status):
if status:
if self.IsShown():
self.videoView.play()
self.controls.enableContent()
else:
self.videoView.stop()
self.controls.disableContent()
def updateProfileToAllControls(self):
self.controls.updateProfile()
class ScanningWorkbench(WorkbenchConnection):
def __init__(self, parent):
WorkbenchConnection.__init__(self, parent)
self.scanning = False
self.showVideoViews = False
self.simpleScan = SimpleScan.Instance()
self.textureScan = TextureScan.Instance()
self.currentScan = self.simpleScan
self.load()
self.pointCloudTimer = wx.Timer(self)
self.Bind(wx.EVT_TIMER, self.onPointCloudTimer, self.pointCloudTimer)
def load(self):
#-- Toolbar Configuration
self.playTool = self.toolbar.AddLabelTool(
wx.NewId(),
_("Play"),
wx.Bitmap(resources.getPathForImage("play.png")),
shortHelp=_("Play"))
self.stopTool = self.toolbar.AddLabelTool(
wx.NewId(),
_("Stop"),
wx.Bitmap(resources.getPathForImage("stop.png")),
shortHelp=_("Stop"))
self.pauseTool = self.toolbar.AddLabelTool(
wx.NewId(),
_("Pause"),
wx.Bitmap(resources.getPathForImage("pause.png")),
shortHelp=_("Pause"))
self.toolbar.Realize()
#-- Disable Toolbar Items
self.enableLabelTool(self.playTool, False)
self.enableLabelTool(self.stopTool, False)
self.enableLabelTool(self.pauseTool, False)
#-- Bind Toolbar Items
self.Bind(wx.EVT_TOOL, self.onPlayToolClicked, self.playTool)
self.Bind(wx.EVT_TOOL, self.onStopToolClicked, self.stopTool)
self.Bind(wx.EVT_TOOL, self.onPauseToolClicked, self.pauseTool)
self.scrollPanel = wx.lib.scrolledpanel.ScrolledPanel(self._panel,
size=(290, -1))
self.scrollPanel.SetupScrolling(scroll_x=False, scrollIntoView=False)
self.scrollPanel.SetAutoLayout(1)
self.controls = ExpandableControl(self.scrollPanel)
self.controls.addPanel('scan_parameters',
ScanParameters(self.controls))
self.controls.addPanel('rotative_platform',
RotativePlatform(self.controls))
self.controls.addPanel('image_acquisition',
ImageAcquisition(self.controls))
self.controls.addPanel('image_segmentation',
ImageSegmentation(self.controls))
self.controls.addPanel('point_cloud_generation',
PointCloudGeneration(self.controls))
self.splitterWindow = wx.SplitterWindow(self._panel)
self.videoView = VideoView(self.splitterWindow, self.getFrame, 10)
self.sceneView = SceneView(self.splitterWindow)
self.videoView.SetBackgroundColour(wx.BLACK)
self.sceneView.SetBackgroundColour(wx.BLACK)
self.splitterWindow.SplitVertically(self.videoView, self.sceneView)
self.splitterWindow.SetMinimumPaneSize(200)
#-- Layout
vsbox = wx.BoxSizer(wx.VERTICAL)
vsbox.Add(self.controls, 0, wx.ALL | wx.EXPAND, 0)
self.scrollPanel.SetSizer(vsbox)
vsbox.Fit(self.scrollPanel)
self.addToPanel(self.scrollPanel, 0)
self.addToPanel(self.splitterWindow, 1)
#- Video View Selector
self.buttonShowVideoViews = wx.BitmapButton(
self.videoView, wx.NewId(),
wx.Bitmap(resources.getPathForImage("views.png"),
wx.BITMAP_TYPE_ANY), (10, 10))
self.comboVideoViews = wx.ComboBox(
self.videoView,
choices=[_("Laser"), _("Gray"),
_("Line"), _("Color")],
style=wx.CB_READONLY,
pos=(60, 10))
self.buttonShowVideoViews.Hide()
self.comboVideoViews.Hide()
selectedView = {
'laser': _("Laser"),
'gray': _("Gray"),
'line': _("Line"),
'color': _("Color")
}
self.comboVideoViews.SetValue(
selectedView[profile.getProfileSetting('img_type')])
self.buttonShowVideoViews.Bind(wx.EVT_BUTTON, self.onShowVideoViews)
self.comboVideoViews.Bind(wx.EVT_COMBOBOX,
self.onComboBoVideoViewsSelect)
self.Layout()
def initialize(self):
self.controls.initialize()
def onShow(self, event):
if event.GetShow():
self.updateStatus(self.currentScan.driver.isConnected)
self.pointCloudTimer.Stop()
self.pointCloudTimer.Start(milliseconds=50)
else:
try:
self.pointCloudTimer.Stop()
self.videoView.stop()
except:
pass
def onShowVideoViews(self, event):
self.showVideoViews = not self.showVideoViews
if self.showVideoViews:
self.comboVideoViews.Show()
else:
self.comboVideoViews.Hide()
def onComboBoVideoViewsSelect(self, event):
selectedView = {
_("Laser"): 'laser',
_("Gray"): 'gray',
_("Line"): 'line',
_("Color"): 'color'
}.get(self.comboVideoViews.GetValue())
self.currentScan.setImageType(selectedView)
profile.putProfileSetting('img_type', selectedView)
def getFrame(self):
if self.scanning:
return self.currentScan.getImage()
else:
return self.currentScan.getImage(self.driver.camera.captureImage())
def onPointCloudTimer(self, event):
pointCloud = self.currentScan.getPointCloudIncrement()
if pointCloud is not None:
if pointCloud[0] is not None and pointCloud[1] is not None:
if len(pointCloud[0]) > 0:
self.sceneView.appendPointCloud(pointCloud[0],
pointCloud[1])
def onPlayToolClicked(self, event):
if self.currentScan.inactive:
#-- Resume
self.enableLabelTool(self.pauseTool, True)
self.enableLabelTool(self.playTool, False)
self.currentScan.resume()
self.pointCloudTimer.Start(milliseconds=50)
else:
result = True
if self.sceneView._object is not None:
dlg = wx.MessageDialog(
self,
_("Your current model will be erased.\nDo you really want to do it?"
), _("Clear Point Cloud"), wx.YES_NO | wx.ICON_QUESTION)
result = dlg.ShowModal() == wx.ID_YES
dlg.Destroy()
if result:
value = profile.getProfileSetting('scan_type')
print value
if value == _("Without Texture"):
self.currentScan = self.simpleScan
self.driver.camera.setExposure(
profile.getProfileSettingInteger(
'laser_exposure_scanning'))
elif value == _("With Texture"):
self.currentScan = self.textureScan
self.driver.camera.setExposure(
profile.getProfileSettingInteger(
'color_exposure_scanning'))
self.currentScan.setCallbacks(
self.beforeScan, None,
lambda r: wx.CallAfter(self.afterScan, r))
self.currentScan.start()
def beforeScan(self):
self.scanning = True
self.buttonShowVideoViews.Show()
self.enableLabelTool(self.disconnectTool, False)
self.enableLabelTool(self.playTool, False)
self.enableLabelTool(self.stopTool, True)
self.enableLabelTool(self.pauseTool, True)
self.sceneView.createDefaultObject()
self.videoView.setMilliseconds(200)
self.combo.Disable()
self.GetParent().menuFile.Enable(
self.GetParent().menuLaunchWizard.GetId(), False)
self.GetParent().menuFile.Enable(
self.GetParent().menuLoadModel.GetId(), False)
self.GetParent().menuFile.Enable(
self.GetParent().menuSaveModel.GetId(), False)
self.GetParent().menuFile.Enable(
self.GetParent().menuClearModel.GetId(), False)
self.GetParent().menuFile.Enable(
self.GetParent().menuOpenProfile.GetId(), False)
self.GetParent().menuFile.Enable(
self.GetParent().menuSaveProfile.GetId(), False)
self.GetParent().menuFile.Enable(
self.GetParent().menuResetProfile.GetId(), False)
self.pointCloudTimer.Start(milliseconds=50)
def afterScan(self, response):
ret, result = response
if ret:
dlg = wx.MessageDialog(
self,
_("Scanning has finished. If you want to save your point cloud go to File > Save Model"
), _("Scanning finished!"), wx.OK | wx.ICON_INFORMATION)
dlg.ShowModal()
dlg.Destroy()
self.scanning = False
self.onScanFinished()
def onStopToolClicked(self, event):
paused = self.currentScan.inactive
self.currentScan.pause()
dlg = wx.MessageDialog(
self,
_("Your current scanning will be stopped.\nDo you really want to do it?"
), _("Stop Scanning"), wx.YES_NO | wx.ICON_QUESTION)
result = dlg.ShowModal() == wx.ID_YES
dlg.Destroy()
if result:
self.scanning = False
self.currentScan.stop()
self.onScanFinished()
else:
if not paused:
self.currentScan.resume()
def onScanFinished(self):
self.buttonShowVideoViews.Hide()
self.comboVideoViews.Hide()
self.enableLabelTool(self.disconnectTool, True)
self.enableLabelTool(self.playTool, True)
self.enableLabelTool(self.stopTool, False)
self.enableLabelTool(self.pauseTool, False)
self.driver.camera.setExposure(
profile.getProfileSettingInteger('exposure_scanning'))
self.videoView.setMilliseconds(5)
self.combo.Enable()
self.GetParent().menuFile.Enable(
self.GetParent().menuLaunchWizard.GetId(), True)
self.GetParent().menuFile.Enable(
self.GetParent().menuLoadModel.GetId(), True)
self.GetParent().menuFile.Enable(
self.GetParent().menuSaveModel.GetId(), True)
self.GetParent().menuFile.Enable(
self.GetParent().menuClearModel.GetId(), True)
self.GetParent().menuFile.Enable(
self.GetParent().menuOpenProfile.GetId(), True)
self.GetParent().menuFile.Enable(
self.GetParent().menuSaveProfile.GetId(), True)
self.GetParent().menuFile.Enable(
self.GetParent().menuResetProfile.GetId(), True)
self.pointCloudTimer.Stop()
def onPauseToolClicked(self, event):
self.enableLabelTool(self.pauseTool, False)
self.enableLabelTool(self.playTool, True)
self.currentScan.pause()
self.pointCloudTimer.Stop()
def updateToolbarStatus(self, status):
if status:
if self.IsShown():
self.videoView.play()
self.enableLabelTool(self.playTool, True)
self.enableLabelTool(self.stopTool, False)
self.enableLabelTool(self.pauseTool, False)
self.controls.enableContent()
else:
self.videoView.stop()
self.enableLabelTool(self.playTool, False)
self.enableLabelTool(self.stopTool, False)
self.enableLabelTool(self.pauseTool, False)
self.controls.disableContent()
def updateProfileToAllControls(self):
self.controls.updateProfile()
self.driver.camera.setExposure(
profile.getProfileSettingInteger('exposure_scanning'))
class CalibrationWorkbench(WorkbenchConnection):
def __init__(self, parent):
WorkbenchConnection.__init__(self, parent)
self.calibrating = False
self.load()
def load(self):
#-- Toolbar Configuration
self.toolbar.Realize()
self.scrollPanel = wx.lib.scrolledpanel.ScrolledPanel(self._panel,
size=(290, -1))
self.scrollPanel.SetupScrolling(scroll_x=False, scrollIntoView=False)
self.scrollPanel.SetAutoLayout(1)
self.controls = ExpandableControl(self.scrollPanel)
self.videoView = VideoView(self._panel, self.getFrame, 10)
self.videoView.SetBackgroundColour(wx.BLACK)
#-- Add Scroll Panels
self.controls.addPanel('camera_settings',
CameraSettingsPanel(self.controls))
self.controls.addPanel('pattern_settings',
PatternSettingsPanel(self.controls))
self.controls.addPanel('laser_settings',
LaserSettingsPanel(self.controls))
self.controls.addPanel(
'camera_intrinsics_panel',
CameraIntrinsicsPanel(
self.controls,
buttonStartCallback=self.onCameraIntrinsicsStartCallback))
self.controls.addPanel(
'laser_triangulation_panel',
LaserTriangulationPanel(
self.controls,
buttonStartCallback=self.onLaserTriangulationStartCallback))
self.controls.addPanel(
'platform_extrinsics_panel',
PlatformExtrinsicsPanel(
self.controls,
buttonStartCallback=self.onPlatformExtrinsicsStartCallback))
#-- Add Calibration Pages
self.cameraIntrinsicsMainPage = CameraIntrinsicsMainPage(
self._panel,
afterCancelCallback=self.onCancelCallback,
afterCalibrationCallback=self.
onCameraIntrinsicsAfterCalibrationCallback)
self.cameraIntrinsicsResultPage = CameraIntrinsicsResultPage(
self._panel,
buttonRejectCallback=self.onCancelCallback,
buttonAcceptCallback=self.onCameraIntrinsicsAcceptCallback)
self.laserTriangulationMainPage = LaserTriangulationMainPage(
self._panel,
afterCancelCallback=self.onCancelCallback,
afterCalibrationCallback=self.
onLaserTriangulationAfterCalibrationCallback)
self.laserTriangulationResultPage = LaserTriangulationResultPage(
self._panel,
buttonRejectCallback=self.onCancelCallback,
buttonAcceptCallback=self.onLaserTriangulationAcceptCallback)
self.platformExtrinsicsMainPage = PlatformExtrinsicsMainPage(
self._panel,
afterCancelCallback=self.onCancelCallback,
afterCalibrationCallback=self.
onPlatformExtrinsicsAfterCalibrationCallback)
self.platformExtrinsicsResultPage = PlatformExtrinsicsResultPage(
self._panel,
buttonRejectCallback=self.onCancelCallback,
buttonAcceptCallback=self.onPlatformExtrinsicsAcceptCallback)
self.cameraIntrinsicsMainPage.Hide()
self.cameraIntrinsicsResultPage.Hide()
self.laserTriangulationMainPage.Hide()
self.laserTriangulationResultPage.Hide()
self.platformExtrinsicsMainPage.Hide()
self.platformExtrinsicsResultPage.Hide()
#-- Layout
vsbox = wx.BoxSizer(wx.VERTICAL)
vsbox.Add(self.controls, 0, wx.ALL | wx.EXPAND, 0)
self.scrollPanel.SetSizer(vsbox)
vsbox.Fit(self.scrollPanel)
self.addToPanel(self.scrollPanel, 0)
self.addToPanel(self.videoView, 1)
self.addToPanel(self.cameraIntrinsicsMainPage, 1)
self.addToPanel(self.cameraIntrinsicsResultPage, 1)
self.addToPanel(self.laserTriangulationMainPage, 1)
self.addToPanel(self.laserTriangulationResultPage, 1)
self.addToPanel(self.platformExtrinsicsMainPage, 1)
self.addToPanel(self.platformExtrinsicsResultPage, 1)
self.Layout()
def initialize(self):
self.controls.initialize()
def getFrame(self):
frame = Driver.Instance().camera.captureImage()
self.cameraIntrinsics = CameraIntrinsics.Instance()
if frame is not None:
retval, frame = self.cameraIntrinsics.detectChessboard(frame)
return frame
def onCameraIntrinsicsStartCallback(self):
self.calibrating = True
self.enableLabelTool(self.disconnectTool, False)
self.controls.setExpandable(False)
self.controls.panels['camera_intrinsics_panel'].buttonsPanel.Disable()
self.combo.Disable()
self.videoView.stop()
self.videoView.Hide()
self.cameraIntrinsicsMainPage.Show()
self.cameraIntrinsicsMainPage.videoView.SetFocus()
self.Layout()
def onLaserTriangulationStartCallback(self):
self.calibrating = True
self.enableLabelTool(self.disconnectTool, False)
self.controls.setExpandable(False)
self.controls.panels['laser_triangulation_panel'].buttonsPanel.Disable(
)
self.combo.Disable()
self.videoView.stop()
self.videoView.Hide()
self.laserTriangulationMainPage.Show()
self.Layout()
def onPlatformExtrinsicsStartCallback(self):
self.calibrating = True
self.enableLabelTool(self.disconnectTool, False)
self.controls.setExpandable(False)
self.controls.panels['platform_extrinsics_panel'].buttonsPanel.Disable(
)
self.combo.Disable()
self.videoView.stop()
self.videoView.Hide()
self.platformExtrinsicsMainPage.Show()
self.Layout()
def onCancelCallback(self):
self.calibrating = False
self.enableLabelTool(self.disconnectTool, True)
self.controls.setExpandable(True)
self.controls.panels['camera_intrinsics_panel'].buttonsPanel.Enable()
self.controls.panels['laser_triangulation_panel'].buttonsPanel.Enable()
self.controls.panels['platform_extrinsics_panel'].buttonsPanel.Enable()
self.controls.updateProfile()
self.combo.Enable()
self.cameraIntrinsicsMainPage.Hide()
self.cameraIntrinsicsResultPage.Hide()
self.laserTriangulationMainPage.Hide()
self.laserTriangulationResultPage.Hide()
self.platformExtrinsicsMainPage.Hide()
self.platformExtrinsicsResultPage.Hide()
self.videoView.play()
self.videoView.Show()
self.Layout()
def onCameraIntrinsicsAfterCalibrationCallback(self, result):
self.cameraIntrinsicsResultPage.processCalibration(result)
if result[0]:
self.cameraIntrinsicsMainPage.Hide()
self.cameraIntrinsicsResultPage.Show()
else:
self.cameraIntrinsicsMainPage.initialize()
self.Layout()
def onCameraIntrinsicsAcceptCallback(self):
self.videoView.play()
self.calibrating = False
self.enableLabelTool(self.disconnectTool, True)
self.controls.setExpandable(True)
self.controls.panels['camera_intrinsics_panel'].buttonsPanel.Enable()
self.controls.panels[
'camera_intrinsics_panel'].updateAllControlsToProfile()
self.combo.Enable()
self.cameraIntrinsicsResultPage.Hide()
self.videoView.Show()
self.Layout()
def onLaserTriangulationAfterCalibrationCallback(self, result):
self.laserTriangulationResultPage.processCalibration(result)
if result[0]:
self.laserTriangulationMainPage.Hide()
self.laserTriangulationResultPage.Show()
else:
self.laserTriangulationMainPage.initialize()
self.Layout()
def onLaserTriangulationAcceptCallback(self):
self.videoView.play()
self.calibrating = False
self.enableLabelTool(self.disconnectTool, True)
self.controls.setExpandable(True)
self.controls.panels['laser_triangulation_panel'].buttonsPanel.Enable()
self.controls.panels[
'laser_triangulation_panel'].updateAllControlsToProfile()
self.combo.Enable()
self.laserTriangulationResultPage.Hide()
self.videoView.Show()
self.Layout()
def onPlatformExtrinsicsAfterCalibrationCallback(self, result):
self.platformExtrinsicsResultPage.processCalibration(result)
if result[0]:
self.platformExtrinsicsMainPage.Hide()
self.platformExtrinsicsResultPage.Show()
else:
self.platformExtrinsicsMainPage.initialize()
self.Layout()
def onPlatformExtrinsicsAcceptCallback(self):
self.videoView.play()
self.calibrating = False
self.enableLabelTool(self.disconnectTool, True)
self.controls.setExpandable(True)
self.controls.panels['platform_extrinsics_panel'].buttonsPanel.Enable()
self.controls.panels[
'platform_extrinsics_panel'].updateAllControlsToProfile()
self.combo.Enable()
self.platformExtrinsicsResultPage.Hide()
self.videoView.Show()
self.Layout()
def updateToolbarStatus(self, status):
if status:
if self.IsShown():
self.videoView.play()
self.controls.panels[
'camera_intrinsics_panel'].buttonsPanel.Enable()
self.controls.panels[
'laser_triangulation_panel'].buttonsPanel.Enable()
self.controls.panels[
'platform_extrinsics_panel'].buttonsPanel.Enable()
self.controls.enableContent()
else:
self.videoView.stop()
self.controls.panels[
'camera_intrinsics_panel'].buttonsPanel.Disable()
self.controls.panels[
'laser_triangulation_panel'].buttonsPanel.Disable()
self.controls.panels[
'platform_extrinsics_panel'].buttonsPanel.Disable()
self.controls.disableContent()
self.calibrating = False
self.combo.Enable()
self.controls.setExpandable(True)
self.cameraIntrinsicsMainPage.Hide()
self.cameraIntrinsicsResultPage.Hide()
self.laserTriangulationMainPage.Hide()
self.laserTriangulationResultPage.Hide()
self.platformExtrinsicsMainPage.Hide()
self.platformExtrinsicsResultPage.Hide()
self.videoView.Show()
def updateProfileToAllControls(self):
self.controls.updateProfile()
