class MainWindow(wx.Frame):
size = (640 + 300, 480 + 130)
def __init__(self):
super(MainWindow,
self).__init__(None,
title=_("Horus " + VERSION + " - Beta"),
size=self.size)
self.SetMinSize((600, 450))
###-- Initialize Engine
self.driver = Driver.Instance()
self.simpleScan = scan.SimpleScan.Instance()
self.textureScan = scan.TextureScan.Instance()
self.pcg = scan.PointCloudGenerator.Instance()
self.cameraIntrinsics = calibration.CameraIntrinsics.Instance()
self.simpleLaserTriangulation = calibration.SimpleLaserTriangulation.Instance(
)
self.laserTriangulation = calibration.LaserTriangulation.Instance()
self.platformExtrinsics = calibration.PlatformExtrinsics.Instance()
#-- Serial Name initialization
serialList = self.serialList()
currentSerial = profile.getProfileSetting('serial_name')
if len(serialList) > 0:
if currentSerial not in serialList:
profile.putProfileSetting('serial_name', serialList[0])
#-- Video Id initialization
videoList = self.videoList()
currentVideoId = profile.getProfileSetting('camera_id')
if len(videoList) > 0:
if currentVideoId not in videoList:
profile.putProfileSetting('camera_id', videoList[0])
self.workbenchList = {
'control': _("Control workbench"),
'calibration': _("Calibration workbench"),
'scanning': _("Scanning workbench")
}
self.lastFiles = eval(profile.getPreference('last_files'))
print ">>> Horus " + VERSION + " <<<"
###-- Initialize GUI
##-- Set Icon
icon = wx.Icon(resources.getPathForImage("horus.ico"),
wx.BITMAP_TYPE_ICO)
self.SetIcon(icon)
##-- Status Bar
#self.CreateStatusBar()
##-- Menu Bar
self.menuBar = wx.MenuBar()
#-- Menu File
self.menuFile = wx.Menu()
self.menuLaunchWizard = self.menuFile.Append(wx.NewId(),
_("Launch Wizard"))
self.menuFile.AppendSeparator()
self.menuLoadModel = self.menuFile.Append(wx.NewId(), _("Load Model"))
self.menuSaveModel = self.menuFile.Append(wx.NewId(), _("Save Model"))
self.menuClearModel = self.menuFile.Append(wx.NewId(),
_("Clear Model"))
self.menuFile.AppendSeparator()
self.menuOpenProfile = self.menuFile.Append(wx.NewId(),
_("Open Profile"),
_("Opens Profile .ini"))
self.menuSaveProfile = self.menuFile.Append(wx.NewId(),
_("Save Profile"))
self.menuResetProfile = self.menuFile.Append(wx.NewId(),
_("Reset Profile"))
self.menuFile.AppendSeparator()
menuExit = self.menuFile.Append(wx.ID_EXIT, _("Exit"))
self.menuBar.Append(self.menuFile, _("File"))
#-- Menu Edit
self.menuEdit = wx.Menu()
self.menuBasicMode = self.menuEdit.AppendRadioItem(
wx.NewId(), _("Basic Mode"))
self.menuAdvancedMode = self.menuEdit.AppendRadioItem(
wx.NewId(), _("Advanced Mode"))
self.menuEdit.AppendSeparator()
self.menuPreferences = self.menuEdit.Append(wx.NewId(),
_("Preferences"))
self.menuBar.Append(self.menuEdit, _("Edit"))
#-- Menu View
menuView = wx.Menu()
self.menuControl = wx.Menu()
self.menuControlPanel = self.menuControl.AppendCheckItem(
wx.NewId(), _("Panel"))
self.menuControlVideo = self.menuControl.AppendCheckItem(
wx.NewId(), _("Video"))
menuView.AppendMenu(wx.NewId(), _("Control"), self.menuControl)
self.menuCalibration = wx.Menu()
self.menuCalibrationPanel = self.menuCalibration.AppendCheckItem(
wx.NewId(), _("Panel"))
self.menuCalibrationVideo = self.menuCalibration.AppendCheckItem(
wx.NewId(), _("Video"))
menuView.AppendMenu(wx.NewId(), _("Calibration"), self.menuCalibration)
self.menuScanning = wx.Menu()
self.menuScanningPanel = self.menuScanning.AppendCheckItem(
wx.NewId(), _("Panel"))
self.menuScanningVideo = self.menuScanning.AppendCheckItem(
wx.NewId(), _("Video"))
self.menuScanningScene = self.menuScanning.AppendCheckItem(
wx.NewId(), _("Scene"))
menuView.AppendMenu(wx.NewId(), _("Scanning"), self.menuScanning)
self.menuBar.Append(menuView, _("View"))
#-- Menu Help
menuHelp = wx.Menu()
menuAbout = menuHelp.Append(wx.ID_ABOUT, _("About"))
menuWelcome = menuHelp.Append(wx.ID_ANY, _("Welcome"))
self.menuBar.Append(menuHelp, _("Help"))
self.SetMenuBar(self.menuBar)
##-- Create Workbenchs
self.controlWorkbench = ControlWorkbench(self)
self.scanningWorkbench = ScanningWorkbench(self)
self.calibrationWorkbench = CalibrationWorkbench(self)
for workbench in [
self.controlWorkbench, self.calibrationWorkbench,
self.scanningWorkbench
]:
workbench.combo.Clear()
workbench.combo.Append(self.workbenchList['control'])
workbench.combo.Append(self.workbenchList['calibration'])
workbench.combo.Append(self.workbenchList['scanning'])
sizer = wx.BoxSizer(wx.VERTICAL)
sizer.Add(self.controlWorkbench, 1, wx.ALL | wx.EXPAND)
sizer.Add(self.calibrationWorkbench, 1, wx.ALL | wx.EXPAND)
sizer.Add(self.scanningWorkbench, 1, wx.ALL | wx.EXPAND)
self.SetSizer(sizer)
##-- Events
self.Bind(wx.EVT_MENU, self.onLaunchWizard, self.menuLaunchWizard)
self.Bind(wx.EVT_MENU, self.onLoadModel, self.menuLoadModel)
self.Bind(wx.EVT_MENU, self.onSaveModel, self.menuSaveModel)
self.Bind(wx.EVT_MENU, self.onClearModel, self.menuClearModel)
self.Bind(wx.EVT_MENU, self.onOpenProfile, self.menuOpenProfile)
self.Bind(wx.EVT_MENU, self.onSaveProfile, self.menuSaveProfile)
self.Bind(wx.EVT_MENU, self.onResetProfile, self.menuResetProfile)
self.Bind(wx.EVT_MENU, self.onExit, menuExit)
self.Bind(wx.EVT_MENU, self.onModeChanged, self.menuBasicMode)
self.Bind(wx.EVT_MENU, self.onModeChanged, self.menuAdvancedMode)
self.Bind(wx.EVT_MENU, self.onPreferences, self.menuPreferences)
self.Bind(wx.EVT_MENU, self.onControlPanelClicked,
self.menuControlPanel)
self.Bind(wx.EVT_MENU, self.onControlVideoClicked,
self.menuControlVideo)
self.Bind(wx.EVT_MENU, self.onCalibrationPanelClicked,
self.menuCalibrationPanel)
self.Bind(wx.EVT_MENU, self.onCalibrationVideoClicked,
self.menuCalibrationVideo)
self.Bind(wx.EVT_MENU, self.onScanningPanelClicked,
self.menuScanningPanel)
self.Bind(wx.EVT_MENU, self.onScanningVideoSceneClicked,
self.menuScanningVideo)
self.Bind(wx.EVT_MENU, self.onScanningVideoSceneClicked,
self.menuScanningScene)
self.Bind(wx.EVT_MENU, self.onAbout, menuAbout)
self.Bind(wx.EVT_MENU, self.onWelcome, menuWelcome)
self.Bind(wx.EVT_COMBOBOX, self.onComboBoxWorkbenchSelected,
self.controlWorkbench.combo)
self.Bind(wx.EVT_COMBOBOX, self.onComboBoxWorkbenchSelected,
self.calibrationWorkbench.combo)
self.Bind(wx.EVT_COMBOBOX, self.onComboBoxWorkbenchSelected,
self.scanningWorkbench.combo)
self.Bind(wx.EVT_CLOSE, self.onClose)
self.updateProfileToAllControls()
x, y, w, h = wx.Display(0).GetGeometry()
ws, hs = self.size
self.SetPosition((x + (w - ws) / 2., y + (h - hs) / 2.))
#self.Center()
self.Show()
def onLaunchWizard(self, event):
self.controlWorkbench.videoView.stop()
self.calibrationWorkbench.videoView.stop()
self.scanningWorkbench.videoView.stop()
self.controlWorkbench.Disable()
self.calibrationWorkbench.Disable()
self.scanningWorkbench.Disable()
wizard = Wizard(self)
self.controlWorkbench.Enable()
self.calibrationWorkbench.Enable()
self.scanningWorkbench.Enable()
def onLoadModel(self, event):
lastFile = os.path.split(profile.getPreference('last_file'))[0]
dlg = wx.FileDialog(self,
_("Open 3D model"),
lastFile,
style=wx.FD_OPEN | wx.FD_FILE_MUST_EXIST)
wildcardList = ';'.join(
map(lambda s: '*' + s, meshLoader.loadSupportedExtensions()))
wildcardFilter = "All (%s)|%s;%s" % (wildcardList, wildcardList,
wildcardList.upper())
wildcardList = ';'.join(
map(lambda s: '*' + s, meshLoader.loadSupportedExtensions()))
wildcardFilter += "|Mesh files (%s)|%s;%s" % (
wildcardList, wildcardList, wildcardList.upper())
dlg.SetWildcard(wildcardFilter)
if dlg.ShowModal() == wx.ID_OK:
filename = dlg.GetPath()
if filename is not None:
self.scanningWorkbench.sceneView.loadFile(filename)
self.appendLastFile(filename)
dlg.Destroy()
def onSaveModel(self, event):
if self.scanningWorkbench.sceneView._object is None:
return
dlg = wx.FileDialog(self,
_("Save 3D model"),
os.path.split(
profile.getPreference('last_file'))[0],
style=wx.FD_SAVE | wx.FD_OVERWRITE_PROMPT)
fileExtensions = meshLoader.saveSupportedExtensions()
wildcardList = ';'.join(map(lambda s: '*' + s, fileExtensions))
wildcardFilter = "Mesh files (%s)|%s;%s" % (wildcardList, wildcardList,
wildcardList.upper())
dlg.SetWildcard(wildcardFilter)
if dlg.ShowModal() == wx.ID_OK:
filename = dlg.GetPath()
if not filename.endswith('.ply'):
if platform.system(
) == 'Linux': #hack for linux, as for some reason the .ply is not appended.
filename += '.ply'
meshLoader.saveMesh(filename,
self.scanningWorkbench.sceneView._object)
self.appendLastFile(filename)
dlg.Destroy()
def onClearModel(self, event):
if self.scanningWorkbench.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:
self.scanningWorkbench.sceneView._clearScene()
def onOpenProfile(self, event):
""" """
dlg = wx.FileDialog(self,
_("Select profile file to load"),
os.path.split(
profile.getPreference('last_profile'))[0],
style=wx.FD_OPEN | wx.FD_FILE_MUST_EXIST)
dlg.SetWildcard("ini files (*.ini)|*.ini")
if dlg.ShowModal() == wx.ID_OK:
profileFile = dlg.GetPath()
profile.loadProfile(profileFile)
self.updateProfileToAllControls()
dlg.Destroy()
def onSaveProfile(self, event):
""" """
dlg = wx.FileDialog(self,
_("Select profile file to save"),
os.path.split(
profile.getPreference('last_profile'))[0],
style=wx.FD_SAVE)
dlg.SetWildcard("ini files (*.ini)|*.ini")
if dlg.ShowModal() == wx.ID_OK:
profileFile = dlg.GetPath()
if not profileFile.endswith('.ini'):
if platform.system(
) == 'Linux': #hack for linux, as for some reason the .ini is not appended.
profileFile += '.ini'
profile.saveProfile(profileFile)
dlg.Destroy()
def onResetProfile(self, event):
""" """
dlg = wx.MessageDialog(
self,
_("This will reset all profile settings to defaults.\nUnless you have saved your current profile, all settings will be lost!\nDo you really want to reset?"
), _("Profile reset"), wx.YES_NO | wx.ICON_QUESTION)
result = dlg.ShowModal() == wx.ID_YES
dlg.Destroy()
if result:
profile.resetProfile()
self.updateProfileToAllControls()
def onExit(self, event):
self.Close(True)
def onClose(self, event):
try:
if self.simpleScan.run or self.textureScan.run:
self.simpleScan.stop()
self.textureScan.stop()
time.sleep(0.5)
self.controlWorkbench.videoView.stop()
self.calibrationWorkbench.videoView.stop()
self.scanningWorkbench.videoView.stop()
self.driver.disconnect()
except:
pass
event.Skip()
def appendLastFile(self, lastFile):
if lastFile in self.lastFiles:
self.lastFiles.remove(lastFile)
self.lastFiles.append(lastFile)
if len(self.lastFiles) > 4:
self.lastFiles = self.lastFiles[1:5]
profile.putPreference('last_file', lastFile)
profile.putPreference('last_files', self.lastFiles)
def onModeChanged(self, event):
profile.putPreference('basic_mode', self.menuBasicMode.IsChecked())
self.controlWorkbench.updateProfileToAllControls()
self.calibrationWorkbench.updateProfileToAllControls()
self.scanningWorkbench.updateProfileToAllControls()
self.Layout()
def onPreferences(self, event):
prefDialog = PreferencesDialog(self)
prefDialog.ShowModal()
wx.CallAfter(prefDialog.Show)
self.updateDriverProfile()
self.controlWorkbench.initialize()
self.calibrationWorkbench.initialize()
self.scanningWorkbench.initialize()
def onMenuViewClicked(self, key, checked, panel):
profile.putPreference(key, checked)
if checked:
panel.Show()
else:
panel.Hide()
panel.GetParent().Layout()
panel.Layout()
self.Layout()
def onControlPanelClicked(self, event):
self.onMenuViewClicked('view_control_panel',
self.menuControlPanel.IsChecked(),
self.controlWorkbench.scrollPanel)
def onControlVideoClicked(self, event):
self.onMenuViewClicked('view_control_video',
self.menuControlVideo.IsChecked(),
self.controlWorkbench.videoView)
def onCalibrationPanelClicked(self, event):
self.onMenuViewClicked('view_calibration_panel',
self.menuCalibrationPanel.IsChecked(),
self.calibrationWorkbench.scrollPanel)
def onCalibrationVideoClicked(self, event):
self.onMenuViewClicked('view_calibration_video',
self.menuCalibrationVideo.IsChecked(),
self.calibrationWorkbench.videoView)
def onScanningPanelClicked(self, event):
self.onMenuViewClicked('view_scanning_panel',
self.menuScanningPanel.IsChecked(),
self.scanningWorkbench.scrollPanel)
def onScanningVideoSceneClicked(self, event):
checkedVideo = self.menuScanningVideo.IsChecked()
checkedScene = self.menuScanningScene.IsChecked()
profile.putPreference('view_scanning_video', checkedVideo)
profile.putPreference('view_scanning_scene', checkedScene)
self.scanningWorkbench.splitterWindow.Unsplit()
if checkedVideo:
self.scanningWorkbench.videoView.Show()
self.scanningWorkbench.splitterWindow.SplitVertically(
self.scanningWorkbench.videoView,
self.scanningWorkbench.sceneView)
if checkedScene:
self.scanningWorkbench.sceneView.Show()
else:
self.scanningWorkbench.sceneView.Hide()
self.scanningWorkbench.splitterWindow.Unsplit()
else:
self.scanningWorkbench.videoView.Hide()
if checkedScene:
self.scanningWorkbench.sceneView.Show()
self.scanningWorkbench.splitterWindow.SplitVertically(
self.scanningWorkbench.sceneView,
self.scanningWorkbench.videoView)
self.scanningWorkbench.splitterWindow.Unsplit()
else:
self.scanningWorkbench.sceneView.Hide()
self.scanningWorkbench.splitterWindow.Unsplit()
self.scanningWorkbench.splitterWindow.Layout()
self.scanningWorkbench.Layout()
self.Layout()
def onComboBoxWorkbenchSelected(self, event):
""" """
currentWorkbench = profile.getPreference('workbench')
for key in self.workbenchList:
if self.workbenchList[key] == str(
event.GetEventObject().GetValue()):
if key is not None:
profile.putPreference('workbench', key)
if key != currentWorkbench:
profile.saveProfile(
os.path.join(profile.getBasePath(),
'current-profile.ini'))
self.workbenchUpdate()
def onAbout(self, event):
""" """
info = wx.AboutDialogInfo()
icon = wx.Icon(resources.getPathForImage("horus.ico"),
wx.BITMAP_TYPE_ICO)
info.SetIcon(icon)
info.SetName(u'Horus')
info.SetVersion(VERSION)
info.SetDescription(_('Horus is an Open Source 3D Scanner manager'))
info.SetCopyright(u'(C) 2014-2015 Mundo Reader S.L.')
info.SetWebSite(u'http://www.bq.com')
info.SetLicence("""Horus is free software; you can redistribute
it and/or modify it under the terms of the GNU General Public License as
published by the Free Software Foundation; either version 2 of the License,
or (at your option) any later version.
Horus is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
See the GNU General Public License for more details. You should have
received a copy of the GNU General Public License along with File Hunter;
if not, write to the Free Software Foundation, Inc., 59 Temple Place,
Suite 330, Boston, MA 02111-1307 USA""")
info.AddDeveloper(u'Jesús Arroyo, Irene Sanz')
info.AddDocWriter(u'Jesús Arroyo')
info.AddArtist(u'Jesús Arroyo, Nestor Toribio')
info.AddTranslator(u'Jesús Arroyo, Irene Sanz')
wx.AboutBox(info)
def onWelcome(self, event):
""" """
welcome = WelcomeWindow(self)
def onBoardUnplugged(self):
self._onDeviceUnplugged(
_("Board unplugged"),
_("Board has been unplugged. Please, plug it and press connect"))
def onCameraUnplugged(self):
self._onDeviceUnplugged(
_("Camera unplugged"),
_("Camera has been unplugged. Please, plug it and press connect"))
def _onDeviceUnplugged(self, title="", description=""):
self.simpleScan.stop()
self.textureScan.stop()
self.laserTriangulation.cancel()
self.platformExtrinsics.cancel()
self.controlWorkbench.updateStatus(False)
self.calibrationWorkbench.updateStatus(False)
self.scanningWorkbench.updateStatus(False)
self.driver.disconnect()
dlg = wx.MessageDialog(self, description, title, wx.OK | wx.ICON_ERROR)
dlg.ShowModal()
dlg.Destroy()
def updateProfileToAllControls(self):
""" """
if profile.getPreferenceBool('basic_mode'):
self.menuBasicMode.Check(True)
else:
self.menuAdvancedMode.Check(True)
if profile.getPreferenceBool('view_control_panel'):
self.controlWorkbench.scrollPanel.Show()
self.menuControlPanel.Check(True)
else:
self.controlWorkbench.scrollPanel.Hide()
self.menuControlPanel.Check(False)
if profile.getPreferenceBool('view_control_video'):
self.controlWorkbench.videoView.Show()
self.menuControlVideo.Check(True)
else:
self.controlWorkbench.videoView.Hide()
self.menuControlVideo.Check(False)
if profile.getPreferenceBool('view_calibration_panel'):
self.calibrationWorkbench.scrollPanel.Show()
self.menuCalibrationPanel.Check(True)
else:
self.calibrationWorkbench.scrollPanel.Hide()
self.menuCalibrationPanel.Check(False)
if profile.getPreferenceBool('view_calibration_video'):
self.calibrationWorkbench.videoView.Show()
self.menuCalibrationVideo.Check(True)
else:
self.calibrationWorkbench.videoView.Hide()
self.menuCalibrationVideo.Check(False)
if profile.getPreferenceBool('view_scanning_panel'):
self.scanningWorkbench.scrollPanel.Show()
self.menuScanningPanel.Check(True)
else:
self.scanningWorkbench.scrollPanel.Hide()
self.menuScanningPanel.Check(False)
checkedVideo = profile.getPreferenceBool('view_scanning_video')
checkedScene = profile.getPreferenceBool('view_scanning_scene')
self.menuScanningVideo.Check(checkedVideo)
self.menuScanningScene.Check(checkedScene)
self.scanningWorkbench.splitterWindow.Unsplit()
if checkedVideo:
self.scanningWorkbench.videoView.Show()
self.scanningWorkbench.splitterWindow.SplitVertically(
self.scanningWorkbench.videoView,
self.scanningWorkbench.sceneView)
if checkedScene:
self.scanningWorkbench.sceneView.Show()
else:
self.scanningWorkbench.sceneView.Hide()
self.scanningWorkbench.splitterWindow.Unsplit()
else:
self.scanningWorkbench.videoView.Hide()
if checkedScene:
self.scanningWorkbench.sceneView.Show()
self.scanningWorkbench.splitterWindow.SplitVertically(
self.scanningWorkbench.sceneView,
self.scanningWorkbench.videoView)
self.scanningWorkbench.splitterWindow.Unsplit()
else:
self.scanningWorkbench.sceneView.Hide()
self.scanningWorkbench.splitterWindow.Unsplit()
self.updateDriverProfile()
self.updatePCGProfile()
self.updateCalibrationProfile()
self.workbenchUpdate()
self.Layout()
def updateDriverProfile(self):
self.driver.camera.setCameraId(
int(profile.getProfileSetting('camera_id')[-1:]))
self.driver.board.setSerialName(
profile.getProfileSetting('serial_name'))
self.driver.board.setBaudRate(
profile.getProfileSettingInteger('baud_rate'))
def updatePCGProfile(self):
self.pcg.resetTheta()
self.pcg.setViewROI(profile.getProfileSettingBool('view_roi'))
self.pcg.setROIDiameter(
profile.getProfileSettingInteger('roi_diameter'))
self.pcg.setROIHeight(profile.getProfileSettingInteger('roi_height'))
self.pcg.setDegrees(
profile.getProfileSettingFloat('step_degrees_scanning'))
resolution = profile.getProfileSetting('resolution_scanning')
self.pcg.setResolution(int(resolution.split('x')[1]),
int(resolution.split('x')[0]))
useLaser = profile.getProfileSetting('use_laser')
self.pcg.setUseLaser(
useLaser == _("Use Left Laser") or useLaser == _("Use Both Laser"),
useLaser == _("Use Right Laser")
or useLaser == _("Use Both Laser"))
self.pcg.setCameraIntrinsics(
profile.getProfileSettingNumpy('camera_matrix'),
profile.getProfileSettingNumpy('distortion_vector'))
self.pcg.setLaserTriangulation(
profile.getProfileSettingNumpy('distance_left'),
profile.getProfileSettingNumpy('normal_left'),
profile.getProfileSettingNumpy('distance_right'),
profile.getProfileSettingNumpy('normal_right'))
self.pcg.setPlatformExtrinsics(
profile.getProfileSettingNumpy('rotation_matrix'),
profile.getProfileSettingNumpy('translation_vector'))
scanType = profile.getProfileSetting('scan_type')
if scanType == _("Without Texture"):
self.scanningWorkbench.currentScan = self.simpleScan
self.driver.camera.setExposure(
profile.getProfileSettingInteger('laser_exposure_scanning'))
elif scanType == _("With Texture"):
self.scanningWorkbench.currentScan = self.textureScan
self.driver.camera.setExposure(
profile.getProfileSettingInteger('color_exposure_scanning'))
self.simpleScan.setFastScan(profile.getProfileSettingBool('fast_scan'))
self.simpleScan.setSpeedMotor(
profile.getProfileSettingInteger('feed_rate_scanning'))
self.simpleScan.setAccelerationMotor(
profile.getProfileSettingInteger('acceleration_scanning'))
self.simpleScan.setImageType(profile.getProfileSetting('img_type'))
self.simpleScan.setUseThreshold(
profile.getProfileSettingBool('use_cr_threshold'))
self.simpleScan.setThresholdValue(
profile.getProfileSettingInteger('cr_threshold_value'))
self.simpleScan.setColor(
struct.unpack(
'BBB',
profile.getProfileSetting('point_cloud_color').decode('hex')))
self.textureScan.setFastScan(
profile.getProfileSettingBool('fast_scan'))
self.textureScan.setSpeedMotor(
profile.getProfileSettingInteger('feed_rate_scanning'))
self.textureScan.setAccelerationMotor(
profile.getProfileSettingInteger('acceleration_scanning'))
self.textureScan.setImageType(profile.getProfileSetting('img_type'))
self.textureScan.setUseOpen(profile.getProfileSettingBool('use_open'))
self.textureScan.setOpenValue(
profile.getProfileSettingInteger('open_value'))
self.textureScan.setUseThreshold(
profile.getProfileSettingBool('use_threshold'))
self.textureScan.setThresholdValue(
profile.getProfileSettingInteger('threshold_value'))
def updateCalibrationProfile(self):
self.driver.camera.setIntrinsics(
profile.getProfileSettingNumpy('camera_matrix'),
profile.getProfileSettingNumpy('distortion_vector'))
self.cameraIntrinsics.setIntrinsics(
profile.getProfileSettingNumpy('camera_matrix'),
profile.getProfileSettingNumpy('distortion_vector'))
self.cameraIntrinsics.setPatternParameters(
profile.getProfileSettingInteger('pattern_rows'),
profile.getProfileSettingInteger('pattern_columns'),
profile.getProfileSettingInteger('square_width'),
profile.getProfileSettingFloat('pattern_distance'))
self.cameraIntrinsics.setUseDistortion(
profile.getProfileSettingInteger('use_distortion_calibration'))
self.simpleLaserTriangulation.setIntrinsics(
profile.getProfileSettingNumpy('camera_matrix'),
profile.getProfileSettingNumpy('distortion_vector'))
self.simpleLaserTriangulation.setPatternParameters(
profile.getProfileSettingInteger('pattern_rows'),
profile.getProfileSettingInteger('pattern_columns'),
profile.getProfileSettingInteger('square_width'),
profile.getProfileSettingFloat('pattern_distance'))
self.simpleLaserTriangulation.setUseDistortion(
profile.getProfileSettingInteger('use_distortion_calibration'))
self.laserTriangulation.setIntrinsics(
profile.getProfileSettingNumpy('camera_matrix'),
profile.getProfileSettingNumpy('distortion_vector'))
self.laserTriangulation.setPatternParameters(
profile.getProfileSettingInteger('pattern_rows'),
profile.getProfileSettingInteger('pattern_columns'),
profile.getProfileSettingInteger('square_width'),
profile.getProfileSettingFloat('pattern_distance'))
self.laserTriangulation.setUseDistortion(
profile.getProfileSettingInteger('use_distortion_calibration'))
self.platformExtrinsics.setExtrinsicsStep(
profile.getProfileSettingFloat('extrinsics_step'))
self.platformExtrinsics.setIntrinsics(
profile.getProfileSettingNumpy('camera_matrix'),
profile.getProfileSettingNumpy('distortion_vector'))
self.platformExtrinsics.setPatternParameters(
profile.getProfileSettingInteger('pattern_rows'),
profile.getProfileSettingInteger('pattern_columns'),
profile.getProfileSettingInteger('square_width'),
profile.getProfileSettingFloat('pattern_distance'))
self.platformExtrinsics.setUseDistortion(
profile.getProfileSettingInteger('use_distortion_calibration'))
def workbenchUpdate(self, layout=True):
currentWorkbench = profile.getPreference('workbench')
wb = {
'control': self.controlWorkbench,
'calibration': self.calibrationWorkbench,
'scanning': self.scanningWorkbench
}
waitCursor = wx.BusyCursor()
self.menuFile.Enable(self.menuLoadModel.GetId(),
currentWorkbench == 'scanning')
self.menuFile.Enable(self.menuSaveModel.GetId(),
currentWorkbench == 'scanning')
self.menuFile.Enable(self.menuClearModel.GetId(),
currentWorkbench == 'scanning')
for key in wb:
if wb[key] is not None:
if key == currentWorkbench:
wb[key].updateProfileToAllControls()
wb[key].combo.SetValue(str(self.workbenchList[key]))
if layout:
for key in wb:
if wb[key] is not None:
if key == currentWorkbench:
wb[key].Hide()
wb[key].Show()
else:
wb[key].Hide()
self.Layout()
del waitCursor
##-- TODO: move to util
def serialList(self):
baselist = []
if os.name == "nt":
import _winreg
try:
key = _winreg.OpenKey(_winreg.HKEY_LOCAL_MACHINE,
"HARDWARE\\DEVICEMAP\\SERIALCOMM")
i = 0
while True:
try:
values = _winreg.EnumValue(key, i)
except:
return baselist
if 'USBSER' in values[0] or 'VCP' in values[0]:
baselist.append(values[1])
i += 1
except:
return baselist
else:
for device in [
'/dev/ttyACM*', '/dev/ttyUSB*', "/dev/tty.usb*",
"/dev/cu.*", "/dev/rfcomm*"
]:
baselist = baselist + glob.glob(device)
return baselist
def baudRateList(self):
baselist = ['9600', '14400', '19200', '38400', '57600', '115200']
return baselist
def videoList(self):
baselist = []
caps = []
if os.name == "nt":
i = 0
while True:
cap = cv2.VideoCapture(i)
if not cap.isOpened():
break
cap.release()
caps.append(id(cap))
if caps[0] == id(cap) and i != 0:
break
baselist.append(str(i))
i += 1
else:
for device in ['/dev/video*']:
baselist = baselist + glob.glob(device)
return baselist
