def getProfileSettings(self):
self.distanceLeftValue = profile.getProfileSettingFloat(
'distance_left')
self.normalLeftValues = profile.getProfileSettingNumpy('normal_left')
self.distanceRightValue = profile.getProfileSettingFloat(
'distance_right')
self.normalRightValues = profile.getProfileSettingNumpy('normal_right')
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 updatePCGProfile(self):
self.pcg.resetTheta()
self.pcg.setViewROI(profile.getMachineSettingBool('view_roi'))
self.pcg.setROIDiameter(profile.getMachineSettingInteger('roi_diameter'))
self.pcg.setROIWidth(profile.getMachineSettingInteger('roi_width'))
self.pcg.setROIHeight(profile.getMachineSettingInteger('roi_height'))
self.pcg.setROIDepth(profile.getMachineSettingInteger('roi_depth'))
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 == 'Left' or useLaser == 'Both',
useLaser == 'Right' or useLaser == 'Both')
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 == 'Simple Scan':
self.scanningWorkbench.currentScan = self.simpleScan
self.driver.camera.setExposure(profile.getProfileSettingInteger('laser_exposure_scanning'))
elif scanType == 'Texture Scan':
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 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 == 'Left' or useLaser == 'Both',
useLaser == 'Right' or useLaser == 'Both')
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 == 'Simple Scan':
self.scanningWorkbench.currentScan = self.simpleScan
self.driver.camera.setExposure(profile.getProfileSettingInteger('laser_exposure_scanning'))
elif scanType == 'Texture Scan':
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 _start(self, progressCallback, afterCallback):
XL = None
XR = None
if os.name == 'nt':
flush = 2
else:
flush = 1
if self.driver.isConnected:
board = self.driver.board
camera = self.driver.camera
##-- Switch off lasers
board.setLeftLaserOff()
board.setRightLaserOff()
##-- Setup motor
step = 5
angle = 0
board.setSpeedMotor(1)
board.enableMotor()
board.setSpeedMotor(150)
board.setAccelerationMotor(150)
time.sleep(0.2)
if progressCallback is not None:
progressCallback(0)
while self.isCalibrating and abs(angle) < 180:
if progressCallback is not None:
progressCallback(1.11 * abs(angle / 2.))
angle += step
camera.setExposure(
profile.getProfileSettingNumpy('exposure_calibration'))
#-- Image acquisition
imageRaw = camera.captureImage(flush=True, flushValue=flush)
#-- Pattern detection
ret = self.getPatternPlane(imageRaw)
if ret is not None:
step = 4 #2
d, n, corners = ret
camera.setExposure(
profile.getProfileSettingNumpy('exposure_calibration')
/ 2.)
#-- Image laser acquisition
imageRawLeft = camera.captureImage(flush=True,
flushValue=flush)
board.setLeftLaserOn()
imageLeft = camera.captureImage(flush=True,
flushValue=flush)
board.setLeftLaserOff()
self.image = imageLeft
if imageLeft is None:
break
imageRawRight = camera.captureImage(flush=True,
flushValue=flush)
board.setRightLaserOn()
imageRight = camera.captureImage(flush=True,
flushValue=flush)
board.setRightLaserOff()
self.image = imageRight
if imageRight is None:
break
#-- Pattern ROI mask
imageRaw = self.cornersMask(imageRaw, corners)
imageLeft = self.cornersMask(imageLeft, corners)
imageRawLeft = self.cornersMask(imageRawLeft, corners)
imageRight = self.cornersMask(imageRight, corners)
imageRawRight = self.cornersMask(imageRawRight, corners)
#-- Line segmentation
uL, vL = self.getLaserLine(imageLeft, imageRawLeft)
uR, vR = self.getLaserLine(imageRight, imageRawRight)
#-- Point Cloud generation
xL = self.getPointCloudLaser(uL, vL, d, n)
if xL is not None:
if XL is None:
XL = xL
else:
XL = np.concatenate((XL, xL))
xR = self.getPointCloudLaser(uR, vR, d, n)
if xR is not None:
if XR is None:
XR = xR
else:
XR = np.concatenate((XR, xR))
else:
step = 5
self.image = imageRaw
board.setRelativePosition(step)
board.moveMotor()
time.sleep(0.1)
# self.saveScene('XL.ply', XL)
# self.saveScene('XR.ply', XR)
#-- Compute planes
dL, nL, stdL = self.computePlane(XL, 'l')
dR, nR, stdR = self.computePlane(XR, 'r')
##-- Switch off lasers
board.setLeftLaserOff()
board.setRightLaserOff()
#-- Disable motor
board.disableMotor()
#-- Restore camera exposure
camera.setExposure(
profile.getProfileSettingNumpy('exposure_calibration'))
if self.isCalibrating and nL is not None and nR is not None:
response = (True, ((dL, nL, stdL), (dR, nR, stdR)))
if progressCallback is not None:
progressCallback(100)
else:
if self.isCalibrating:
response = (False, Error.CalibrationError)
else:
response = (False, Error.CalibrationCanceled)
self.image = None
if afterCallback is not None:
afterCallback(response)
def _start(self, progressCallback, afterCallback):
XL = None
XR = None
if os.name=='nt':
flush = 2
else:
flush = 1
if self.driver.isConnected:
board = self.driver.board
camera = self.driver.camera
##-- Switch off lasers
board.setLeftLaserOff()
board.setRightLaserOff()
##-- Setup motor
step = 5
angle = 0
board.setSpeedMotor(1)
board.enableMotor()
board.setSpeedMotor(150)
board.setAccelerationMotor(150)
time.sleep(0.2)
if progressCallback is not None:
progressCallback(0)
while self.isCalibrating and abs(angle) < 180:
if progressCallback is not None:
progressCallback(1.11*abs(angle/2.))
angle += step
camera.setExposure(profile.getProfileSettingNumpy('exposure_calibration'))
#-- Image acquisition
imageRaw = camera.captureImage(flush=True, flushValue=flush)
#-- Pattern detection
ret = self.getPatternPlane(imageRaw)
if ret is not None:
step = 4 #2
d, n, corners = ret
camera.setExposure(profile.getProfileSettingNumpy('exposure_calibration')/2.)
#-- Image laser acquisition
imageRawLeft = camera.captureImage(flush=True, flushValue=flush)
board.setLeftLaserOn()
imageLeft = camera.captureImage(flush=True, flushValue=flush)
board.setLeftLaserOff()
self.image = imageLeft
if imageLeft is None:
break
imageRawRight = camera.captureImage(flush=True, flushValue=flush)
board.setRightLaserOn()
imageRight = camera.captureImage(flush=True, flushValue=flush)
board.setRightLaserOff()
self.image = imageRight
if imageRight is None:
break
#-- Pattern ROI mask
imageRaw = self.cornersMask(imageRaw, corners)
imageLeft = self.cornersMask(imageLeft, corners)
imageRawLeft = self.cornersMask(imageRawLeft, corners)
imageRight = self.cornersMask(imageRight, corners)
imageRawRight = self.cornersMask(imageRawRight, corners)
#-- Line segmentation
uL, vL = self.getLaserLine(imageLeft, imageRawLeft)
uR, vR = self.getLaserLine(imageRight, imageRawRight)
#-- Point Cloud generation
xL = self.getPointCloudLaser(uL, vL, d, n)
if xL is not None:
if XL is None:
XL = xL
else:
XL = np.concatenate((XL,xL))
xR = self.getPointCloudLaser(uR, vR, d, n)
if xR is not None:
if XR is None:
XR = xR
else:
XR = np.concatenate((XR,xR))
else:
step = 5
self.image = imageRaw
board.setRelativePosition(step)
board.moveMotor()
time.sleep(0.1)
# self.saveScene('XL.ply', XL)
# self.saveScene('XR.ply', XR)
#-- Compute planes
dL, nL, stdL = self.computePlane(XL, 'l')
dR, nR, stdR = self.computePlane(XR, 'r')
##-- Switch off lasers
board.setLeftLaserOff()
board.setRightLaserOff()
#-- Disable motor
board.disableMotor()
#-- Restore camera exposure
camera.setExposure(profile.getProfileSettingNumpy('exposure_calibration'))
if self.isCalibrating and nL is not None and nR is not None:
response = (True, ((dL, nL, stdL), (dR, nR, stdR)))
if progressCallback is not None:
progressCallback(100)
else:
if self.isCalibrating:
response = (False, Error.CalibrationError)
else:
response = (False, Error.CalibrationCanceled)
self.image = None
if afterCallback is not None:
afterCallback(response)
def getProfileSettings(self):
self.rotationValues = profile.getProfileSettingNumpy('rotation_matrix')
self.translationValues = profile.getProfileSettingNumpy('translation_vector')
def getProfileSettings(self):
self.coordinatesValues = profile.getProfileSettingNumpy('laser_coordinates')
self.originValues = profile.getProfileSettingNumpy('laser_origin')
self.normalValues = profile.getProfileSettingNumpy('laser_normal')
def getProfileSettings(self):
self.distanceLeftValue = profile.getProfileSettingFloat('distance_left')
self.normalLeftValues = profile.getProfileSettingNumpy('normal_left')
self.distanceRightValue = profile.getProfileSettingFloat('distance_right')
self.normalRightValues = profile.getProfileSettingNumpy('normal_right')
def getProfileSettings(self):
self.cameraValues = profile.getProfileSettingNumpy('camera_matrix')
self.distortionValues = profile.getProfileSettingNumpy('distortion_vector')
def getProfileSettings(self):
self.rotationValues = profile.getProfileSettingNumpy('rotation_matrix')
self.translationValues = profile.getProfileSettingNumpy('translation_vector')
def getProfileSettings(self):
self.coordinatesValues = profile.getProfileSettingNumpy('laser_coordinates')
self.originValues = profile.getProfileSettingNumpy('laser_origin')
self.normalValues = profile.getProfileSettingNumpy('laser_normal')
def getProfileSettings(self):
self.cameraValues = profile.getProfileSettingNumpy('camera_matrix')
self.distortionValues = profile.getProfileSettingNumpy('distortion_vector')
