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.updateCallbacks()
self.Layout()
def updateCallbacks(self):
self.controls.updateCallbacks()
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 enableMenus(self, value):
main = self.GetParent()
main.menuFile.Enable(main.menuLaunchWizard.GetId(), value)
main.menuFile.Enable(main.menuOpenProfile.GetId(), value)
main.menuFile.Enable(main.menuSaveProfile.GetId(), value)
main.menuFile.Enable(main.menuResetProfile.GetId(), value)
main.menuFile.Enable(main.menuExit.GetId(), value)
main.menuEdit.Enable(main.menuPreferences.GetId(), value)
main.menuHelp.Enable(main.menuWelcome.GetId(), value)
main.Layout()
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.enableMenus(False)
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.enableMenus(False)
self.videoView.stop()
self.videoView.Hide()
self.laserTriangulationMainPage.Show()
self.Layout()
def onPlatformExtrinsicsStartCallback(self):
if profile.getProfileSettingFloat('pattern_distance') == 0:
PatternDistanceWindow(self)
self.updateProfileToAllControls()
else:
self.calibrating = True
self.enableLabelTool(self.disconnectTool, False)
self.controls.setExpandable(False)
self.controls.panels['platform_extrinsics_panel'].buttonsPanel.Disable()
self.combo.Disable()
self.enableMenus(False)
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.enableMenus(True)
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.enableMenus(True)
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.enableMenus(True)
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.enableMenus(True)
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()