Exemple #1
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 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')
Exemple #2
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    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'))
Exemple #3
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	def add(self, args):
		R, t, center, point, normal, [x,y,z], circle = args

		# plot the surface, data, and synthetic circle
		self.ax.scatter(x, z, y, c='b', marker='o')
		#self.ax.scatter(center[0], center[2], center[1], c='b', marker='o')
		self.ax.plot(circle[0], circle[2], circle[1], c='r')

		d = profile.getProfileSettingFloat('pattern_distance')

		self.ax.plot([t[0],t[0]+50*R[0][0]], [t[2],t[2]+50*R[2][0]], [t[1],t[1]+50*R[1][0]], linewidth=2.0, color='red')
		self.ax.plot([t[0],t[0]+50*R[0][1]], [t[2],t[2]+50*R[2][1]], [t[1],t[1]+50*R[1][1]], linewidth=2.0, color='green')
		self.ax.plot([t[0],t[0]+d*R[0][2]], [t[2],t[2]+d*R[2][2]], [t[1],t[1]+d*R[1][2]], linewidth=2.0, color='blue')

		self.ax.plot([0,50], [0,0], [0,0], linewidth=2.0, color='red')
		self.ax.plot([0,0], [0,0], [0,50], linewidth=2.0, color='green')
		self.ax.plot([0,0], [0,50], [0,0], linewidth=2.0, color='blue')

		self.ax.set_xlabel('X')
		self.ax.set_ylabel('Z')
		self.ax.set_zlabel('Y')

		self.ax.set_xlim(-150, 150)
		self.ax.set_ylim(0, 400)
		self.ax.set_zlim(-150, 150)

		self.ax.invert_xaxis()
		self.ax.invert_yaxis()
		self.ax.invert_zaxis()

		self.canvas.draw()
		self.Layout()
Exemple #4
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 def __init__(self):
     Calibration.__init__(self)
     self.criteria = (cv2.TERM_CRITERIA_EPS + cv2.TERM_CRITERIA_MAX_ITER,
                      100, 0.001)
     self.image = None
     self.threshold = profile.getProfileSettingFloat(
         'laser_threshold_value')
Exemple #5
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	def add(self, args):
		R, t, center, point, normal, [x,y,z], circle = args

		# plot the surface, data, and synthetic circle
		self.ax.scatter(x, z, y, c='b', marker='o')
		#self.ax.scatter(center[0], center[2], center[1], c='b', marker='o')
		self.ax.plot(circle[0], circle[2], circle[1], c='r')

		d = profile.getProfileSettingFloat('pattern_distance')

		self.ax.plot([t[0],t[0]+50*R[0][0]], [t[2],t[2]+50*R[2][0]], [t[1],t[1]+50*R[1][0]], linewidth=2.0, color='red')
		self.ax.plot([t[0],t[0]+50*R[0][1]], [t[2],t[2]+50*R[2][1]], [t[1],t[1]+50*R[1][1]], linewidth=2.0, color='green')
		self.ax.plot([t[0],t[0]+d*R[0][2]], [t[2],t[2]+d*R[2][2]], [t[1],t[1]+d*R[1][2]], linewidth=2.0, color='blue')

		self.ax.plot([0,50], [0,0], [0,0], linewidth=2.0, color='red')
		self.ax.plot([0,0], [0,0], [0,50], linewidth=2.0, color='green')
		self.ax.plot([0,0], [0,50], [0,0], linewidth=2.0, color='blue')

		self.ax.set_xlabel('X')
		self.ax.set_ylabel('Z')
		self.ax.set_zlabel('Y')

		self.ax.set_xlim(-150, 150)
		self.ax.set_ylim(0, 400)
		self.ax.set_zlim(-150, 150)

		self.ax.invert_xaxis()
		self.ax.invert_yaxis()
		self.ax.invert_zaxis()

		self.canvas.draw()
		self.Layout()
Exemple #6
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	def onCalibrationButtonClicked(self, event):
		self.phase = 'laserTriangulation'
		self.laserTriangulation.setCallbacks(self.beforeCalibration,
											 lambda p: wx.CallAfter(self.progressLaserCalibration,p),
											 lambda r: wx.CallAfter(self.afterLaserCalibration,r))
		if profile.getProfileSettingFloat('pattern_distance') == 0:
			PatternDistanceWindow(self)
		else:
			self.laserTriangulation.start()
Exemple #7
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 def onCalibrationButtonClicked(self, event):
     self.phase = 'laserTriangulation'
     self.laserTriangulation.setCallbacks(
         self.beforeCalibration,
         lambda p: wx.CallAfter(self.progressLaserCalibration, p),
         lambda r: wx.CallAfter(self.afterLaserCalibration, r))
     if profile.getProfileSettingFloat('pattern_distance') == 0:
         PatternDistanceWindow(self)
     else:
         self.laserTriangulation.start()
Exemple #8
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    def updatePatternParameters(self):
        self.cameraIntrinsics.setPatternParameters(profile.getProfileSettingInteger('pattern_rows'),
                                                   profile.getProfileSettingInteger('pattern_columns'),
                                                   profile.getProfileSettingInteger('square_width'),
                                                   profile.getProfileSettingFloat('pattern_distance'))

        self.simpleLaserTriangulation.setPatternParameters(profile.getProfileSettingInteger('pattern_rows'),
                                                           profile.getProfileSettingInteger('pattern_columns'),
                                                           profile.getProfileSettingInteger('square_width'),
                                                           profile.getProfileSettingFloat('pattern_distance'))

        self.laserTriangulation.setPatternParameters(profile.getProfileSettingInteger('pattern_rows'),
                                                     profile.getProfileSettingInteger('pattern_columns'),
                                                     profile.getProfileSettingInteger('square_width'),
                                                     profile.getProfileSettingFloat('pattern_distance'))
        self.platformExtrinsics.setPatternParameters(profile.getProfileSettingInteger('pattern_rows'),
                                                     profile.getProfileSettingInteger('pattern_columns'),
                                                     profile.getProfileSettingInteger('square_width'),
                                                     profile.getProfileSettingFloat('pattern_distance'))
Exemple #9
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    def updatePatternParameters(self):
        self.cameraIntrinsics.setPatternParameters(profile.getProfileSettingInteger('pattern_rows'),
                                                   profile.getProfileSettingInteger('pattern_columns'),
                                                   profile.getProfileSettingInteger('square_width'),
                                                   profile.getProfileSettingFloat('pattern_distance'))

        self.simpleLaserTriangulation.setPatternParameters(profile.getProfileSettingInteger('pattern_rows'),
                                                           profile.getProfileSettingInteger('pattern_columns'),
                                                           profile.getProfileSettingInteger('square_width'),
                                                           profile.getProfileSettingFloat('pattern_distance'))

        self.laserTriangulation.setPatternParameters(profile.getProfileSettingInteger('pattern_rows'),
                                                     profile.getProfileSettingInteger('pattern_columns'),
                                                     profile.getProfileSettingInteger('square_width'),
                                                     profile.getProfileSettingFloat('pattern_distance'))
        self.platformExtrinsics.setPatternParameters(profile.getProfileSettingInteger('pattern_rows'),
                                                     profile.getProfileSettingInteger('pattern_columns'),
                                                     profile.getProfileSettingInteger('square_width'),
                                                     profile.getProfileSettingFloat('pattern_distance'))
Exemple #10
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 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.videoView.stop()
         self.videoView.Hide()
         self.platformExtrinsicsMainPage.Show()
         self.Layout()
Exemple #11
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    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'))
Exemple #12
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    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'))
Exemple #13
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    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 __init__(self, parent):
        super(PatternDistanceWindow, self).__init__(parent, title=_('Pattern distance'), size=(420,-1), style=wx.DEFAULT_FRAME_STYLE^wx.RESIZE_BORDER)

        self.value = float(profile.getProfileSetting('pattern_distance'))
        self.cameraIntrinsics = calibration.CameraIntrinsics.Instance()
        self.simpleLaserTriangulation = calibration.SimpleLaserTriangulation.Instance()
        self.laserTriangulation = calibration.LaserTriangulation.Instance()
        self.platformExtrinsics = calibration.PlatformExtrinsics.Instance()

        #-- Elements
        self.description = wx.StaticText(self, label=_('Pattern distance value must be a number higher than 0. Please, change it in the textbox below.'))
        self.description.Wrap(400)
        tooltip = _("Minimum distance between the origin of the pattern (bottom-left corner) and the pattern's base surface")
        self.image = wx.Image(resources.getPathForImage("pattern-distance.jpg"), wx.BITMAP_TYPE_ANY)
        self.patternImage = wx.StaticBitmap(self, wx.ID_ANY, wx.BitmapFromImage(self.image))
        self.patternImage.SetToolTip(wx.ToolTip(tooltip))
        self.patternLabel = wx.StaticText(self, label=_('Pattern distance (mm)'))
        self.patternLabel.SetToolTip(wx.ToolTip(tooltip))
        self.patternTextbox = wx.TextCtrl(self, value = str(profile.getProfileSettingFloat('pattern_distance')))
        self.okButton = wx.Button(self, label=_('OK'))
        self.cancelButton = wx.Button(self, label=_('Cancel'))
        
        #-- Events
        self.patternTextbox.Bind(wx.EVT_TEXT, self.onTextBoxChanged)
        self.cancelButton.Bind(wx.EVT_BUTTON, self.onClose)
        self.okButton.Bind(wx.EVT_BUTTON, self.onOk)
        self.Bind(wx.EVT_CLOSE, self.onClose)

        #-- Layout
        vbox = wx.BoxSizer(wx.VERTICAL)
        vbox.Add(self.description, 0, wx.ALL|wx.CENTER, 10)
        vbox.Add(self.patternImage, 0, wx.ALL|wx.CENTER, 10)
        hbox = wx.BoxSizer(wx.HORIZONTAL)
        hbox.Add(self.patternLabel, 0, wx.ALL, 7)
        hbox.Add(self.patternTextbox, 0, wx.ALL, 3)
        hbox.Add(self.okButton, 0, wx.ALL, 3)
        hbox.Add(self.cancelButton, 0, wx.ALL, 3)
        vbox.Add(hbox, 0, wx.ALL|wx.CENTER, 10)
        self.SetSizer(vbox)
        self.Center()
        self.Fit()

        self.ShowModal()
Exemple #15
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    def __init__(self, parent):
        super(SettingsWindow,
              self).__init__(parent,
                             title=_('Settings'),
                             size=(420, -1),
                             style=wx.DEFAULT_FRAME_STYLE ^ wx.RESIZE_BORDER)

        self.driver = Driver.Instance()
        self.cameraIntrinsics = calibration.CameraIntrinsics.Instance()
        self.simpleLaserTriangulation = calibration.SimpleLaserTriangulation.Instance(
        )
        self.laserTriangulation = calibration.LaserTriangulation.Instance()
        self.platformExtrinsics = calibration.PlatformExtrinsics.Instance()

        #-- Elements
        _choices = []
        choices = profile.getProfileSettingObject('luminosity').getType()
        for i in choices:
            _choices.append(_(i))
        self.initLuminosity = profile.getProfileSetting('luminosity')
        self.luminosityDict = dict(zip(_choices, choices))
        self.luminosityText = wx.StaticText(self, label=_('Luminosity'))
        self.luminosityText.SetToolTip(
            wx.ToolTip(
                _('Change the luminosity until colored lines appear over the chess pattern in the video'
                  )))
        self.luminosityComboBox = wx.ComboBox(self,
                                              wx.ID_ANY,
                                              value=_(self.initLuminosity),
                                              choices=_choices,
                                              style=wx.CB_READONLY)
        invert = profile.getProfileSettingBool('invert_motor')
        self.invertMotorCheckBox = wx.CheckBox(
            self, label=_("Invert the motor direction"))
        self.invertMotorCheckBox.SetValue(invert)
        tooltip = _(
            "Minimum distance between the origin of the pattern (bottom-left corner) and the pattern's base surface"
        )
        self.image = wx.Image(
            resources.getPathForImage("pattern-distance.jpg"),
            wx.BITMAP_TYPE_ANY)

        self.patternDistance = float(
            profile.getProfileSetting('pattern_distance'))
        self.patternImage = wx.StaticBitmap(self, wx.ID_ANY,
                                            wx.BitmapFromImage(self.image))
        self.patternImage.SetToolTip(wx.ToolTip(tooltip))
        self.patternLabel = wx.StaticText(self,
                                          label=_('Pattern distance (mm)'))
        self.patternLabel.SetToolTip(wx.ToolTip(tooltip))
        self.patternTextbox = wx.TextCtrl(
            self,
            value=str(profile.getProfileSettingFloat('pattern_distance')))
        self.okButton = wx.Button(self, label=_('OK'))
        self.cancelButton = wx.Button(self, label=_('Cancel'))

        #-- Events
        self.luminosityComboBox.Bind(wx.EVT_COMBOBOX,
                                     self.onLuminosityComboBoxChanged)
        self.invertMotorCheckBox.Bind(wx.EVT_CHECKBOX, self.onInvertMotor)
        self.patternTextbox.Bind(wx.EVT_TEXT, self.onTextBoxChanged)
        self.cancelButton.Bind(wx.EVT_BUTTON, self.onClose)
        self.okButton.Bind(wx.EVT_BUTTON, self.onOk)
        self.Bind(wx.EVT_CLOSE, self.onClose)

        #-- Layout
        vbox = wx.BoxSizer(wx.VERTICAL)
        hbox = wx.BoxSizer(wx.HORIZONTAL)
        hbox.Add(self.luminosityText, 0, wx.ALL, 7)
        hbox.Add(self.luminosityComboBox, 1, wx.ALL, 3)
        vbox.Add(hbox, 0, wx.ALL ^ wx.BOTTOM | wx.EXPAND, 7)
        vbox.Add(wx.StaticLine(self), 0, wx.ALL ^ wx.BOTTOM | wx.EXPAND, 10)
        hbox = wx.BoxSizer(wx.HORIZONTAL)
        hbox.Add(self.invertMotorCheckBox, 0, wx.ALL, 10)
        vbox.Add(hbox)
        vbox.Add(wx.StaticLine(self), 0,
                 wx.ALL ^ wx.BOTTOM ^ wx.TOP | wx.EXPAND, 10)
        hbox = wx.BoxSizer(wx.HORIZONTAL)
        hbox.Add(self.patternLabel, 0, wx.ALL, 7)
        hbox.Add(self.patternTextbox, 1, wx.ALL, 3)
        vbox.Add(hbox, 0, wx.ALL ^ wx.BOTTOM | wx.EXPAND, 10)
        vbox.Add(self.patternImage, 0, wx.ALL | wx.CENTER, 10)
        hbox = wx.BoxSizer(wx.HORIZONTAL)
        hbox.Add(self.cancelButton, 1, wx.ALL, 3)
        hbox.Add(self.okButton, 1, wx.ALL, 3)
        vbox.Add(hbox, 0, wx.ALL | wx.EXPAND, 10)
        self.SetSizer(vbox)
        self.Center()
        self.Fit()

        self.ShowModal()
Exemple #16
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    def _drawMachine(self):
        glEnable(GL_BLEND)

        machine = profile.getMachineSetting('machine_type')
        if machine.startswith('ciclop'):

            glEnable(GL_CULL_FACE)
            #-- Draw Platform
            if machine not in self._platformMesh:
                mesh = meshLoader.loadMesh(
                    resources.getPathForMesh(machine + '_platform.stl'))
                if mesh is not None:
                    self._platformMesh[machine] = mesh
                else:
                    self._platformMesh[machine] = None
                self._platformMesh[machine]._drawOffset = numpy.array(
                    [0, 0, 8.05], numpy.float32)
            glColor4f(0.6, 0.6, 0.6, 0.5)
            self._objectShader.bind()
            self._renderObject(self._platformMesh[machine])
            self._objectShader.unbind()
            glDisable(GL_CULL_FACE)

        glDepthMask(False)

        size = numpy.array([
            profile.getProfileSettingFloat('roi_diameter'),
            profile.getProfileSettingFloat('roi_diameter'),
            profile.getProfileSettingFloat('roi_height')
        ], numpy.float32)

        if profile.getProfileSettingBool('view_roi'):
            polys = profile.getSizePolygons(size)
            height = profile.getProfileSettingFloat('roi_height')
            circular = profile.getMachineSetting('machine_shape') == 'Circular'
            # Draw the sides of the build volume.
            glBegin(GL_QUADS)
            for n in xrange(0, len(polys[0])):
                if not circular:
                    if n % 2 == 0:
                        glColor4ub(5, 171, 231, 96)
                    else:
                        glColor4ub(5, 171, 231, 64)
                else:
                    glColor4ub(5, 171, 231, 96)
                    #glColor4ub(200, 200, 200, 150)

                glVertex3f(polys[0][n][0], polys[0][n][1], height)
                glVertex3f(polys[0][n][0], polys[0][n][1], 0)
                glVertex3f(polys[0][n - 1][0], polys[0][n - 1][1], 0)
                glVertex3f(polys[0][n - 1][0], polys[0][n - 1][1], height)
            glEnd()

            #Draw bottom and top of build volume.
            glColor4ub(5, 171, 231, 150)  #128)
            #glColor4ub(200, 200, 200, 200)
            glBegin(GL_TRIANGLE_FAN)
            for p in polys[0][::-1]:
                glVertex3f(p[0], p[1], 0)
            glEnd()
            glBegin(GL_TRIANGLE_FAN)
            for p in polys[0][::-1]:
                glVertex3f(p[0], p[1], height)
            glEnd()

            #view center:
            center = self.getObjectCenterPos()
            quadric = gluNewQuadric()
            gluQuadricNormals(quadric, GLU_SMOOTH)
            gluQuadricTexture(quadric, GL_TRUE)
            glColor4ub(255, 0, 0, 255)
            #lower center:
            gluCylinder(quadric, 6, 6, 1, 32, 16)
            gluDisk(quadric, 0.0, 6, 32, 1)

            glTranslate(0, 0, height - 1)
            gluDisk(quadric, 0.0, 6, 32, 1)
            gluCylinder(quadric, 6, 6, 1, 32, 16)
            glTranslate(0, 0, -height + 1)

        polys = profile.getMachineSizePolygons()

        #-- Draw checkerboard
        if self._platformTexture is None:
            self._platformTexture = openglHelpers.loadGLTexture(
                'checkerboard.png')
            glBindTexture(GL_TEXTURE_2D, self._platformTexture)
            glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST)
            glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST)
        glColor4f(1, 1, 1, 0.5)
        glBindTexture(GL_TEXTURE_2D, self._platformTexture)
        glEnable(GL_TEXTURE_2D)
        glBegin(GL_TRIANGLE_FAN)
        for p in polys[0]:
            glTexCoord2f(p[0] / 20, p[1] / 20)
            glVertex3f(p[0], p[1], 0)
        glEnd()

        glDepthMask(True)
        glDisable(GL_BLEND)
Exemple #17
0
	def _drawMachine(self):
		glEnable(GL_BLEND)

		machine = profile.getMachineSetting('machine_type')
		if machine.startswith('ciclop'):

			glEnable(GL_CULL_FACE)
			#-- Draw Platform
			if machine not in self._platformMesh:
				mesh = meshLoader.loadMesh(resources.getPathForMesh(machine + '_platform.stl'))
				if mesh is not None:
					self._platformMesh[machine] = mesh
				else:
					self._platformMesh[machine] = None
				self._platformMesh[machine]._drawOffset = numpy.array([0,0,8.05], numpy.float32)
			glColor4f(0.6,0.6,0.6,0.5)
			self._objectShader.bind()
			self._renderObject(self._platformMesh[machine])
			self._objectShader.unbind()
			glDisable(GL_CULL_FACE)

		glDepthMask(False)
		
		size = numpy.array([profile.getProfileSettingFloat('roi_diameter'),
							profile.getProfileSettingFloat('roi_diameter'),
							profile.getProfileSettingFloat('roi_height')], numpy.float32)

		if profile.getProfileSettingBool('view_roi'):
			polys = profile.getSizePolygons(size)
			height = profile.getProfileSettingFloat('roi_height')
			circular = profile.getMachineSetting('machine_shape') == 'Circular'
			# Draw the sides of the build volume.
			glBegin(GL_QUADS)
			for n in xrange(0, len(polys[0])):
				if not circular:
					if n % 2 == 0:
						glColor4ub(5, 171, 231, 96)
					else:
						glColor4ub(5, 171, 231, 64)
				else:
					glColor4ub(5, 171, 231, 96)
					#glColor4ub(200, 200, 200, 150)

				glVertex3f(polys[0][n][0], polys[0][n][1], height)
				glVertex3f(polys[0][n][0], polys[0][n][1], 0)
				glVertex3f(polys[0][n-1][0], polys[0][n-1][1], 0)
				glVertex3f(polys[0][n-1][0], polys[0][n-1][1], height)
			glEnd()

			#Draw bottom and top of build volume.
			glColor4ub(5, 171, 231, 150)#128)
			#glColor4ub(200, 200, 200, 200)
			glBegin(GL_TRIANGLE_FAN)
			for p in polys[0][::-1]:
				glVertex3f(p[0], p[1], 0)
			glEnd()
			glBegin(GL_TRIANGLE_FAN)
			for p in polys[0][::-1]:
				glVertex3f(p[0], p[1], height)
			glEnd()

			quadric=gluNewQuadric();
			gluQuadricNormals(quadric, GLU_SMOOTH);
			gluQuadricTexture(quadric, GL_TRUE);
			glColor4ub(0, 100, 200, 150)
			
			gluCylinder(quadric,6,6,1,32,16);
			gluDisk(quadric, 0.0, 6, 32, 1); 

			glTranslate(0,0,height-1)
			gluDisk(quadric, 0.0, 6, 32, 1); 
			gluCylinder(quadric,6,6,1,32,16);
			glTranslate(0,0,-height+1)

		polys = profile.getMachineSizePolygons()
		
		#-- Draw checkerboard
		if self._platformTexture is None:
			self._platformTexture = openglHelpers.loadGLTexture('checkerboard.png')
			glBindTexture(GL_TEXTURE_2D, self._platformTexture)
			glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST)
			glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST)
		glColor4f(1,1,1,0.5)
		glBindTexture(GL_TEXTURE_2D, self._platformTexture)
		glEnable(GL_TEXTURE_2D)
		glBegin(GL_TRIANGLE_FAN)
		for p in polys[0]:
			glTexCoord2f(p[0]/20, p[1]/20)
			glVertex3f(p[0], p[1], 0)
		glEnd()
		glDisable(GL_TEXTURE_2D)

		glDepthMask(True)
		glDisable(GL_BLEND)
Exemple #18
0
 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')
Exemple #19
0
    def __init__(self, parent):
        super(SettingsWindow, self).__init__(parent, title=_('Settings'), size=(420,-1), style=wx.DEFAULT_FRAME_STYLE^wx.RESIZE_BORDER)

        self.driver = Driver.Instance()
        self.cameraIntrinsics = calibration.CameraIntrinsics.Instance()
        self.simpleLaserTriangulation = calibration.SimpleLaserTriangulation.Instance()
        self.laserTriangulation = calibration.LaserTriangulation.Instance()
        self.platformExtrinsics = calibration.PlatformExtrinsics.Instance()

        #-- Elements
        _choices = []
        choices = profile.getProfileSettingObject('luminosity').getType()
        for i in choices:
            _choices.append(_(i))
        self.initLuminosity = profile.getProfileSetting('luminosity')
        self.luminosityDict = dict(zip(_choices, choices))
        self.luminosityText = wx.StaticText(self, label=_('Luminosity'))
        self.luminosityText.SetToolTip(wx.ToolTip(_('Change the luminosity until colored lines appear over the chess pattern in the video')))
        self.luminosityComboBox = wx.ComboBox(self, wx.ID_ANY,
                                            value=_(self.initLuminosity),
                                            choices=_choices,
                                            style=wx.CB_READONLY)
        invert = profile.getProfileSettingBool('invert_motor')
        self.invertMotorCheckBox = wx.CheckBox(self, label=_("Invert the motor direction"))
        self.invertMotorCheckBox.SetValue(invert)
        tooltip = _("Minimum distance between the origin of the pattern (bottom-left corner) and the pattern's base surface")
        self.image = wx.Image(resources.getPathForImage("pattern-distance.jpg"), wx.BITMAP_TYPE_ANY)
        
        self.patternDistance = float(profile.getProfileSetting('pattern_distance'))
        self.patternImage = wx.StaticBitmap(self, wx.ID_ANY, wx.BitmapFromImage(self.image))
        self.patternImage.SetToolTip(wx.ToolTip(tooltip))
        self.patternLabel = wx.StaticText(self, label=_('Pattern distance (mm)'))
        self.patternLabel.SetToolTip(wx.ToolTip(tooltip))
        self.patternTextbox = wx.TextCtrl(self, value = str(profile.getProfileSettingFloat('pattern_distance')))
        self.okButton = wx.Button(self, label=_('OK'))
        self.cancelButton = wx.Button(self, label=_('Cancel'))
        
        #-- Events
        self.luminosityComboBox.Bind(wx.EVT_COMBOBOX, self.onLuminosityComboBoxChanged)
        self.invertMotorCheckBox.Bind(wx.EVT_CHECKBOX, self.onInvertMotor)
        self.patternTextbox.Bind(wx.EVT_TEXT, self.onTextBoxChanged)
        self.cancelButton.Bind(wx.EVT_BUTTON, self.onClose)
        self.okButton.Bind(wx.EVT_BUTTON, self.onOk)
        self.Bind(wx.EVT_CLOSE, self.onClose)

        #-- Layout
        vbox = wx.BoxSizer(wx.VERTICAL)
        hbox = wx.BoxSizer(wx.HORIZONTAL)
        hbox.Add(self.luminosityText, 0, wx.ALL, 7)
        hbox.Add(self.luminosityComboBox, 1, wx.ALL, 3)
        vbox.Add(hbox, 0, wx.ALL^wx.BOTTOM|wx.EXPAND, 7)
        vbox.Add(wx.StaticLine(self), 0, wx.ALL^wx.BOTTOM|wx.EXPAND, 10)
        hbox = wx.BoxSizer(wx.HORIZONTAL)
        hbox.Add(self.invertMotorCheckBox, 0, wx.ALL, 10)
        vbox.Add(hbox)
        vbox.Add(wx.StaticLine(self), 0, wx.ALL^wx.BOTTOM^wx.TOP|wx.EXPAND, 10)
        hbox = wx.BoxSizer(wx.HORIZONTAL)
        hbox.Add(self.patternLabel, 0, wx.ALL, 7)
        hbox.Add(self.patternTextbox, 1, wx.ALL, 3)
        vbox.Add(hbox, 0, wx.ALL^wx.BOTTOM|wx.EXPAND, 10)
        vbox.Add(self.patternImage, 0, wx.ALL|wx.CENTER, 10)
        hbox = wx.BoxSizer(wx.HORIZONTAL)
        hbox.Add(self.cancelButton, 1, wx.ALL, 3)
        hbox.Add(self.okButton, 1, wx.ALL, 3)
        vbox.Add(hbox, 0, wx.ALL|wx.EXPAND, 10)
        self.SetSizer(vbox)
        self.Center()
        self.Fit()

        self.ShowModal()
Exemple #20
0
	def __init__(self):
		Calibration.__init__(self)
		self.criteria = (cv2.TERM_CRITERIA_EPS + cv2.TERM_CRITERIA_MAX_ITER, 100, 0.001)
		self.image = None
		self.threshold = profile.getProfileSettingFloat('laser_threshold_value')