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 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()
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')
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()
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()
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()
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'))
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'))
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()
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 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()
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()
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)
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)
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 __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()
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')