def after_calibration(self, response):
ret, result = response
if ret:
response_platform_extrinsics = result[0]
response_laser_triangulation = result[1]
profile.settings['distance_left'] = response_laser_triangulation[
0][0]
profile.settings['normal_left'] = response_laser_triangulation[0][
1]
profile.settings['distance_right'] = response_laser_triangulation[
1][0]
profile.settings['normal_right'] = response_laser_triangulation[1][
1]
profile.settings['rotation_matrix'] = response_platform_extrinsics[
0]
profile.settings[
'translation_vector'] = response_platform_extrinsics[1]
profile.settings[
'laser_triangulation_hash'] = calibration_data.md5_hash()
profile.settings[
'platform_extrinsics_hash'] = calibration_data.md5_hash()
combo_calibration.accept()
else:
if isinstance(result, ComboCalibrationError):
self.result_label.SetLabel(
_("Check the pattern and the lasers and try again"))
dlg = wx.MessageDialog(
self,
_("Scanner calibration has failed. "
"Please check the pattern and the lasers and try again. "
"Also you can set up the calibration's settings "
"in the \"Adjustment workbench\" until the pattern "
"and the lasers are detected correctly"),
_("Calibration failed"), wx.OK | wx.ICON_ERROR)
dlg.ShowModal()
dlg.Destroy()
self.skip_button.Enable()
self.on_finish_calibration()
self.gauge.SetValue(100)
if ret:
self.skip_button.Disable()
self.next_button.Enable()
self.result_label.SetLabel(
_("Success. Please press \"Next\" to continue"))
dlg = wx.MessageDialog(self, _("Scanner calibrated correctly"),
_("Success"), wx.OK | wx.ICON_INFORMATION)
dlg.ShowModal()
dlg.Destroy()
else:
self.skip_button.Enable()
self.next_button.Disable()
self.on_finish_calibration()
def on_play_tool_clicked(self, event):
if ciclop_scan._inactive:
self._enable_tool_scan(self.play_tool, False)
self._enable_tool_scan(self.pause_tool, True)
ciclop_scan.resume()
else:
if not calibration_data.check_calibration():
dlg = wx.MessageDialog(self,
_("Calibration parameters are not correct.\n"
"Please perform calibration process:\n"
" 1. Scanner autocheck\n"
" 2. Laser triangulation\n"
" 3. Platform extrinsics"),
_("Wrong calibration parameters"), wx.OK | wx.ICON_ERROR)
dlg.ShowModal()
dlg.Destroy()
return
if profile.settings['laser_triangulation_hash'] != calibration_data.md5_hash():
dlg = wx.MessageDialog(self,
_("Laser triangulation calibration has been performed \n"
"with different camera intrinsics values.\n"
"Please perform Laser triangulation calibration again:\n"
" 1. Scanner autocheck\n"
" 2. Laser triangulation"),
_("Wrong calibration parameters"), wx.OK | wx.ICON_ERROR)
dlg.ShowModal()
dlg.Destroy()
return
if profile.settings['platform_extrinsics_hash'] != calibration_data.md5_hash():
dlg = wx.MessageDialog(self,
_("Platform extrinsics calibration has been performed \n"
"with different camera intrinsics values.\n"
"Please perform Platform extrinsics calibration again:\n"
" 1. Scanner autocheck\n"
" 2. Platform extrinsics"),
_("Wrong calibration parameters"), wx.OK | wx.ICON_ERROR)
dlg.ShowModal()
dlg.Destroy()
return
result = True
if self.scene_view._object is not None:
dlg = wx.MessageDialog(self,
_("Your current model will be deleted.\n"
"Are you sure you want to delete it?"),
_("Clear point cloud"), wx.YES_NO | wx.ICON_QUESTION)
result = dlg.ShowModal() == wx.ID_YES
dlg.Destroy()
if result:
ciclop_scan.set_callbacks(self.before_scan,
None, lambda r: wx.CallAfter(self.after_scan, r))
ciclop_scan.start()
def on_accept(self):
platform_extrinsics.accept()
R, t = self.result
profile.settings['rotation_matrix'] = R
profile.settings['translation_vector'] = t
profile.settings[
'platform_extrinsics_hash'] = calibration_data.md5_hash()
if self.exit_callback is not None:
self.exit_callback()
self.plot_panel.clear()
def on_accept(self):
laser_triangulation.accept()
dL, nL, dR, nR = self.result
profile.settings['distance_left'] = dL
profile.settings['normal_left'] = nL
profile.settings['distance_right'] = dR
profile.settings['normal_right'] = nR
profile.settings[
'laser_triangulation_hash'] = calibration_data.md5_hash()
if self.exit_callback is not None:
self.exit_callback()
self.plot_panel.clear()