def __init__(self, parent, afterCancelCallback=None, afterCalibrationCallback=None):
Page.__init__(self, parent,
title=_("Simple Laser Triangulation"),
subTitle=_("Put the pattern on the platform as shown in the picture and press Calibrate to continue"),
left=_("Cancel"),
right=_("Calibrate"),
buttonLeftCallback=self.onCancel,
buttonRightCallback=self.onCalibrate,
panelOrientation=wx.HORIZONTAL,
viewProgress=True)
self.driver = Driver.Instance()
self.cameraIntrinsics = calibration.CameraIntrinsics.Instance()
self.laserTriangulation = calibration.LaserTriangulation.Instance()
self.afterCancelCallback = afterCancelCallback
self.afterCalibrationCallback = afterCalibrationCallback
#-- Image View
imageView = ImageView(self._panel)
imageView.setImage(wx.Image(resources.getPathForImage("pattern-position-right.jpg")))
#-- Video View
self.videoView = VideoView(self._panel, self.getFrame, 50)
self.videoView.SetBackgroundColour(wx.BLACK)
#-- Layout
self.addToPanel(imageView, 3)
self.addToPanel(self.videoView, 2)
#-- Events
self.Bind(wx.EVT_SHOW, self.onShow)
self.Layout()
def __init__(self, parent, afterCancelCallback=None, afterCalibrationCallback=None):
Page.__init__(self, parent,
title=_("Simple Laser Triangulation"),
subTitle=_("Put the pattern on the platform as shown in the picture and press Calibrate to continue"),
left=_("Cancel"),
right=_("Calibrate"),
buttonLeftCallback=self.onCancel,
buttonRightCallback=self.onCalibrate,
panelOrientation=wx.HORIZONTAL,
viewProgress=True)
self.driver = Driver.Instance()
self.cameraIntrinsics = calibration.CameraIntrinsics.Instance()
self.laserTriangulation = calibration.LaserTriangulation.Instance()
self.afterCancelCallback = afterCancelCallback
self.afterCalibrationCallback = afterCalibrationCallback
#-- Image View
imageView = ImageView(self._panel)
imageView.setImage(wx.Image(resources.getPathForImage("pattern-position-right.jpg")))
#-- Video View
self.videoView = VideoView(self._panel, self.getFrame, 50)
self.videoView.SetBackgroundColour(wx.BLACK)
#-- Layout
self.addToPanel(imageView, 3)
self.addToPanel(self.videoView, 2)
#-- Events
self.Bind(wx.EVT_SHOW, self.onShow)
self.Layout()
class SimpleLaserTriangulationImageSequence(wx.Panel):
def __init__(self, parent, title="Title"):
wx.Panel.__init__(self, parent)
vbox = wx.BoxSizer(wx.VERTICAL)
hbox = wx.BoxSizer(wx.HORIZONTAL)
titleText = wx.StaticText(self, label=title)
titleText.SetFont((wx.Font(10, wx.FONTFAMILY_DEFAULT, wx.NORMAL,
wx.FONTWEIGHT_BOLD)))
panel = wx.Panel(self)
self.imageLas = ImageView(panel)
self.imageGray = ImageView(panel)
self.imageBin = ImageView(panel)
self.imageLine = ImageView(panel)
self.imageLas.SetBackgroundColour('#AAAAAA')
self.imageGray.SetBackgroundColour('#AAAAAA')
self.imageBin.SetBackgroundColour('#AAAAAA')
self.imageLine.SetBackgroundColour('#AAAAAA')
#-- Layout
vbox.Add(titleText, 0, wx.ALL | wx.EXPAND, 5)
hbox.Add(self.imageLas, 1, wx.ALL | wx.EXPAND, 3)
hbox.Add(self.imageGray, 1, wx.ALL | wx.EXPAND, 3)
hbox.Add(self.imageBin, 1, wx.ALL | wx.EXPAND, 3)
hbox.Add(self.imageLine, 1, wx.ALL | wx.EXPAND, 3)
panel.SetSizer(hbox)
vbox.Add(panel, 1, wx.ALL | wx.EXPAND, 3)
self.SetSizer(vbox)
self.Layout()
def __init__(self,
parent,
buttonPrevCallback=None,
buttonNextCallback=None):
WizardPage.__init__(self,
parent,
title=_("Calibration"),
buttonPrevCallback=buttonPrevCallback,
buttonNextCallback=buttonNextCallback)
self.driver = Driver.Instance()
self.cameraIntrinsics = calibration.CameraIntrinsics.Instance()
self.laserTriangulation = calibration.LaserTriangulation.Instance()
self.platformExtrinsics = calibration.PlatformExtrinsics.Instance()
self.phase = 'none'
self.patternLabel = wx.StaticText(
self.panel,
label=
_("Put the pattern on the platform as shown in the picture and press \"Calibrate\""
))
self.patternLabel.Wrap(400)
self.imageView = ImageView(self.panel)
self.imageView.setImage(
wx.Image(resources.getPathForImage("pattern-position-right.jpg")))
self.calibrateButton = wx.Button(self.panel, label=_("Calibrate"))
self.cancelButton = wx.Button(self.panel, label=_("Cancel"))
self.gauge = wx.Gauge(self.panel, range=100, size=(-1, 30))
self.resultLabel = wx.StaticText(self.panel, size=(-1, 30))
self.cancelButton.Disable()
self.resultLabel.Hide()
self.skipButton.Enable()
self.nextButton.Disable()
#-- Layout
vbox = wx.BoxSizer(wx.VERTICAL)
vbox.Add(self.patternLabel, 0, wx.ALL | wx.CENTER, 5)
vbox.Add(self.imageView, 1, wx.ALL | wx.EXPAND, 5)
vbox.Add(self.resultLabel, 0, wx.ALL | wx.CENTER, 5)
vbox.Add(self.gauge, 0, wx.ALL | wx.EXPAND, 5)
hbox = wx.BoxSizer(wx.HORIZONTAL)
hbox.Add(self.cancelButton, 1, wx.ALL | wx.EXPAND, 5)
hbox.Add(self.calibrateButton, 1, wx.ALL | wx.EXPAND, 5)
vbox.Add(hbox, 0, wx.ALL | wx.EXPAND, 2)
self.panel.SetSizer(vbox)
self.Layout()
self.calibrateButton.Bind(wx.EVT_BUTTON,
self.onCalibrationButtonClicked)
self.cancelButton.Bind(wx.EVT_BUTTON, self.onCancelButtonClicked)
self.Bind(wx.EVT_SHOW, self.onShow)
self.videoView.setMilliseconds(20)
self.videoView.setCallback(self.getFrame)
def __init__(self, parent, buttonPrevCallback=None, buttonNextCallback=None):
WizardPage.__init__(self, parent,
title=_("Connection"),
buttonPrevCallback=buttonPrevCallback,
buttonNextCallback=buttonNextCallback)
self.parent = parent
self.driver = Driver.Instance()
self.cameraIntrinsics = calibration.CameraIntrinsics.Instance()
self.autoCheck = calibration.SimpleLaserTriangulation.Instance()
self.connectButton = wx.Button(self.panel, label=_("Connect"))
self.settingsButton = wx.Button(self.panel, label=_("Edit settings"))
self.patternLabel = wx.StaticText(self.panel, label=_("Put the pattern on the platform as shown in the picture and press \"Auto check\""))
self.patternLabel.Wrap(400)
self.imageView = ImageView(self.panel)
self.imageView.setImage(wx.Image(resources.getPathForImage("pattern-position-right.jpg")))
self.autoCheckButton = wx.Button(self.panel, label=_("Auto check"))
self.gauge = wx.Gauge(self.panel, range=100, size=(-1, 30))
self.resultLabel = wx.StaticText(self.panel, size=(-1, 30))
self.connectButton.Enable()
self.settingsButton.Enable()
self.patternLabel.Disable()
self.imageView.Disable()
self.autoCheckButton.Disable()
self.skipButton.Disable()
self.nextButton.Disable()
self.resultLabel.Hide()
self.enableNext = False
vbox = wx.BoxSizer(wx.VERTICAL)
hbox = wx.BoxSizer(wx.HORIZONTAL)
hbox.Add(self.connectButton, 1, wx.ALL|wx.EXPAND, 5)
hbox.Add(self.settingsButton, 1, wx.ALL|wx.EXPAND, 5)
vbox.Add(hbox, 0, wx.ALL|wx.EXPAND, 2)
vbox.Add(self.patternLabel, 0, wx.ALL|wx.CENTER, 5)
vbox.Add(self.imageView, 1, wx.ALL|wx.EXPAND, 5)
vbox.Add(self.resultLabel, 0, wx.ALL|wx.CENTER, 5)
vbox.Add(self.gauge, 0, wx.ALL|wx.EXPAND, 5)
vbox.Add(self.autoCheckButton, 0, wx.ALL|wx.EXPAND, 5)
self.panel.SetSizer(vbox)
self.Layout()
self.connectButton.Bind(wx.EVT_BUTTON, self.onConnectButtonClicked)
self.settingsButton.Bind(wx.EVT_BUTTON, self.onSettingsButtonClicked)
self.autoCheckButton.Bind(wx.EVT_BUTTON, self.onAutoCheckButtonClicked)
self.Bind(wx.EVT_SHOW, self.onShow)
self.videoView.setMilliseconds(50)
self.videoView.setCallback(self.getDetectChessboardFrame)
self.updateStatus(self.driver.isConnected)
def __init__(self, parent, buttonPrevCallback=None, buttonNextCallback=None):
WizardPage.__init__(self, parent,
title=_("Connection"),
buttonPrevCallback=buttonPrevCallback,
buttonNextCallback=buttonNextCallback)
self.parent = parent
self.driver = Driver.Instance()
self.cameraIntrinsics = calibration.CameraIntrinsics.Instance()
self.autoCheck = calibration.SimpleLaserTriangulation.Instance()
self.connectButton = wx.Button(self.panel, label=_("Connect"))
luminosity=profile.getProfileSettingObject('luminosity').getType()
self.luminosityComboBox = wx.ComboBox(self.panel, wx.ID_ANY,
value=profile.getProfileSetting('luminosity'),
choices=[_(luminosity[0]), _(luminosity[1]), _(luminosity[2])],
style=wx.CB_READONLY)
self.patternLabel = wx.StaticText(self.panel, label=_("Put the pattern on the platform and press \"Auto check\""))
self.imageView = ImageView(self.panel)
self.imageView.setImage(wx.Image(resources.getPathForImage("pattern-position-right.jpg")))
self.autoCheckButton = wx.Button(self.panel, label=_("Auto check"))
self.gauge = wx.Gauge(self.panel, range=100, size=(-1, 30))
self.resultLabel = wx.StaticText(self.panel, size=(-1, 30))
self.connectButton.Enable()
self.patternLabel.Disable()
self.imageView.Disable()
self.autoCheckButton.Disable()
self.skipButton.Disable()
self.nextButton.Disable()
self.resultLabel.Hide()
self.enableNext = False
vbox = wx.BoxSizer(wx.VERTICAL)
hbox = wx.BoxSizer(wx.HORIZONTAL)
hbox.Add(self.connectButton, 1, wx.ALL|wx.EXPAND, 5)
hbox.Add(self.luminosityComboBox, 0, wx.ALL|wx.EXPAND, 5)
vbox.Add(hbox, 0, wx.ALL|wx.EXPAND, 2)
vbox.Add(self.patternLabel, 0, wx.ALL|wx.CENTER, 5)
vbox.Add(self.imageView, 1, wx.ALL|wx.EXPAND, 5)
vbox.Add(self.resultLabel, 0, wx.ALL|wx.CENTER, 5)
vbox.Add(self.gauge, 0, wx.ALL|wx.EXPAND, 5)
vbox.Add(self.autoCheckButton, 0, wx.ALL|wx.EXPAND, 5)
self.panel.SetSizer(vbox)
self.Layout()
self.connectButton.Bind(wx.EVT_BUTTON, self.onConnectButtonClicked)
self.luminosityComboBox.Bind(wx.EVT_COMBOBOX, self.onLuminosityComboBoxChanged)
self.autoCheckButton.Bind(wx.EVT_BUTTON, self.onAutoCheckButtonClicked)
self.Bind(wx.EVT_SHOW, self.onShow)
self.videoView.setMilliseconds(50)
self.videoView.setCallback(self.getDetectChessboardFrame)
self.updateStatus(self.driver.isConnected)
def __init__(self, parent):
wx.Panel.__init__(self, parent)
logo = ImageView(self)
logo.setImage(wx.Image(resources.getPathForImage("logo.png")))
titleText = wx.StaticText(self, label=_("3D Scanning for everyone"))
titleText.SetFont((wx.Font(13, wx.FONTFAMILY_DEFAULT, wx.NORMAL, wx.FONTWEIGHT_NORMAL)))
separator = wx.StaticLine(self, -1, style=wx.LI_HORIZONTAL)
vbox = wx.BoxSizer(wx.VERTICAL)
vbox.Add(logo, 10, wx.ALL^wx.BOTTOM|wx.EXPAND, 30)
vbox.Add(titleText, 0, wx.TOP|wx.CENTER, 20)
vbox.Add((0,0), 1, wx.ALL|wx.EXPAND, 0)
vbox.Add(separator, 0, wx.ALL|wx.EXPAND, 10)
self.SetSizer(vbox)
self.Layout()
def __init__(self, parent):
wx.Panel.__init__(self, parent)
logo = ImageView(self)
logo.setImage(wx.Image(resources.getPathForImage("logo.png")))
titleText = wx.StaticText(self, label=_("3D Scanning for everyone"))
titleText.SetFont((wx.Font(13, wx.FONTFAMILY_DEFAULT, wx.NORMAL, wx.FONTWEIGHT_NORMAL)))
separator = wx.StaticLine(self, -1, style=wx.LI_HORIZONTAL)
vbox = wx.BoxSizer(wx.VERTICAL)
vbox.Add(logo, 10, wx.ALL^wx.BOTTOM|wx.EXPAND, 30)
vbox.Add(titleText, 0, wx.TOP|wx.CENTER, 20)
vbox.Add((0,0), 1, wx.ALL|wx.EXPAND, 0)
vbox.Add(separator, 0, wx.ALL|wx.EXPAND, 10)
self.SetSizer(vbox)
self.Layout()
def __init__(self, parent, buttonPrevCallback=None, buttonNextCallback=None):
WizardPage.__init__(self, parent,
title=_("Connection"),
buttonPrevCallback=buttonPrevCallback,
buttonNextCallback=buttonNextCallback)
self.parent = parent
self.driver = Driver.Instance()
self.cameraIntrinsics = calibration.CameraIntrinsics.Instance()
self.autoCheck = calibration.SimpleLaserTriangulation.Instance()
self.connectButton = wx.Button(self.panel, label=_("Connect"))
self.settingsButton = wx.Button(self.panel, label=_("Edit settings"))
self.patternLabel = wx.StaticText(self.panel, label=_("Put the pattern on the platform as shown in the picture and press \"Auto check\""))
self.patternLabel.Wrap(400)
self.imageView = ImageView(self.panel)
self.imageView.setImage(wx.Image(resources.getPathForImage("pattern-position-right.jpg")))
self.autoCheckButton = wx.Button(self.panel, label=_("Auto check"))
self.gauge = wx.Gauge(self.panel, range=100, size=(-1, 30))
self.resultLabel = wx.StaticText(self.panel, size=(-1, 30))
self.connectButton.Enable()
self.settingsButton.Enable()
self.patternLabel.Disable()
self.imageView.Disable()
self.autoCheckButton.Disable()
self.skipButton.Disable()
self.nextButton.Disable()
self.resultLabel.Hide()
self.enableNext = False
vbox = wx.BoxSizer(wx.VERTICAL)
hbox = wx.BoxSizer(wx.HORIZONTAL)
hbox.Add(self.connectButton, 1, wx.ALL|wx.EXPAND, 5)
hbox.Add(self.settingsButton, 1, wx.ALL|wx.EXPAND, 5)
vbox.Add(hbox, 0, wx.ALL|wx.EXPAND, 2)
vbox.Add(self.patternLabel, 0, wx.ALL|wx.CENTER, 5)
vbox.Add(self.imageView, 1, wx.ALL|wx.EXPAND, 5)
vbox.Add(self.resultLabel, 0, wx.ALL|wx.CENTER, 5)
vbox.Add(self.gauge, 0, wx.ALL|wx.EXPAND, 5)
vbox.Add(self.autoCheckButton, 0, wx.ALL|wx.EXPAND, 5)
self.panel.SetSizer(vbox)
self.Layout()
self.connectButton.Bind(wx.EVT_BUTTON, self.onConnectButtonClicked)
self.settingsButton.Bind(wx.EVT_BUTTON, self.onSettingsButtonClicked)
self.autoCheckButton.Bind(wx.EVT_BUTTON, self.onAutoCheckButtonClicked)
self.Bind(wx.EVT_SHOW, self.onShow)
self.videoView.setMilliseconds(50)
self.videoView.setCallback(self.getDetectChessboardFrame)
self.updateStatus(self.driver.isConnected)
def __init__(self,
parent,
afterCancelCallback=None,
afterCalibrationCallback=None):
Page.__init__(self,
parent,
title=_("Camera Intrinsics"),
subTitle=_("Press space bar to perform captures"),
left=_("Cancel"),
right=_("Calibrate"),
buttonLeftCallback=self.onCancel,
buttonRightCallback=self.onCalibrate,
panelOrientation=wx.HORIZONTAL,
viewProgress=True)
self.driver = Driver.Instance()
self.cameraIntrinsics = calibration.CameraIntrinsics.Instance()
self.afterCancelCallback = afterCancelCallback
self.afterCalibrationCallback = afterCalibrationCallback
#-- Video View
self.videoView = VideoView(self._panel, self.getFrame, 50)
self.videoView.SetBackgroundColour(wx.BLACK)
#-- Image Grid Panel
self.imageGridPanel = wx.Panel(self._panel)
self.rows, self.columns = 2, 6
self.panelGrid = []
self.gridSizer = wx.GridSizer(self.rows, self.columns, 3, 3)
for panel in xrange(self.rows * self.columns):
self.panelGrid.append(ImageView(self.imageGridPanel))
self.panelGrid[panel].Bind(wx.EVT_KEY_DOWN, self.onKeyPress)
self.panelGrid[panel].SetBackgroundColour((221, 221, 221))
self.panelGrid[panel].setImage(
wx.Image(resources.getPathForImage("void.png")))
self.gridSizer.Add(self.panelGrid[panel], 0, wx.ALL | wx.EXPAND)
self.imageGridPanel.SetSizer(self.gridSizer)
#-- Layout
self.addToPanel(self.videoView, 1)
self.addToPanel(self.imageGridPanel, 3)
#-- Events
self.Bind(wx.EVT_SHOW, self.onShow)
self.videoView.Bind(wx.EVT_KEY_DOWN, self.onKeyPress)
self.imageGridPanel.Bind(wx.EVT_KEY_DOWN, self.onKeyPress)
self.videoView.SetFocus()
self.Layout()
def __init__(self, parent, buttonPrevCallback=None, buttonNextCallback=None):
WizardPage.__init__(self, parent,
title=_("Calibration"),
buttonPrevCallback=buttonPrevCallback,
buttonNextCallback=buttonNextCallback)
self.driver = Driver.Instance()
self.cameraIntrinsics = calibration.CameraIntrinsics.Instance()
self.laserTriangulation = calibration.LaserTriangulation.Instance()
self.platformExtrinsics = calibration.PlatformExtrinsics.Instance()
self.phase = 'none'
self.patternLabel = wx.StaticText(self.panel, label=_("Put the pattern on the platform as shown in the picture and press \"Calibrate\""))
self.patternLabel.Wrap(400)
self.imageView = ImageView(self.panel)
self.imageView.setImage(wx.Image(resources.getPathForImage("pattern-position-right.jpg")))
self.calibrateButton = wx.Button(self.panel, label=_("Calibrate"))
self.cancelButton = wx.Button(self.panel, label=_("Cancel"))
self.gauge = wx.Gauge(self.panel, range=100, size=(-1, 30))
self.resultLabel = wx.StaticText(self.panel, size=(-1, 30))
self.cancelButton.Disable()
self.resultLabel.Hide()
self.skipButton.Enable()
self.nextButton.Disable()
#-- Layout
vbox = wx.BoxSizer(wx.VERTICAL)
vbox.Add(self.patternLabel, 0, wx.ALL|wx.CENTER, 5)
vbox.Add(self.imageView, 1, wx.ALL|wx.EXPAND, 5)
vbox.Add(self.resultLabel, 0, wx.ALL|wx.CENTER, 5)
vbox.Add(self.gauge, 0, wx.ALL|wx.EXPAND, 5)
hbox = wx.BoxSizer(wx.HORIZONTAL)
hbox.Add(self.cancelButton, 1, wx.ALL|wx.EXPAND, 5)
hbox.Add(self.calibrateButton, 1, wx.ALL|wx.EXPAND, 5)
vbox.Add(hbox, 0, wx.ALL|wx.EXPAND, 2)
self.panel.SetSizer(vbox)
self.Layout()
self.calibrateButton.Bind(wx.EVT_BUTTON, self.onCalibrationButtonClicked)
self.cancelButton.Bind(wx.EVT_BUTTON, self.onCancelButtonClicked)
self.Bind(wx.EVT_SHOW, self.onShow)
self.videoView.setMilliseconds(20)
self.videoView.setCallback(self.getFrame)
class ConnectionPage(WizardPage):
def __init__(self, parent, buttonPrevCallback=None, buttonNextCallback=None):
WizardPage.__init__(self, parent,
title=_("Connection"),
buttonPrevCallback=buttonPrevCallback,
buttonNextCallback=buttonNextCallback)
self.parent = parent
self.driver = Driver.Instance()
self.cameraIntrinsics = calibration.CameraIntrinsics.Instance()
self.autoCheck = calibration.SimpleLaserTriangulation.Instance()
self.connectButton = wx.Button(self.panel, label=_("Connect"))
self.settingsButton = wx.Button(self.panel, label=_("Edit settings"))
self.patternLabel = wx.StaticText(self.panel, label=_("Put the pattern on the platform as shown in the picture and press \"Auto check\""))
self.patternLabel.Wrap(400)
self.imageView = ImageView(self.panel)
self.imageView.setImage(wx.Image(resources.getPathForImage("pattern-position-right.jpg")))
self.autoCheckButton = wx.Button(self.panel, label=_("Auto check"))
self.gauge = wx.Gauge(self.panel, range=100, size=(-1, 30))
self.resultLabel = wx.StaticText(self.panel, size=(-1, 30))
self.connectButton.Enable()
self.settingsButton.Enable()
self.patternLabel.Disable()
self.imageView.Disable()
self.autoCheckButton.Disable()
self.skipButton.Disable()
self.nextButton.Disable()
self.resultLabel.Hide()
self.enableNext = False
vbox = wx.BoxSizer(wx.VERTICAL)
hbox = wx.BoxSizer(wx.HORIZONTAL)
hbox.Add(self.connectButton, 1, wx.ALL|wx.EXPAND, 5)
hbox.Add(self.settingsButton, 1, wx.ALL|wx.EXPAND, 5)
vbox.Add(hbox, 0, wx.ALL|wx.EXPAND, 2)
vbox.Add(self.patternLabel, 0, wx.ALL|wx.CENTER, 5)
vbox.Add(self.imageView, 1, wx.ALL|wx.EXPAND, 5)
vbox.Add(self.resultLabel, 0, wx.ALL|wx.CENTER, 5)
vbox.Add(self.gauge, 0, wx.ALL|wx.EXPAND, 5)
vbox.Add(self.autoCheckButton, 0, wx.ALL|wx.EXPAND, 5)
self.panel.SetSizer(vbox)
self.Layout()
self.connectButton.Bind(wx.EVT_BUTTON, self.onConnectButtonClicked)
self.settingsButton.Bind(wx.EVT_BUTTON, self.onSettingsButtonClicked)
self.autoCheckButton.Bind(wx.EVT_BUTTON, self.onAutoCheckButtonClicked)
self.Bind(wx.EVT_SHOW, self.onShow)
self.videoView.setMilliseconds(50)
self.videoView.setCallback(self.getDetectChessboardFrame)
self.updateStatus(self.driver.isConnected)
def onShow(self, event):
if event.GetShow():
self.updateStatus(self.driver.isConnected)
else:
try:
self.videoView.stop()
except:
pass
def getFrame(self):
return self.driver.camera.captureImage()
def getDetectChessboardFrame(self):
frame = self.getFrame()
if frame is not None:
retval, frame = self.cameraIntrinsics.detectChessboard(frame)
return frame
def onUnplugged(self):
self.videoView.stop()
self.autoCheck.cancel()
self.afterMoveMotor()
def onConnectButtonClicked(self, event):
self.driver.setCallbacks(self.beforeConnect, lambda r: wx.CallAfter(self.afterConnect,r))
self.driver.connect()
def onSettingsButtonClicked(self, event):
SettingsWindow(self)
def beforeConnect(self):
self.settingsButton.Disable()
self.breadcrumbs.Disable()
self.connectButton.Disable()
self.prevButton.Disable()
self.videoView.stop()
self.driver.board.setUnplugCallback(None)
self.driver.camera.setUnplugCallback(None)
self.waitCursor = wx.BusyCursor()
def afterConnect(self, response):
ret, result = response
if not ret:
if result is Error.WrongFirmware:
dlg = wx.MessageDialog(self, _("Board has a wrong firmware.\nPlease select your Board\nand press Upload Firmware"), _(result), wx.OK|wx.ICON_INFORMATION)
dlg.ShowModal()
dlg.Destroy()
self.updateStatus(False)
self.GetParent().parent.onPreferences(None)
elif result is Error.BoardNotConnected:
dlg = wx.MessageDialog(self, _("Board is not connected.\nPlease connect your board\nand select a valid Serial Name"), _(result), wx.OK|wx.ICON_INFORMATION)
dlg.ShowModal()
dlg.Destroy()
self.updateStatus(False)
self.GetParent().parent.onPreferences(None)
elif result is Error.CameraNotConnected:
dlg = wx.MessageDialog(self, _("Please plug your camera and try to connect again"), _(result), wx.OK|wx.ICON_ERROR)
dlg.ShowModal()
dlg.Destroy()
elif result is Error.WrongCamera:
dlg = wx.MessageDialog(self, _("You probably have selected a wrong camera.\nPlease select other Camera Id"), _(result), wx.OK|wx.ICON_INFORMATION)
dlg.ShowModal()
dlg.Destroy()
self.updateStatus(False)
self.GetParent().parent.onPreferences(None)
elif result is Error.InvalidVideo:
dlg = wx.MessageDialog(self, _("Unplug and plug your camera USB cable and try to connect again."), _(result), wx.OK|wx.ICON_ERROR)
dlg.ShowModal()
dlg.Destroy()
self.updateStatus(self.driver.isConnected)
self.settingsButton.Enable()
self.breadcrumbs.Enable()
self.prevButton.Enable()
del self.waitCursor
def onAutoCheckButtonClicked(self, event):
if profile.getProfileSettingBool('adjust_laser'):
profile.putProfileSetting('adjust_laser', False)
dlg = wx.MessageDialog(self, _("It is recomended to adjust line lasers vertically.\nYou need to use the allen wrench.\nDo you want to adjust it now?"), _("Manual laser adjustment"), wx.YES_NO | wx.ICON_QUESTION)
result = dlg.ShowModal() == wx.ID_YES
dlg.Destroy()
if result:
self.driver.board.setLeftLaserOn()
self.driver.board.setRightLaserOn()
else:
self.beforeAutoCheck()
#-- Perform auto check
self.autoCheck.setCallbacks(None,
lambda p: wx.CallAfter(self.progressAutoCheck,p),
lambda r: wx.CallAfter(self.afterAutoCheck,r))
self.autoCheck.start()
def beforeAutoCheck(self):
self.settingsButton.Disable()
self.breadcrumbs.Disable()
self.autoCheckButton.Disable()
self.prevButton.Disable()
self.skipButton.Disable()
self.nextButton.Disable()
self.enableNext = False
self.gauge.SetValue(0)
self.resultLabel.Hide()
self.gauge.Show()
self.waitCursor = wx.BusyCursor()
self.Layout()
def progressAutoCheck(self, progress):
self.gauge.SetValue(0.9*progress)
def afterAutoCheck(self, response):
ret, result = response
if ret:
self.resultLabel.SetLabel(_("All OK. Please press next to continue"))
else:
self.resultLabel.SetLabel(_("Please check motor direction and pattern position and try again"))
if ret:
self.skipButton.Disable()
self.nextButton.Enable()
else:
self.skipButton.Enable()
self.nextButton.Disable()
self.videoView.setMilliseconds(20)
self.videoView.setCallback(self.getFrame)
self.driver.board.setSpeedMotor(150)
self.driver.board.setRelativePosition(-90)
self.driver.board.enableMotor()
self.driver.board.moveMotor(nonblocking=True, callback=(lambda r: wx.CallAfter(self.afterMoveMotor)))
def afterMoveMotor(self):
self.videoView.setMilliseconds(50)
self.videoView.setCallback(self.getDetectChessboardFrame)
self.settingsButton.Enable()
self.breadcrumbs.Enable()
self.gauge.SetValue(100)
self.enableNext = True
self.resultLabel.Show()
self.autoCheckButton.Enable()
self.prevButton.Enable()
self.driver.board.disableMotor()
self.gauge.Hide()
if hasattr(self, 'waitCursor'):
del self.waitCursor
self.panel.Fit()
self.panel.Layout()
self.Layout()
def updateStatus(self, status):
if status:
self.driver.board.setUnplugCallback(lambda: wx.CallAfter(self.parent.onBoardUnplugged))
self.driver.camera.setUnplugCallback(lambda: wx.CallAfter(self.parent.onCameraUnplugged))
#if profile.getPreference('workbench') != 'Calibration workbench':
profile.putPreference('workbench', 'Calibration workbench')
self.GetParent().parent.workbenchUpdate(False)
self.videoView.play()
self.connectButton.Disable()
self.autoCheckButton.Enable()
self.patternLabel.Enable()
self.imageView.Enable()
self.skipButton.Enable()
self.enableNext = True
self.driver.board.setLeftLaserOff()
self.driver.board.setRightLaserOff()
else:
self.videoView.stop()
self.gauge.SetValue(0)
self.gauge.Show()
self.resultLabel.Hide()
self.resultLabel.SetLabel("")
self.connectButton.Enable()
self.skipButton.Disable()
self.nextButton.Disable()
self.enableNext = False
self.autoCheckButton.Disable()
self.Layout()
class CalibrationPage(WizardPage):
def __init__(self,
parent,
buttonPrevCallback=None,
buttonNextCallback=None):
WizardPage.__init__(self,
parent,
title=_("Calibration"),
buttonPrevCallback=buttonPrevCallback,
buttonNextCallback=buttonNextCallback)
self.driver = Driver.Instance()
self.cameraIntrinsics = calibration.CameraIntrinsics.Instance()
self.laserTriangulation = calibration.LaserTriangulation.Instance()
self.platformExtrinsics = calibration.PlatformExtrinsics.Instance()
self.phase = 'none'
self.patternLabel = wx.StaticText(
self.panel,
label=
_("Put the pattern on the platform as shown in the picture and press \"Calibrate\""
))
self.patternLabel.Wrap(400)
self.imageView = ImageView(self.panel)
self.imageView.setImage(
wx.Image(resources.getPathForImage("pattern-position-right.jpg")))
self.calibrateButton = wx.Button(self.panel, label=_("Calibrate"))
self.cancelButton = wx.Button(self.panel, label=_("Cancel"))
self.gauge = wx.Gauge(self.panel, range=100, size=(-1, 30))
self.resultLabel = wx.StaticText(self.panel, size=(-1, 30))
self.cancelButton.Disable()
self.resultLabel.Hide()
self.skipButton.Enable()
self.nextButton.Disable()
#-- Layout
vbox = wx.BoxSizer(wx.VERTICAL)
vbox.Add(self.patternLabel, 0, wx.ALL | wx.CENTER, 5)
vbox.Add(self.imageView, 1, wx.ALL | wx.EXPAND, 5)
vbox.Add(self.resultLabel, 0, wx.ALL | wx.CENTER, 5)
vbox.Add(self.gauge, 0, wx.ALL | wx.EXPAND, 5)
hbox = wx.BoxSizer(wx.HORIZONTAL)
hbox.Add(self.cancelButton, 1, wx.ALL | wx.EXPAND, 5)
hbox.Add(self.calibrateButton, 1, wx.ALL | wx.EXPAND, 5)
vbox.Add(hbox, 0, wx.ALL | wx.EXPAND, 2)
self.panel.SetSizer(vbox)
self.Layout()
self.calibrateButton.Bind(wx.EVT_BUTTON,
self.onCalibrationButtonClicked)
self.cancelButton.Bind(wx.EVT_BUTTON, self.onCancelButtonClicked)
self.Bind(wx.EVT_SHOW, self.onShow)
self.videoView.setMilliseconds(20)
self.videoView.setCallback(self.getFrame)
def onShow(self, event):
if event.GetShow():
self.updateStatus(self.driver.isConnected)
else:
try:
self.videoView.stop()
except:
pass
def getFrame(self):
if self.phase is 'platformCalibration':
frame = self.platformExtrinsics.getImage()
elif self.phase is 'laserTriangulation':
frame = self.laserTriangulation.getImage()
else: # 'none'
frame = self.driver.camera.captureImage()
if frame is not None and self.phase is not 'laserTriangulation':
retval, frame = self.cameraIntrinsics.detectChessboard(frame)
return frame
def onUnplugged(self):
self.videoView.stop()
self.laserTriangulation.cancel()
self.platformExtrinsics.cancel()
self.enableNext = True
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 onCancelButtonClicked(self, event):
boardUnplugCallback = self.driver.board.unplugCallback
cameraUnplugCallback = self.driver.camera.unplugCallback
self.driver.board.setUnplugCallback(None)
self.driver.camera.setUnplugCallback(None)
self.phase = 'none'
self.resultLabel.SetLabel(
_("Calibration canceled. To try again press \"Calibrate\""))
self.platformExtrinsics.cancel()
self.laserTriangulation.cancel()
self.skipButton.Enable()
self.onFinishCalibration()
self.driver.board.setUnplugCallback(boardUnplugCallback)
self.driver.camera.setUnplugCallback(cameraUnplugCallback)
def beforeCalibration(self):
self.calibrateButton.Disable()
self.cancelButton.Enable()
self.prevButton.Disable()
self.skipButton.Disable()
self.nextButton.Disable()
self.enableNext = False
self.gauge.SetValue(0)
self.resultLabel.Hide()
self.gauge.Show()
self.Layout()
self.waitCursor = wx.BusyCursor()
def progressLaserCalibration(self, progress):
self.gauge.SetValue(progress * 0.6)
def afterLaserCalibration(self, response):
self.phase = 'platformCalibration'
ret, result = response
if ret:
profile.putProfileSetting('distance_left', result[0][0])
profile.putProfileSettingNumpy('normal_left', result[0][1])
profile.putProfileSetting('distance_right', result[1][0])
profile.putProfileSettingNumpy('normal_right', result[1][1])
self.platformExtrinsics.setCallbacks(
None,
lambda p: wx.CallAfter(self.progressPlatformCalibration, p),
lambda r: wx.CallAfter(self.afterPlatformCalibration, r))
self.platformExtrinsics.start()
else:
if result == Error.CalibrationError:
self.resultLabel.SetLabel(
_("Error in lasers: please connect the lasers and try again"
))
dlg = wx.MessageDialog(
self, _("Laser Calibration failed. Please try again"),
_(result), wx.OK | wx.ICON_ERROR)
dlg.ShowModal()
dlg.Destroy()
self.skipButton.Enable()
self.onFinishCalibration()
def progressPlatformCalibration(self, progress):
self.gauge.SetValue(60 + progress * 0.4)
def afterPlatformCalibration(self, response):
self.phase = 'none'
ret, result = response
if ret:
profile.putProfileSettingNumpy('rotation_matrix', result[0])
profile.putProfileSettingNumpy('translation_vector', result[1])
else:
if result == Error.CalibrationError:
self.resultLabel.SetLabel(
_("Error in pattern: please check the pattern and try again"
))
dlg = wx.MessageDialog(
self, _("Platform Calibration failed. Please try again"),
_(result), wx.OK | wx.ICON_ERROR)
dlg.ShowModal()
dlg.Destroy()
if ret:
self.skipButton.Disable()
self.nextButton.Enable()
self.resultLabel.SetLabel(
_("All OK. Please press next to continue"))
else:
self.skipButton.Enable()
self.nextButton.Disable()
self.onFinishCalibration()
def onFinishCalibration(self):
self.enableNext = True
self.gauge.Hide()
self.resultLabel.Show()
self.calibrateButton.Enable()
self.cancelButton.Disable()
self.prevButton.Enable()
self.panel.Fit()
self.panel.Layout()
self.Layout()
if hasattr(self, 'waitCursor'):
del self.waitCursor
def updateStatus(self, status):
if status:
if profile.getPreference('workbench') != 'Calibration workbench':
profile.putPreference('workbench', 'Calibration workbench')
self.GetParent().parent.workbenchUpdate(False)
self.videoView.play()
self.calibrateButton.Enable()
self.skipButton.Enable()
self.driver.board.setLeftLaserOff()
self.driver.board.setRightLaserOff()
else:
self.videoView.stop()
self.gauge.SetValue(0)
self.gauge.Show()
self.prevButton.Enable()
self.skipButton.Disable()
self.nextButton.Disable()
self.calibrateButton.Disable()
self.cancelButton.Disable()
class ConnectionPage(WizardPage):
def __init__(self,
parent,
buttonPrevCallback=None,
buttonNextCallback=None):
WizardPage.__init__(self,
parent,
title=_("Connection"),
buttonPrevCallback=buttonPrevCallback,
buttonNextCallback=buttonNextCallback)
self.parent = parent
self.driver = Driver.Instance()
self.cameraIntrinsics = calibration.CameraIntrinsics.Instance()
self.autoCheck = calibration.SimpleLaserTriangulation.Instance()
self.connectButton = wx.Button(self.panel, label=_("Connect"))
self.settingsButton = wx.Button(self.panel, label=_("Edit settings"))
self.patternLabel = wx.StaticText(
self.panel,
label=
_("Put the pattern on the platform as shown in the picture and press \"Auto check\""
))
self.patternLabel.Wrap(400)
self.imageView = ImageView(self.panel)
self.imageView.setImage(
wx.Image(resources.getPathForImage("pattern-position-right.jpg")))
self.autoCheckButton = wx.Button(self.panel, label=_("Auto check"))
self.gauge = wx.Gauge(self.panel, range=100, size=(-1, 30))
self.resultLabel = wx.StaticText(self.panel, size=(-1, 30))
self.connectButton.Enable()
self.settingsButton.Enable()
self.patternLabel.Disable()
self.imageView.Disable()
self.autoCheckButton.Disable()
self.skipButton.Disable()
self.nextButton.Disable()
self.resultLabel.Hide()
self.enableNext = False
vbox = wx.BoxSizer(wx.VERTICAL)
hbox = wx.BoxSizer(wx.HORIZONTAL)
hbox.Add(self.connectButton, 1, wx.ALL | wx.EXPAND, 5)
hbox.Add(self.settingsButton, 1, wx.ALL | wx.EXPAND, 5)
vbox.Add(hbox, 0, wx.ALL | wx.EXPAND, 2)
vbox.Add(self.patternLabel, 0, wx.ALL | wx.CENTER, 5)
vbox.Add(self.imageView, 1, wx.ALL | wx.EXPAND, 5)
vbox.Add(self.resultLabel, 0, wx.ALL | wx.CENTER, 5)
vbox.Add(self.gauge, 0, wx.ALL | wx.EXPAND, 5)
vbox.Add(self.autoCheckButton, 0, wx.ALL | wx.EXPAND, 5)
self.panel.SetSizer(vbox)
self.Layout()
self.connectButton.Bind(wx.EVT_BUTTON, self.onConnectButtonClicked)
self.settingsButton.Bind(wx.EVT_BUTTON, self.onSettingsButtonClicked)
self.autoCheckButton.Bind(wx.EVT_BUTTON, self.onAutoCheckButtonClicked)
self.Bind(wx.EVT_SHOW, self.onShow)
self.videoView.setMilliseconds(50)
self.videoView.setCallback(self.getDetectChessboardFrame)
self.updateStatus(self.driver.isConnected)
def onShow(self, event):
if event.GetShow():
self.updateStatus(self.driver.isConnected)
else:
try:
self.videoView.stop()
except:
pass
def getFrame(self):
return self.driver.camera.captureImage()
def getDetectChessboardFrame(self):
frame = self.getFrame()
if frame is not None:
retval, frame = self.cameraIntrinsics.detectChessboard(frame)
return frame
def onUnplugged(self):
self.videoView.stop()
self.autoCheck.cancel()
self.afterMoveMotor()
def onConnectButtonClicked(self, event):
self.driver.setCallbacks(self.beforeConnect,
lambda r: wx.CallAfter(self.afterConnect, r))
self.driver.connect()
def onSettingsButtonClicked(self, event):
SettingsWindow(self)
def beforeConnect(self):
self.settingsButton.Disable()
self.breadcrumbs.Disable()
self.connectButton.Disable()
self.prevButton.Disable()
self.videoView.stop()
self.driver.board.setUnplugCallback(None)
self.driver.camera.setUnplugCallback(None)
self.waitCursor = wx.BusyCursor()
def afterConnect(self, response):
ret, result = response
if not ret:
if result is Error.WrongFirmware:
dlg = wx.MessageDialog(
self,
_("Board has a wrong firmware.\nPlease select your Board\nand press Upload Firmware"
), _(result), wx.OK | wx.ICON_INFORMATION)
dlg.ShowModal()
dlg.Destroy()
self.updateStatus(False)
self.GetParent().parent.onPreferences(None)
elif result is Error.BoardNotConnected:
dlg = wx.MessageDialog(
self,
_("Board is not connected.\nPlease connect your board\nand select a valid Serial Name"
), _(result), wx.OK | wx.ICON_INFORMATION)
dlg.ShowModal()
dlg.Destroy()
self.updateStatus(False)
self.GetParent().parent.onPreferences(None)
elif result is Error.CameraNotConnected:
dlg = wx.MessageDialog(
self,
_("Please plug your camera and try to connect again"),
_(result), wx.OK | wx.ICON_ERROR)
dlg.ShowModal()
dlg.Destroy()
elif result is Error.WrongCamera:
dlg = wx.MessageDialog(
self,
_("You probably have selected a wrong camera.\nPlease select other Camera Id"
), _(result), wx.OK | wx.ICON_INFORMATION)
dlg.ShowModal()
dlg.Destroy()
self.updateStatus(False)
self.GetParent().parent.onPreferences(None)
elif result is Error.InvalidVideo:
dlg = wx.MessageDialog(
self,
_("Unplug and plug your camera USB cable and try to connect again."
), _(result), wx.OK | wx.ICON_ERROR)
dlg.ShowModal()
dlg.Destroy()
self.updateStatus(self.driver.isConnected)
self.settingsButton.Enable()
self.breadcrumbs.Enable()
self.prevButton.Enable()
del self.waitCursor
def onAutoCheckButtonClicked(self, event):
if profile.getProfileSettingBool('adjust_laser'):
profile.putProfileSetting('adjust_laser', False)
dlg = wx.MessageDialog(
self,
_("It is recomended to adjust line lasers vertically.\nYou need to use the allen wrench.\nDo you want to adjust it now?"
), _("Manual laser adjustment"),
wx.YES_NO | wx.ICON_QUESTION)
result = dlg.ShowModal() == wx.ID_YES
dlg.Destroy()
if result:
self.driver.board.setLeftLaserOn()
self.driver.board.setRightLaserOn()
else:
self.beforeAutoCheck()
#-- Perform auto check
self.autoCheck.setCallbacks(
None, lambda p: wx.CallAfter(self.progressAutoCheck, p),
lambda r: wx.CallAfter(self.afterAutoCheck, r))
self.autoCheck.start()
def beforeAutoCheck(self):
self.settingsButton.Disable()
self.breadcrumbs.Disable()
self.autoCheckButton.Disable()
self.prevButton.Disable()
self.skipButton.Disable()
self.nextButton.Disable()
self.enableNext = False
self.gauge.SetValue(0)
self.resultLabel.Hide()
self.gauge.Show()
self.waitCursor = wx.BusyCursor()
self.Layout()
def progressAutoCheck(self, progress):
self.gauge.SetValue(0.9 * progress)
def afterAutoCheck(self, response):
ret, result = response
if ret:
self.resultLabel.SetLabel(
_("All OK. Please press next to continue"))
else:
self.resultLabel.SetLabel(
_("Please check motor direction and pattern position and try again"
))
if ret:
self.skipButton.Disable()
self.nextButton.Enable()
else:
self.skipButton.Enable()
self.nextButton.Disable()
self.videoView.setMilliseconds(20)
self.videoView.setCallback(self.getFrame)
self.driver.board.setSpeedMotor(150)
self.driver.board.setRelativePosition(-90)
self.driver.board.enableMotor()
self.driver.board.moveMotor(
nonblocking=True,
callback=(lambda r: wx.CallAfter(self.afterMoveMotor)))
def afterMoveMotor(self):
self.videoView.setMilliseconds(50)
self.videoView.setCallback(self.getDetectChessboardFrame)
self.settingsButton.Enable()
self.breadcrumbs.Enable()
self.gauge.SetValue(100)
self.enableNext = True
self.resultLabel.Show()
self.autoCheckButton.Enable()
self.prevButton.Enable()
self.driver.board.disableMotor()
self.gauge.Hide()
if hasattr(self, 'waitCursor'):
del self.waitCursor
self.panel.Fit()
self.panel.Layout()
self.Layout()
def updateStatus(self, status):
if status:
self.driver.board.setUnplugCallback(
lambda: wx.CallAfter(self.parent.onBoardUnplugged))
self.driver.camera.setUnplugCallback(
lambda: wx.CallAfter(self.parent.onCameraUnplugged))
#if profile.getPreference('workbench') != 'Calibration workbench':
profile.putPreference('workbench', 'Calibration workbench')
self.GetParent().parent.workbenchUpdate(False)
self.videoView.play()
self.connectButton.Disable()
self.autoCheckButton.Enable()
self.patternLabel.Enable()
self.imageView.Enable()
self.skipButton.Enable()
self.enableNext = True
self.driver.board.setLeftLaserOff()
self.driver.board.setRightLaserOff()
else:
self.videoView.stop()
self.gauge.SetValue(0)
self.gauge.Show()
self.resultLabel.Hide()
self.resultLabel.SetLabel("")
self.connectButton.Enable()
self.skipButton.Disable()
self.nextButton.Disable()
self.enableNext = False
self.autoCheckButton.Disable()
self.Layout()
class CalibrationPage(WizardPage):
def __init__(self, parent, buttonPrevCallback=None, buttonNextCallback=None):
WizardPage.__init__(self, parent,
title=_("Calibration"),
buttonPrevCallback=buttonPrevCallback,
buttonNextCallback=buttonNextCallback)
self.driver = Driver.Instance()
self.cameraIntrinsics = calibration.CameraIntrinsics.Instance()
self.laserTriangulation = calibration.LaserTriangulation.Instance()
self.platformExtrinsics = calibration.PlatformExtrinsics.Instance()
self.phase = 'none'
self.patternLabel = wx.StaticText(self.panel, label=_("Put the pattern on the platform as shown in the picture and press \"Calibrate\""))
self.patternLabel.Wrap(400)
self.imageView = ImageView(self.panel)
self.imageView.setImage(wx.Image(resources.getPathForImage("pattern-position-right.jpg")))
self.calibrateButton = wx.Button(self.panel, label=_("Calibrate"))
self.cancelButton = wx.Button(self.panel, label=_("Cancel"))
self.gauge = wx.Gauge(self.panel, range=100, size=(-1, 30))
self.resultLabel = wx.StaticText(self.panel, size=(-1, 30))
self.cancelButton.Disable()
self.resultLabel.Hide()
self.skipButton.Enable()
self.nextButton.Disable()
#-- Layout
vbox = wx.BoxSizer(wx.VERTICAL)
vbox.Add(self.patternLabel, 0, wx.ALL|wx.CENTER, 5)
vbox.Add(self.imageView, 1, wx.ALL|wx.EXPAND, 5)
vbox.Add(self.resultLabel, 0, wx.ALL|wx.CENTER, 5)
vbox.Add(self.gauge, 0, wx.ALL|wx.EXPAND, 5)
hbox = wx.BoxSizer(wx.HORIZONTAL)
hbox.Add(self.cancelButton, 1, wx.ALL|wx.EXPAND, 5)
hbox.Add(self.calibrateButton, 1, wx.ALL|wx.EXPAND, 5)
vbox.Add(hbox, 0, wx.ALL|wx.EXPAND, 2)
self.panel.SetSizer(vbox)
self.Layout()
self.calibrateButton.Bind(wx.EVT_BUTTON, self.onCalibrationButtonClicked)
self.cancelButton.Bind(wx.EVT_BUTTON, self.onCancelButtonClicked)
self.Bind(wx.EVT_SHOW, self.onShow)
self.videoView.setMilliseconds(20)
self.videoView.setCallback(self.getFrame)
def onShow(self, event):
if event.GetShow():
self.updateStatus(self.driver.isConnected)
else:
try:
self.videoView.stop()
except:
pass
def getFrame(self):
if self.phase is 'platformCalibration':
frame = self.platformExtrinsics.getImage()
elif self.phase is 'laserTriangulation':
frame = self.laserTriangulation.getImage()
else: # 'none'
frame = self.driver.camera.captureImage()
if frame is not None and self.phase is not 'laserTriangulation':
retval, frame = self.cameraIntrinsics.detectChessboard(frame)
return frame
def onUnplugged(self):
self.videoView.stop()
self.laserTriangulation.cancel()
self.platformExtrinsics.cancel()
self.enableNext = True
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 onCancelButtonClicked(self, event):
boardUnplugCallback = self.driver.board.unplugCallback
cameraUnplugCallback = self.driver.camera.unplugCallback
self.driver.board.setUnplugCallback(None)
self.driver.camera.setUnplugCallback(None)
self.phase = 'none'
self.resultLabel.SetLabel(_("Calibration canceled. To try again press \"Calibrate\""))
self.platformExtrinsics.cancel()
self.laserTriangulation.cancel()
self.skipButton.Enable()
self.onFinishCalibration()
self.driver.board.setUnplugCallback(boardUnplugCallback)
self.driver.camera.setUnplugCallback(cameraUnplugCallback)
def beforeCalibration(self):
self.calibrateButton.Disable()
self.cancelButton.Enable()
self.prevButton.Disable()
self.skipButton.Disable()
self.nextButton.Disable()
self.enableNext = False
self.gauge.SetValue(0)
self.resultLabel.Hide()
self.gauge.Show()
self.Layout()
self.waitCursor = wx.BusyCursor()
def progressLaserCalibration(self, progress):
self.gauge.SetValue(progress*0.6)
def afterLaserCalibration(self, response):
self.phase='platformCalibration'
ret, result = response
if ret:
profile.putProfileSetting('distance_left', result[0][0])
profile.putProfileSettingNumpy('normal_left', result[0][1])
profile.putProfileSetting('distance_right', result[1][0])
profile.putProfileSettingNumpy('normal_right', result[1][1])
self.platformExtrinsics.setCallbacks(None,
lambda p: wx.CallAfter(self.progressPlatformCalibration,p),
lambda r: wx.CallAfter(self.afterPlatformCalibration,r))
self.platformExtrinsics.start()
else:
if result == Error.CalibrationError:
self.resultLabel.SetLabel(_("Error in lasers: please connect the lasers and try again"))
dlg = wx.MessageDialog(self, _("Laser Calibration failed. Please try again"), _(result), wx.OK|wx.ICON_ERROR)
dlg.ShowModal()
dlg.Destroy()
self.skipButton.Enable()
self.onFinishCalibration()
def progressPlatformCalibration(self, progress):
self.gauge.SetValue(60 + progress*0.4)
def afterPlatformCalibration(self, response):
self.phase = 'none'
ret, result = response
if ret:
profile.putProfileSettingNumpy('rotation_matrix', result[0])
profile.putProfileSettingNumpy('translation_vector', result[1])
else:
if result == Error.CalibrationError:
self.resultLabel.SetLabel(_("Error in pattern: please check the pattern and try again"))
dlg = wx.MessageDialog(self, _("Platform Calibration failed. Please try again"), _(result), wx.OK|wx.ICON_ERROR)
dlg.ShowModal()
dlg.Destroy()
if ret:
self.skipButton.Disable()
self.nextButton.Enable()
self.resultLabel.SetLabel(_("All OK. Please press next to continue"))
else:
self.skipButton.Enable()
self.nextButton.Disable()
self.onFinishCalibration()
def onFinishCalibration(self):
self.enableNext = True
self.gauge.Hide()
self.resultLabel.Show()
self.calibrateButton.Enable()
self.cancelButton.Disable()
self.prevButton.Enable()
self.panel.Fit()
self.panel.Layout()
self.Layout()
if hasattr(self, 'waitCursor'):
del self.waitCursor
def updateStatus(self, status):
if status:
if profile.getPreference('workbench') != 'Calibration workbench':
profile.putPreference('workbench', 'Calibration workbench')
self.GetParent().parent.workbenchUpdate(False)
self.videoView.play()
self.calibrateButton.Enable()
self.skipButton.Enable()
self.driver.board.setLeftLaserOff()
self.driver.board.setRightLaserOff()
else:
self.videoView.stop()
self.gauge.SetValue(0)
self.gauge.Show()
self.prevButton.Enable()
self.skipButton.Disable()
self.nextButton.Disable()
self.calibrateButton.Disable()
self.cancelButton.Disable()
