def calculateROI(self):
if hasattr(self, 'rotationMatrix') and \
hasattr(self, 'translationVector') and \
hasattr(self, 'fx') and hasattr(self, 'fy') and \
hasattr(self, 'cx') and hasattr(self, 'cy') and \
hasattr(self, 'width') and hasattr(self, 'height'):
if (profile.getMachineSetting('machine_shape') == 'Circular' and hasattr(self, 'roiRadius') and hasattr(self, 'roiHeight')) or \
(profile.getMachineSetting('machine_shape') == 'Rectangular' and hasattr(self, 'roiWidth') and hasattr(self, 'roiHeight') and hasattr(self, 'roiDepth')):
#-- Platform system
if profile.getMachineSetting('machine_shape') == 'Circular':
bottom = np.matrix(self.roiRadius * self.circleArray)
elif profile.getMachineSetting(
'machine_shape') == 'Rectangular':
bottom = np.matrix(self.roiWidth * self.rectangleArray)
top = bottom + np.matrix([0, 0, self.roiHeight]).T
data = np.concatenate((bottom, top), axis=1)
#-- Camera system
data = self.rotationMatrix * data + np.matrix(
self.translationVector).T
#-- Video system
u = self.fx * data[0] / data[2] + self.cx
v = self.fy * data[1] / data[2] + self.cy
umin = int(round(np.min(u)))
umax = int(round(np.max(u)))
vmin = int(round(np.min(v)))
vmax = int(round(np.max(v)))
#visualization :
v_ = np.array(v.T)
#lower cylinder base
a = v_[:(len(v_) / 2)]
#upper cylinder base
b = v_[(len(v_) / 2):]
self.lower_vmin = int(round(np.max(a)))
self.lower_vmax = int(round(np.min(a)))
self.upper_vmin = int(round(np.min(b)))
self.upper_vmax = int(round(np.max(b)))
self.no_trimmed_umin = umin
self.no_trimmed_umax = int(round(np.max(u)))
self.no_trimmed_vmin = int(round(np.min(v)))
self.no_trimmed_vmax = int(round(np.max(v)))
self.umin = max(umin, 0)
self.umax = min(umax, self.width)
self.vmin = max(vmin, 0)
self.vmax = min(vmax, self.height)
def updateProfile(self):
section = self.sections['point_cloud_generation']
section.items['view_roi'][0].updateProfile()
section.items['roi_diameter'].updateProfile()
section.items['roi_width'].updateProfile()
section.items['roi_height'].updateProfile()
section.items['roi_depth'].updateProfile()
if profile.getMachineSetting('machine_shape') == "Rectangular":
section.hideItem('roi_diameter')
section.showItem('roi_width')
section.showItem('roi_depth')
elif profile.getMachineSetting('machine_shape') == "Circular":
section.hideItem('roi_width')
section.hideItem('roi_depth')
section.showItem('roi_diameter')
self.GetParent().GetParent().Layout()
def calculateCenter(self):
#-- Platform system
if profile.getMachineSetting('machine_shape') == 'Circular':
bottom = np.matrix(0 * self.circleArray)
elif profile.getMachineSetting('machine_shape') == 'Rectangular':
bottom = np.matrix(0 * self.rectangleArray)
top = bottom + np.matrix([0, 0, 0]).T
data = np.concatenate((bottom, top), axis=1)
#-- Camera system
data = self.rotationMatrix * data + np.matrix(self.translationVector).T
#-- Video system
u = self.fx * data[0] / data[2] + self.cx
v = self.fy * data[1] / data[2] + self.cy
umin = int(round(np.min(u)))
umax = int(round(np.max(u)))
vmin = int(round(np.min(v)))
vmax = int(round(np.max(v)))
self.center_u = umin + (umax - umin) / 2
self.center_v = vmin + (vmax - vmin) / 2
def __init__(self, parent):
super(MachineSettingsDialog, self).__init__(None, title=_("Machine Settings"))
self.main = parent
#-- Graphic elements
self.machineShapeLabel = wx.StaticText(self, label=_("Platform Shape"))
self.machineShapes = profile.getMachineSettingType("machine_shape")
self.machineShapeCombo = wx.ComboBox(self, choices=self.machineShapes, size=(170,-1), style=wx.CB_READONLY)
self.dimensionsStaticText = wx.StaticText(self, label=_("Platform Dimensions"), style=wx.ALIGN_CENTRE)
self.diameterLabel = wx.StaticText(self, label=_("Diameter"))
self.diameterField = wx.lib.intctrl.IntCtrl(self, size=(170,-1), style=wx.TE_RIGHT)
self.widthLabel = wx.StaticText(self, label=_("Width"))
self.widthField = wx.lib.intctrl.IntCtrl(self, size=(170,-1), style=wx.TE_RIGHT)
self.heightLabel = wx.StaticText(self, label=_("Height"))
self.heightField = wx.lib.intctrl.IntCtrl(self, size=(170,-1), style=wx.TE_RIGHT)
self.depthLabel = wx.StaticText(self, label=_("Depth"))
self.depthField = wx.lib.intctrl.IntCtrl(self, size=(170,-1), style=wx.TE_RIGHT)
self.machineModelLabel = wx.StaticText(self, label=_("Machine Model"))
self.machineModelButton = wx.Button(self, label=_("Browse"))
self.machineModelField = wx.StaticText(self, size=(200,-1))
self.defaultButton = wx.Button(self, label=_("Default"))
self.cancelButton = wx.Button(self, label=_("Cancel"))
self.saveButton = wx.Button(self, label=_("Save"))
#-- Events
self.machineShapeCombo.Bind(wx.EVT_COMBOBOX, self.onmachineShapeComboChanged)
self.machineModelButton.Bind(wx.EVT_BUTTON, self.onMachineModelButton)
self.cancelButton.Bind(wx.EVT_BUTTON, self.onCancelButton)
self.saveButton.Bind(wx.EVT_BUTTON, self.onSaveButton)
self.defaultButton.Bind(wx.EVT_BUTTON, self.onDefaultButton)
self.Bind(wx.EVT_CLOSE, self.onCancelButton)
#-- Layout
vbox = wx.BoxSizer(wx.VERTICAL)
hbox = wx.BoxSizer(wx.HORIZONTAL)
hbox.Add(self.machineShapeLabel, 0, wx.RIGHT|wx.ALIGN_CENTER_VERTICAL, 10)
hbox.AddStretchSpacer()
hbox.Add(self.machineShapeCombo, 0, wx.ALIGN_RIGHT|wx.ALIGN_CENTER_VERTICAL)
vbox.Add(hbox, 0, wx.ALL|wx.EXPAND, 10)
vbox.Add(wx.StaticLine(self), 0, wx.EXPAND|wx.ALL, 5)
vbox.Add(self.dimensionsStaticText, 0, wx.ALL|wx.ALIGN_CENTER_VERTICAL, 10)
# Diameter
self.diam_hbox = wx.BoxSizer(wx.HORIZONTAL)
self.diam_hbox.Add(self.diameterLabel, 0, wx.RIGHT|wx.ALIGN_CENTER_VERTICAL, 10)
self.diam_hbox.AddStretchSpacer()
self.diam_hbox.Add(self.diameterField, 0, wx.ALIGN_RIGHT|wx.ALIGN_CENTER_VERTICAL)
vbox.Add(self.diam_hbox, 0, wx.ALL|wx.EXPAND, 10)
# Width
self.width_hbox = wx.BoxSizer(wx.HORIZONTAL)
self.width_hbox.Add(self.widthLabel, 0, wx.RIGHT|wx.ALIGN_CENTER_VERTICAL, 10)
self.width_hbox.AddStretchSpacer()
self.width_hbox.Add(self.widthField, 0, wx.ALIGN_RIGHT|wx.ALIGN_CENTER_VERTICAL)
vbox.Add(self.width_hbox, 0, wx.ALL|wx.EXPAND, 10)
# Height
hbox = wx.BoxSizer(wx.HORIZONTAL)
hbox.Add(self.heightLabel, 0, wx.RIGHT|wx.ALIGN_CENTER_VERTICAL, 10)
hbox.AddStretchSpacer()
hbox.Add(self.heightField, 0, wx.ALIGN_RIGHT|wx.ALIGN_CENTER_VERTICAL)
vbox.Add(hbox, 0, wx.BOTTOM|wx.LEFT|wx.RIGHT|wx.EXPAND, 10)
# Depth
self.depth_hbox = wx.BoxSizer(wx.HORIZONTAL)
self.depth_hbox.Add(self.depthLabel, 0, wx.RIGHT|wx.ALIGN_CENTER_VERTICAL, 10)
self.depth_hbox.AddStretchSpacer()
self.depth_hbox.Add(self.depthField, 0, wx.ALIGN_RIGHT|wx.ALIGN_CENTER_VERTICAL)
vbox.Add(self.depth_hbox, 0, wx.BOTTOM|wx.LEFT|wx.RIGHT|wx.EXPAND, 10)
vbox.Add(wx.StaticLine(self), 0, wx.EXPAND|wx.ALL, 5)
# Machine STL
vbox.Add(self.machineModelLabel, 0, wx.ALL|wx.ALIGN_CENTER_VERTICAL, 10)
hbox = wx.BoxSizer(wx.HORIZONTAL)
hbox.Add(self.machineModelButton, 0, wx.RIGHT|wx.ALIGN_CENTER_VERTICAL, 10)
hbox.AddStretchSpacer()
hbox.Add(self.machineModelField, 0, wx.ALIGN_RIGHT|wx.ALIGN_CENTER_VERTICAL)
vbox.Add(hbox, 0, wx.ALL|wx.EXPAND, 10)
vbox.Add(wx.StaticLine(self), 0, wx.EXPAND|wx.ALL, 5)
hbox = wx.BoxSizer(wx.HORIZONTAL)
hbox.Add(self.defaultButton, 0, wx.ALL^wx.RIGHT, 10)
hbox.Add(self.cancelButton, 0, wx.ALL^wx.RIGHT, 10)
hbox.Add(self.saveButton, 0, wx.ALL, 10)
vbox.Add(hbox, 0, wx.BOTTOM|wx.ALIGN_CENTER_HORIZONTAL, 5)
#-- Fill data from settings
self.machineShapeCombo.SetValue(profile.getMachineSetting('machine_shape'))
self.diameterField.SetValue(profile.getMachineSettingInteger('machine_diameter'))
self.widthField.SetValue(profile.getMachineSettingInteger('machine_width'))
self.heightField.SetValue(profile.getMachineSettingInteger('machine_height'))
self.depthField.SetValue(profile.getMachineSettingInteger('machine_depth'))
self.machineModelPath = profile.getMachineSettingPath('machine_model_path')
self.machineModelField.SetLabel(self._getFileName(self.machineModelPath))
self.SetSizerAndFit(vbox)
self.onmachineShapeComboChanged(None)
self.Centre()
self.Layout()
self.Fit()
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 _drawMachine(self):
glEnable(GL_BLEND)
machine_model_path = profile.getMachineSettingPath('machine_model_path')
glEnable(GL_CULL_FACE)
#-- Draw Platform
if machine_model_path in self._platformMesh:
self._platformMesh[machine_model_path]._mesh.vbo.release()
mesh = meshLoader.loadMesh(machine_model_path)
if mesh is not None:
self._platformMesh[machine_model_path] = mesh
else:
self._platformMesh[machine_model_path] = None
self._platformMesh[machine_model_path]._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_model_path])
self._objectShader.unbind()
glDisable(GL_CULL_FACE)
glDepthMask(False)
machine_shape = profile.getMachineSetting('machine_shape')
if machine_shape == 'Circular':
size = numpy.array([profile.getMachineSettingFloat('roi_diameter'),
profile.getMachineSettingFloat('roi_diameter'),
profile.getMachineSettingFloat('roi_height')], numpy.float32)
elif machine_shape == 'Rectangular':
size = numpy.array([profile.getMachineSettingFloat('roi_width'),
profile.getMachineSettingFloat('roi_depth'),
profile.getMachineSettingFloat('roi_height')], numpy.float32)
if profile.getMachineSettingBool('view_roi'):
polys = profile.getSizePolygons(size, machine_shape)
height = profile.getMachineSettingFloat('roi_height')
# Draw the sides of the build volume.
glBegin(GL_QUADS)
for n in xrange(0, len(polys[0])):
if machine_shape == 'Rectangular':
if n % 2 == 0:
glColor4ub(5, 171, 231, 96)
else:
glColor4ub(5, 171, 231, 64)
elif machine_shape == 'Circular':
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(profile.getMachineSetting("machine_shape"))
#-- 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)