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 onScanTypeComboBoxChanged(self, event):
value = self.scanTypeDict[event.GetEventObject().GetValue()]
profile.putProfileSetting('scan_type', value)
if value == 'Simple Scan':
self.driver.camera.setExposure(profile.getProfileSettingInteger('laser_exposure_scanning'))
elif value == 'Texture Scan':
self.driver.camera.setExposure(profile.getProfileSettingInteger('color_exposure_scanning'))
def onTextBoxChanged(self, event): self.undoValues.append(profile.getProfileSetting(self.name)) value = self.control.GetValue() profile.putProfileSetting(self.name, value) self._updateEngine(value) if self.appendUndoCallback is not None: self.appendUndoCallback(self) if self.releaseUndoCallback is not None: self.releaseUndoCallback()
def onScanTypeComboBoxChanged(self, event):
value = self.scanTypeDict[event.GetEventObject().GetValue()]
profile.putProfileSetting('scan_type', value)
if value == 'Simple Scan':
self.driver.camera.setExposure(
profile.getProfileSettingInteger('laser_exposure_scanning'))
elif value == 'Texture Scan':
self.driver.camera.setExposure(
profile.getProfileSettingInteger('color_exposure_scanning'))
def onTextBoxChanged(self, event): self.undoValues.append(profile.getProfileSetting(self.name)) value = self.control.GetValue() profile.putProfileSetting(self.name, value) self._updateEngine(value) if self.appendUndoCallback is not None: self.appendUndoCallback(self) if self.releaseUndoCallback is not None: self.releaseUndoCallback()
def onSliderTracked(self, event): if self.flagFirstMove: value = profile.getProfileSettingInteger(self.name) self.undoValues.append(value) if self.appendUndoCallback is not None: self.appendUndoCallback(self) self.flagFirstMove = False value = self.control.GetValue() profile.putProfileSetting(self.name, value) self._updateEngine(value)
def onComboBoVideoViewsSelect(self, event):
selectedView = {
_("Laser"): 'laser',
_("Gray"): 'gray',
_("Line"): 'line',
_("Color"): 'color'
}.get(self.comboVideoViews.GetValue())
self.currentScan.setImageType(selectedView)
profile.putProfileSetting('img_type', selectedView)
def onSliderTracked(self, event): if self.flagFirstMove: value = profile.getProfileSettingInteger(self.name) self.undoValues.append(value) if self.appendUndoCallback is not None: self.appendUndoCallback(self) self.flagFirstMove = False value = self.control.GetValue() profile.putProfileSetting(self.name, value) self._updateEngine(value)
def onResolutionComboBoxChanged(self, event):
value = event.GetEventObject().GetValue()
if value == _("High"):
value = -0.45
elif value == _("Medium"):
value = -0.9
elif value == _("Low"):
value = -1.8
profile.putProfileSetting('step_degrees_scanning', value)
self.pcg.setDegrees(value)
def onColorPicker(self):
data = wx.ColourData()
data.SetColour(self.simpleScan.color)
dialog = wx.ColourDialog(self, data)
dialog.GetColourData().SetChooseFull(True)
if dialog.ShowModal() == wx.ID_OK:
data = dialog.GetColourData()
color = data.GetColour().Get()
self.simpleScan.setColor(color)
profile.putProfileSetting('point_cloud_color', "".join(map(chr, color)).encode('hex'))
dialog.Destroy()
def onColorPicker(self):
data = wx.ColourData()
data.SetColour(self.simpleScan.color)
dialog = wx.ColourDialog(self, data)
dialog.GetColourData().SetChooseFull(True)
if dialog.ShowModal() == wx.ID_OK:
data = dialog.GetColourData()
color = data.GetColour().Get()
self.simpleScan.setColor(color)
profile.putProfileSetting('point_cloud_color', "".join(map(chr, color)).encode('hex'))
dialog.Destroy()
def setPatternDistance(self, patternDistance):
profile.putProfileSetting('pattern_distance', patternDistance)
patternRows = profile.getProfileSettingInteger('pattern_rows')
patternColumns = profile.getProfileSettingInteger('pattern_columns')
squareWidth = profile.getProfileSettingInteger('square_width')
self.cameraIntrinsics.setPatternParameters(patternRows, patternColumns, squareWidth, patternDistance)
self.simpleLaserTriangulation.setPatternParameters(patternRows, patternColumns, squareWidth, patternDistance)
self.laserTriangulation.setPatternParameters(patternRows, patternColumns, squareWidth, patternDistance)
self.platformExtrinsics.setPatternParameters(patternRows, patternColumns, squareWidth, patternDistance)
def onResolutionComboBoxChanged(self, event):
value = event.GetEventObject().GetValue()
if value ==_("High"):
value = -0.45
elif value ==_("Medium"):
value = -0.9
elif value ==_("Low"):
value = -1.8
profile.putProfileSetting('step_degrees_scanning', value)
self.pcg.setDegrees(value)
def setPatternDistance(self, patternDistance):
profile.putProfileSetting('pattern_distance', patternDistance)
patternRows = profile.getProfileSettingInteger('pattern_rows')
patternColumns = profile.getProfileSettingInteger('pattern_columns')
squareWidth = profile.getProfileSettingInteger('square_width')
self.cameraIntrinsics.setPatternParameters(patternRows, patternColumns, squareWidth, patternDistance)
self.simpleLaserTriangulation.setPatternParameters(patternRows, patternColumns, squareWidth, patternDistance)
self.laserTriangulation.setPatternParameters(patternRows, patternColumns, squareWidth, patternDistance)
self.platformExtrinsics.setPatternParameters(patternRows, patternColumns, squareWidth, patternDistance)
def onSlider(self, event): value = profile.getProfileSettingInteger(self.name) self.undoValues.append(value) if self.appendUndoCallback is not None: self.appendUndoCallback(self) value = self.control.GetValue() profile.putProfileSetting(self.name, value) self._updateEngine(value) if self.releaseUndoCallback is not None: self.releaseUndoCallback()
def onSlider(self, event): value = profile.getProfileSettingInteger(self.name) self.undoValues.append(value) if self.appendUndoCallback is not None: self.appendUndoCallback(self) value = self.control.GetValue() profile.putProfileSetting(self.name, value) self._updateEngine(value) if self.releaseUndoCallback is not None: self.releaseUndoCallback()
def onLaserComboBoxChanged(self, event):
value = self.laserDict[event.GetEventObject().GetValue()]
profile.putProfileSetting('use_laser', value)
useLeft = value == 'Left' or value == 'Both'
useRight = value == 'Right' or value == 'Both'
if useLeft:
self.driver.board.setLeftLaserOn()
else:
self.driver.board.setLeftLaserOff()
if useRight:
self.driver.board.setRightLaserOn()
else:
self.driver.board.setRightLaserOff()
self.pcg.setUseLaser(useLeft, useRight)
def onLaserComboBoxChanged(self, event):
value = self.laserDict[event.GetEventObject().GetValue()]
profile.putProfileSetting('use_laser', value)
useLeft = value == 'Left' or value == 'Both'
useRight = value == 'Right' or value == 'Both'
if useLeft:
self.driver.board.setLeftLaserOn()
else:
self.driver.board.setLeftLaserOff()
if useRight:
self.driver.board.setRightLaserOn()
else:
self.driver.board.setRightLaserOff()
self.pcg.setUseLaser(useLeft, useRight)
def onLaserComboBoxChanged(self, event):
value = event.GetEventObject().GetValue()
profile.putProfileSetting('use_laser', value)
useLeft = value == _("Use Left Laser") or value == _("Use Both Laser")
useRight = value == _("Use Right Laser") or value == _(
"Use Both Laser")
if useLeft:
self.driver.board.setLeftLaserOn()
else:
self.driver.board.setLeftLaserOff()
if useRight:
self.driver.board.setRightLaserOn()
else:
self.driver.board.setRightLaserOff()
self.pcg.setUseLaser(useLeft, useRight)
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 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 onLuminosityComboBoxChanged(self, event):
value = event.GetEventObject().GetValue()
profile.putProfileSetting('luminosity', value)
if value ==_("Low Luminosity"):
value = 32
elif value ==_("Medium Luminosity"):
value = 16
elif value ==_("High Luminosity"):
value = 8
profile.putProfileSetting('exposure_control', value)
profile.putProfileSetting('exposure_calibration', value)
profile.putProfileSetting('exposure_scanning', value)
self.driver.camera.setExposure(value)
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 setLuminosity(self, luminosity):
profile.putProfileSetting('luminosity', luminosity)
if luminosity =='Low':
luminosity = 32
elif luminosity =='Medium':
luminosity = 16
elif luminosity =='High':
luminosity = 8
profile.putProfileSetting('exposure_control', luminosity)
profile.putProfileSetting('exposure_calibration', luminosity)
self.driver.camera.setExposure(luminosity)
def setLuminosity(self, luminosity):
profile.putProfileSetting('luminosity', luminosity)
if luminosity == 'Low':
luminosity = 32
elif luminosity == 'Medium':
luminosity = 16
elif luminosity == 'High':
luminosity = 8
profile.putProfileSetting('exposure_control', luminosity)
profile.putProfileSetting('exposure_calibration', luminosity)
self.driver.camera.setExposure(luminosity)
def onSerialNameTextChanged(self, event):
if len(self.serialNameCombo.GetValue()):
profile.putProfileSetting('serial_name', self.serialNameCombo.GetValue())
def undo(self): if len(self.undoValues) > 0: value = self.undoValues.pop() profile.putProfileSetting(self.name, value) self.update(value)
def onBaudRateTextChanged(self, event):
if self.baudRateCombo.GetValue() in self.baudRates:
profile.putProfileSetting('baud_rate', int(self.baudRateCombo.GetValue()))
def onComboBoxChanged(self, event): value = self.keyDict[self.control.GetValue()] profile.putProfileSetting(self.name, value) self._updateEngine(value)
def __init__(self):
super(MainWindow,
self).__init__(None,
title=_("Horus " + VERSION + " - Beta"),
size=self.size)
self.SetMinSize((600, 450))
###-- Initialize Engine
self.driver = Driver.Instance()
self.simpleScan = scan.SimpleScan.Instance()
self.textureScan = scan.TextureScan.Instance()
self.pcg = scan.PointCloudGenerator.Instance()
self.cameraIntrinsics = calibration.CameraIntrinsics.Instance()
self.simpleLaserTriangulation = calibration.SimpleLaserTriangulation.Instance(
)
self.laserTriangulation = calibration.LaserTriangulation.Instance()
self.platformExtrinsics = calibration.PlatformExtrinsics.Instance()
#-- Serial Name initialization
serialList = self.serialList()
currentSerial = profile.getProfileSetting('serial_name')
if len(serialList) > 0:
if currentSerial not in serialList:
profile.putProfileSetting('serial_name', serialList[0])
#-- Video Id initialization
videoList = self.videoList()
currentVideoId = profile.getProfileSetting('camera_id')
if len(videoList) > 0:
if currentVideoId not in videoList:
profile.putProfileSetting('camera_id', videoList[0])
self.workbenchList = {
'control': _("Control workbench"),
'calibration': _("Calibration workbench"),
'scanning': _("Scanning workbench")
}
self.lastFiles = eval(profile.getPreference('last_files'))
print ">>> Horus " + VERSION + " <<<"
###-- Initialize GUI
##-- Set Icon
icon = wx.Icon(resources.getPathForImage("horus.ico"),
wx.BITMAP_TYPE_ICO)
self.SetIcon(icon)
##-- Status Bar
#self.CreateStatusBar()
##-- Menu Bar
self.menuBar = wx.MenuBar()
#-- Menu File
self.menuFile = wx.Menu()
self.menuLaunchWizard = self.menuFile.Append(wx.NewId(),
_("Launch Wizard"))
self.menuFile.AppendSeparator()
self.menuLoadModel = self.menuFile.Append(wx.NewId(), _("Load Model"))
self.menuSaveModel = self.menuFile.Append(wx.NewId(), _("Save Model"))
self.menuClearModel = self.menuFile.Append(wx.NewId(),
_("Clear Model"))
self.menuFile.AppendSeparator()
self.menuOpenProfile = self.menuFile.Append(wx.NewId(),
_("Open Profile"),
_("Opens Profile .ini"))
self.menuSaveProfile = self.menuFile.Append(wx.NewId(),
_("Save Profile"))
self.menuResetProfile = self.menuFile.Append(wx.NewId(),
_("Reset Profile"))
self.menuFile.AppendSeparator()
menuExit = self.menuFile.Append(wx.ID_EXIT, _("Exit"))
self.menuBar.Append(self.menuFile, _("File"))
#-- Menu Edit
self.menuEdit = wx.Menu()
self.menuBasicMode = self.menuEdit.AppendRadioItem(
wx.NewId(), _("Basic Mode"))
self.menuAdvancedMode = self.menuEdit.AppendRadioItem(
wx.NewId(), _("Advanced Mode"))
self.menuEdit.AppendSeparator()
self.menuPreferences = self.menuEdit.Append(wx.NewId(),
_("Preferences"))
self.menuBar.Append(self.menuEdit, _("Edit"))
#-- Menu View
menuView = wx.Menu()
self.menuControl = wx.Menu()
self.menuControlPanel = self.menuControl.AppendCheckItem(
wx.NewId(), _("Panel"))
self.menuControlVideo = self.menuControl.AppendCheckItem(
wx.NewId(), _("Video"))
menuView.AppendMenu(wx.NewId(), _("Control"), self.menuControl)
self.menuCalibration = wx.Menu()
self.menuCalibrationPanel = self.menuCalibration.AppendCheckItem(
wx.NewId(), _("Panel"))
self.menuCalibrationVideo = self.menuCalibration.AppendCheckItem(
wx.NewId(), _("Video"))
menuView.AppendMenu(wx.NewId(), _("Calibration"), self.menuCalibration)
self.menuScanning = wx.Menu()
self.menuScanningPanel = self.menuScanning.AppendCheckItem(
wx.NewId(), _("Panel"))
self.menuScanningVideo = self.menuScanning.AppendCheckItem(
wx.NewId(), _("Video"))
self.menuScanningScene = self.menuScanning.AppendCheckItem(
wx.NewId(), _("Scene"))
menuView.AppendMenu(wx.NewId(), _("Scanning"), self.menuScanning)
self.menuBar.Append(menuView, _("View"))
#-- Menu Help
menuHelp = wx.Menu()
menuAbout = menuHelp.Append(wx.ID_ABOUT, _("About"))
menuWelcome = menuHelp.Append(wx.ID_ANY, _("Welcome"))
self.menuBar.Append(menuHelp, _("Help"))
self.SetMenuBar(self.menuBar)
##-- Create Workbenchs
self.controlWorkbench = ControlWorkbench(self)
self.scanningWorkbench = ScanningWorkbench(self)
self.calibrationWorkbench = CalibrationWorkbench(self)
for workbench in [
self.controlWorkbench, self.calibrationWorkbench,
self.scanningWorkbench
]:
workbench.combo.Clear()
workbench.combo.Append(self.workbenchList['control'])
workbench.combo.Append(self.workbenchList['calibration'])
workbench.combo.Append(self.workbenchList['scanning'])
sizer = wx.BoxSizer(wx.VERTICAL)
sizer.Add(self.controlWorkbench, 1, wx.ALL | wx.EXPAND)
sizer.Add(self.calibrationWorkbench, 1, wx.ALL | wx.EXPAND)
sizer.Add(self.scanningWorkbench, 1, wx.ALL | wx.EXPAND)
self.SetSizer(sizer)
##-- Events
self.Bind(wx.EVT_MENU, self.onLaunchWizard, self.menuLaunchWizard)
self.Bind(wx.EVT_MENU, self.onLoadModel, self.menuLoadModel)
self.Bind(wx.EVT_MENU, self.onSaveModel, self.menuSaveModel)
self.Bind(wx.EVT_MENU, self.onClearModel, self.menuClearModel)
self.Bind(wx.EVT_MENU, self.onOpenProfile, self.menuOpenProfile)
self.Bind(wx.EVT_MENU, self.onSaveProfile, self.menuSaveProfile)
self.Bind(wx.EVT_MENU, self.onResetProfile, self.menuResetProfile)
self.Bind(wx.EVT_MENU, self.onExit, menuExit)
self.Bind(wx.EVT_MENU, self.onModeChanged, self.menuBasicMode)
self.Bind(wx.EVT_MENU, self.onModeChanged, self.menuAdvancedMode)
self.Bind(wx.EVT_MENU, self.onPreferences, self.menuPreferences)
self.Bind(wx.EVT_MENU, self.onControlPanelClicked,
self.menuControlPanel)
self.Bind(wx.EVT_MENU, self.onControlVideoClicked,
self.menuControlVideo)
self.Bind(wx.EVT_MENU, self.onCalibrationPanelClicked,
self.menuCalibrationPanel)
self.Bind(wx.EVT_MENU, self.onCalibrationVideoClicked,
self.menuCalibrationVideo)
self.Bind(wx.EVT_MENU, self.onScanningPanelClicked,
self.menuScanningPanel)
self.Bind(wx.EVT_MENU, self.onScanningVideoSceneClicked,
self.menuScanningVideo)
self.Bind(wx.EVT_MENU, self.onScanningVideoSceneClicked,
self.menuScanningScene)
self.Bind(wx.EVT_MENU, self.onAbout, menuAbout)
self.Bind(wx.EVT_MENU, self.onWelcome, menuWelcome)
self.Bind(wx.EVT_COMBOBOX, self.onComboBoxWorkbenchSelected,
self.controlWorkbench.combo)
self.Bind(wx.EVT_COMBOBOX, self.onComboBoxWorkbenchSelected,
self.calibrationWorkbench.combo)
self.Bind(wx.EVT_COMBOBOX, self.onComboBoxWorkbenchSelected,
self.scanningWorkbench.combo)
self.Bind(wx.EVT_CLOSE, self.onClose)
self.updateProfileToAllControls()
x, y, w, h = wx.Display(0).GetGeometry()
ws, hs = self.size
self.SetPosition((x + (w - ws) / 2., y + (h - hs) / 2.))
#self.Center()
self.Show()
def onBaudRateComboChanged(self, event):
if self.baudRateCombo.GetValue() in self.baudRates:
profile.putProfileSetting('baud_rate',
int(self.baudRateCombo.GetValue()))
def __init__(self):
super(MainWindow, self).__init__(None, title=_("Horus " + version.getVersion()), size=self.size)
self.SetMinSize((600, 450))
###-- Initialize Engine
self.driver = Driver.Instance()
self.simpleScan = scan.SimpleScan.Instance()
self.textureScan = scan.TextureScan.Instance()
self.pcg = scan.PointCloudGenerator.Instance()
self.cameraIntrinsics = calibration.CameraIntrinsics.Instance()
self.simpleLaserTriangulation = calibration.SimpleLaserTriangulation.Instance()
self.laserTriangulation = calibration.LaserTriangulation.Instance()
self.platformExtrinsics = calibration.PlatformExtrinsics.Instance()
#-- Serial Name initialization
serialList = self.serialList()
currentSerial = profile.getProfileSetting('serial_name')
if len(serialList) > 0:
if currentSerial not in serialList:
profile.putProfileSetting('serial_name', serialList[0])
#-- Video Id initialization
videoList = self.videoList()
currentVideoId = profile.getProfileSetting('camera_id')
if len(videoList) > 0:
if currentVideoId not in videoList:
profile.putProfileSetting('camera_id', videoList[0])
self.lastFiles = eval(profile.getPreference('last_files'))
print ">>> Horus " + version.getVersion() + " <<<"
###-- Initialize GUI
##-- Set Icon
icon = wx.Icon(resources.getPathForImage("horus.ico"), wx.BITMAP_TYPE_ICO)
self.SetIcon(icon)
##-- Status Bar
#self.CreateStatusBar()
##-- Menu Bar
self.menuBar = wx.MenuBar()
#-- Menu File
self.menuFile = wx.Menu()
self.menuLaunchWizard = self.menuFile.Append(wx.NewId(), _("Launch Wizard"))
self.menuFile.AppendSeparator()
self.menuLoadModel = self.menuFile.Append(wx.NewId(), _("Load Model"))
self.menuSaveModel = self.menuFile.Append(wx.NewId(), _("Save Model"))
self.menuClearModel = self.menuFile.Append(wx.NewId(), _("Clear Model"))
self.menuFile.AppendSeparator()
self.menuOpenProfile = self.menuFile.Append(wx.NewId(), _("Open Profile"), _("Opens Profile .ini"))
self.menuSaveProfile = self.menuFile.Append(wx.NewId(), _("Save Profile"))
self.menuResetProfile = self.menuFile.Append(wx.NewId(), _("Reset Profile"))
self.menuFile.AppendSeparator()
self.menuExit = self.menuFile.Append(wx.ID_EXIT, _("Exit"))
self.menuBar.Append(self.menuFile, _("File"))
#-- Menu Edit
self.menuEdit = wx.Menu()
# self.menuBasicMode = self.menuEdit.AppendRadioItem(wx.NewId(), _("Basic Mode"))
# self.menuAdvancedMode = self.menuEdit.AppendRadioItem(wx.NewId(), _("Advanced Mode"))
# self.menuEdit.AppendSeparator()
self.menuPreferences = self.menuEdit.Append(wx.NewId(), _("Preferences"))
self.menuMachineSettings = self.menuEdit.Append(wx.NewId(), _("Machine Settings"))
self.menuBar.Append(self.menuEdit, _("Edit"))
#-- Menu View
self.menuView = wx.Menu()
self.menuControl = wx.Menu()
self.menuControlPanel = self.menuControl.AppendCheckItem(wx.NewId(), _("Panel"))
self.menuControlVideo = self.menuControl.AppendCheckItem(wx.NewId(), _("Video"))
self.menuView.AppendMenu(wx.NewId(), _("Control"), self.menuControl)
self.menuCalibration = wx.Menu()
self.menuCalibrationPanel = self.menuCalibration.AppendCheckItem(wx.NewId(), _("Panel"))
self.menuCalibrationVideo = self.menuCalibration.AppendCheckItem(wx.NewId(), _("Video"))
self.menuView.AppendMenu(wx.NewId(), _("Calibration"), self.menuCalibration)
self.menuScanning = wx.Menu()
self.menuScanningPanel = self.menuScanning.AppendCheckItem(wx.NewId(), _("Panel"))
self.menuScanningVideo = self.menuScanning.AppendCheckItem(wx.NewId(), _("Video"))
self.menuScanningScene = self.menuScanning.AppendCheckItem(wx.NewId(), _("Scene"))
self.menuView.AppendMenu(wx.NewId(), _("Scanning"), self.menuScanning)
self.menuBar.Append(self.menuView, _("View"))
#-- Menu Help
self.menuHelp = wx.Menu()
self.menuWelcome = self.menuHelp.Append(wx.ID_ANY, _("Welcome"))
if profile.getPreferenceBool('check_for_updates'):
self.menuUpdates = self.menuHelp.Append(wx.ID_ANY, _("Updates"))
self.menuWiki = self.menuHelp.Append(wx.ID_ANY, _("Wiki"))
self.menuSources = self.menuHelp.Append(wx.ID_ANY, _("Sources"))
self.menuIssues = self.menuHelp.Append(wx.ID_ANY, _("Issues"))
self.menuForum = self.menuHelp.Append(wx.ID_ANY, _("Forum"))
self.menuAbout = self.menuHelp.Append(wx.ID_ABOUT, _("About"))
self.menuBar.Append(self.menuHelp, _("Help"))
self.SetMenuBar(self.menuBar)
##-- Create Workbenchs
self.controlWorkbench = ControlWorkbench(self)
self.scanningWorkbench = ScanningWorkbench(self)
self.calibrationWorkbench = CalibrationWorkbench(self)
_choices = []
choices = profile.getProfileSettingObject('workbench').getType()
for i in choices:
_choices.append(_(i))
self.workbenchDict = dict(zip(_choices, choices))
for workbench in [self.controlWorkbench, self.calibrationWorkbench, self.scanningWorkbench]:
workbench.combo.Clear()
for i in choices:
workbench.combo.Append(_(i))
sizer = wx.BoxSizer(wx.VERTICAL)
sizer.Add(self.controlWorkbench, 1, wx.ALL|wx.EXPAND)
sizer.Add(self.calibrationWorkbench, 1, wx.ALL|wx.EXPAND)
sizer.Add(self.scanningWorkbench, 1, wx.ALL|wx.EXPAND)
self.SetSizer(sizer)
##-- Events
self.Bind(wx.EVT_MENU, self.onLaunchWizard, self.menuLaunchWizard)
self.Bind(wx.EVT_MENU, self.onLoadModel, self.menuLoadModel)
self.Bind(wx.EVT_MENU, self.onSaveModel, self.menuSaveModel)
self.Bind(wx.EVT_MENU, self.onClearModel, self.menuClearModel)
self.Bind(wx.EVT_MENU, self.onOpenProfile, self.menuOpenProfile)
self.Bind(wx.EVT_MENU, self.onSaveProfile, self.menuSaveProfile)
self.Bind(wx.EVT_MENU, self.onResetProfile, self.menuResetProfile)
self.Bind(wx.EVT_MENU, self.onExit, self.menuExit)
# self.Bind(wx.EVT_MENU, self.onModeChanged, self.menuBasicMode)
# self.Bind(wx.EVT_MENU, self.onModeChanged, self.menuAdvancedMode)
self.Bind(wx.EVT_MENU, self.onPreferences, self.menuPreferences)
self.Bind(wx.EVT_MENU, self.onMachineSettings, self.menuMachineSettings)
self.Bind(wx.EVT_MENU, self.onControlPanelClicked, self.menuControlPanel)
self.Bind(wx.EVT_MENU, self.onControlVideoClicked, self.menuControlVideo)
self.Bind(wx.EVT_MENU, self.onCalibrationPanelClicked, self.menuCalibrationPanel)
self.Bind(wx.EVT_MENU, self.onCalibrationVideoClicked, self.menuCalibrationVideo)
self.Bind(wx.EVT_MENU, self.onScanningPanelClicked, self.menuScanningPanel)
self.Bind(wx.EVT_MENU, self.onScanningVideoSceneClicked, self.menuScanningVideo)
self.Bind(wx.EVT_MENU, self.onScanningVideoSceneClicked, self.menuScanningScene)
self.Bind(wx.EVT_MENU, self.onAbout, self.menuAbout)
self.Bind(wx.EVT_MENU, self.onWelcome, self.menuWelcome)
if profile.getPreferenceBool('check_for_updates'):
self.Bind(wx.EVT_MENU, self.onUpdates, self.menuUpdates)
self.Bind(wx.EVT_MENU, lambda e: webbrowser.open('https://github.com/bq/horus/wiki'), self.menuWiki)
self.Bind(wx.EVT_MENU, lambda e: webbrowser.open('https://github.com/bq/horus'), self.menuSources)
self.Bind(wx.EVT_MENU, lambda e: webbrowser.open('https://github.com/bq/horus/issues'), self.menuIssues)
self.Bind(wx.EVT_MENU, lambda e: webbrowser.open('https://groups.google.com/forum/?hl=es#!forum/ciclop-3d-scanner'), self.menuForum)
self.Bind(wx.EVT_COMBOBOX, self.onComboBoxWorkbenchSelected, self.controlWorkbench.combo)
self.Bind(wx.EVT_COMBOBOX, self.onComboBoxWorkbenchSelected, self.calibrationWorkbench.combo)
self.Bind(wx.EVT_COMBOBOX, self.onComboBoxWorkbenchSelected, self.scanningWorkbench.combo)
self.Bind(wx.EVT_CLOSE, self.onClose)
self.updateProfileToAllControls()
x, y, w, h = wx.Display(0).GetGeometry()
ws, hs = self.size
self.SetPosition((x+(w-ws)/2., y+(h-hs)/2.))
def onBoardsComboChanged(self, event):
profile.putProfileSetting('board', self.boardsCombo.GetValue())
def onCameraIdTextChanged(self, event):
if len(self.cameraIdCombo.GetValue()):
profile.putProfileSetting('camera_id', self.cameraIdCombo.GetValue())
def onInvertMotor(self, event):
profile.putProfileSetting('invert_motor', self.invertMotorCheckBox.GetValue())
def undo(self): if len(self.undoValues) > 0: value = self.undoValues.pop() profile.putProfileSetting(self.name, value) self.update(value)
def onScanTypeComboBoxChanged(self, event):
value = event.GetEventObject().GetValue()
profile.putProfileSetting('scan_type', value)
def onInvertMotor(self, event):
profile.putProfileSetting('invert_motor',
self.invertMotorCheckBox.GetValue())
def onInvertMotor(self, event):
invert = self.invertMotorCheckBox.GetValue()
profile.putProfileSetting('invert_motor', invert)
self.driver.board.setInvertMotor(invert)
def onBoardsComboChanged(self, event):
profile.putProfileSetting('board', self.boardsCombo.GetValue())
def onSerialNameComboChanged(self, event):
if len(self.serialNameCombo.GetValue()):
profile.putProfileSetting('serial_name',
self.serialNameCombo.GetValue())
def onCameraIdComboChanged(self, event):
if len(self.cameraIdCombo.GetValue()):
profile.putProfileSetting('camera_id',
self.cameraIdCombo.GetValue())
def onComboBoVideoViewsSelect(self, event):
value = self.videoViewsDict[self.comboVideoViews.GetValue()]
self.currentScan.setImageType(value)
profile.putProfileSetting('img_type', value)
def onComboBoVideoViewsSelect(self, event):
value = self.videoViewsDict[self.comboVideoViews.GetValue()]
self.currentScan.setImageType(value)
profile.putProfileSetting('img_type', value)
def onComboBoxChanged(self, event):
value = self.keyDict[self.control.GetValue()]
profile.putProfileSetting(self.name, value)
self._updateEngine(value)
def onInvertMotor(self, event):
invert = self.invertMotorCheckBox.GetValue()
profile.putProfileSetting('invert_motor', invert)
self.driver.board.setInvertMotor(invert)
def __init__(self):
super(MainWindow, self).__init__(None, title=_("Horus " + VERSION + " - Beta"), size=self.size)
self.SetMinSize((600, 450))
###-- Initialize Engine
self.driver = Driver.Instance()
self.simpleScan = scan.SimpleScan.Instance()
self.textureScan = scan.TextureScan.Instance()
self.pcg = scan.PointCloudGenerator.Instance()
self.cameraIntrinsics = calibration.CameraIntrinsics.Instance()
self.simpleLaserTriangulation = calibration.SimpleLaserTriangulation.Instance()
self.laserTriangulation = calibration.LaserTriangulation.Instance()
self.platformExtrinsics = calibration.PlatformExtrinsics.Instance()
#-- Serial Name initialization
serialList = self.serialList()
currentSerial = profile.getProfileSetting('serial_name')
if len(serialList) > 0:
if currentSerial not in serialList:
profile.putProfileSetting('serial_name', serialList[0])
#-- Video Id initialization
videoList = self.videoList()
currentVideoId = profile.getProfileSetting('camera_id')
if len(videoList) > 0:
if currentVideoId not in videoList:
profile.putProfileSetting('camera_id', videoList[0])
self.lastFiles = eval(profile.getPreference('last_files'))
print ">>> Horus " + VERSION + " <<<"
###-- Initialize GUI
##-- Set Icon
icon = wx.Icon(resources.getPathForImage("horus.ico"), wx.BITMAP_TYPE_ICO)
self.SetIcon(icon)
##-- Status Bar
#self.CreateStatusBar()
##-- Menu Bar
self.menuBar = wx.MenuBar()
#-- Menu File
self.menuFile = wx.Menu()
self.menuLaunchWizard = self.menuFile.Append(wx.NewId(), _("Launch Wizard"))
self.menuFile.AppendSeparator()
self.menuLoadModel = self.menuFile.Append(wx.NewId(), _("Load Model"))
self.menuSaveModel = self.menuFile.Append(wx.NewId(), _("Save Model"))
self.menuClearModel = self.menuFile.Append(wx.NewId(), _("Clear Model"))
self.menuFile.AppendSeparator()
self.menuOpenProfile = self.menuFile.Append(wx.NewId(), _("Open Profile"), _("Opens Profile .ini"))
self.menuSaveProfile = self.menuFile.Append(wx.NewId(), _("Save Profile"))
self.menuResetProfile = self.menuFile.Append(wx.NewId(), _("Reset Profile"))
self.menuFile.AppendSeparator()
self.menuExit = self.menuFile.Append(wx.ID_EXIT, _("Exit"))
self.menuBar.Append(self.menuFile, _("File"))
#-- Menu Edit
self.menuEdit = wx.Menu()
# self.menuBasicMode = self.menuEdit.AppendRadioItem(wx.NewId(), _("Basic Mode"))
# self.menuAdvancedMode = self.menuEdit.AppendRadioItem(wx.NewId(), _("Advanced Mode"))
# self.menuEdit.AppendSeparator()
self.menuPreferences = self.menuEdit.Append(wx.NewId(), _("Preferences"))
self.menuBar.Append(self.menuEdit, _("Edit"))
#-- Menu View
self.menuView = wx.Menu()
self.menuControl = wx.Menu()
self.menuControlPanel = self.menuControl.AppendCheckItem(wx.NewId(), _("Panel"))
self.menuControlVideo = self.menuControl.AppendCheckItem(wx.NewId(), _("Video"))
self.menuView.AppendMenu(wx.NewId(), _("Control"), self.menuControl)
self.menuCalibration = wx.Menu()
self.menuCalibrationPanel = self.menuCalibration.AppendCheckItem(wx.NewId(), _("Panel"))
self.menuCalibrationVideo = self.menuCalibration.AppendCheckItem(wx.NewId(), _("Video"))
self.menuView.AppendMenu(wx.NewId(), _("Calibration"), self.menuCalibration)
self.menuScanning = wx.Menu()
self.menuScanningPanel = self.menuScanning.AppendCheckItem(wx.NewId(), _("Panel"))
self.menuScanningVideo = self.menuScanning.AppendCheckItem(wx.NewId(), _("Video"))
self.menuScanningScene = self.menuScanning.AppendCheckItem(wx.NewId(), _("Scene"))
self.menuView.AppendMenu(wx.NewId(), _("Scanning"), self.menuScanning)
self.menuBar.Append(self.menuView, _("View"))
#-- Menu Help
self.menuHelp = wx.Menu()
self.menuWelcome = self.menuHelp.Append(wx.ID_ANY, _("Welcome"))
self.menuWiki = self.menuHelp.Append(wx.ID_ANY, _("Wiki"))
self.menuSources = self.menuHelp.Append(wx.ID_ANY, _("Sources"))
self.menuIssues = self.menuHelp.Append(wx.ID_ANY, _("Issues"))
self.menuForum = self.menuHelp.Append(wx.ID_ANY, _("Forum"))
self.menuAbout = self.menuHelp.Append(wx.ID_ABOUT, _("About"))
self.menuBar.Append(self.menuHelp, _("Help"))
self.SetMenuBar(self.menuBar)
##-- Create Workbenchs
self.controlWorkbench = ControlWorkbench(self)
self.scanningWorkbench = ScanningWorkbench(self)
self.calibrationWorkbench = CalibrationWorkbench(self)
_choices = []
choices = profile.getProfileSettingObject('workbench').getType()
for i in choices:
_choices.append(_(i))
self.workbenchDict = dict(zip(_choices, choices))
for workbench in [self.controlWorkbench, self.calibrationWorkbench, self.scanningWorkbench]:
workbench.combo.Clear()
for i in choices:
workbench.combo.Append(_(i))
sizer = wx.BoxSizer(wx.VERTICAL)
sizer.Add(self.controlWorkbench, 1, wx.ALL|wx.EXPAND)
sizer.Add(self.calibrationWorkbench, 1, wx.ALL|wx.EXPAND)
sizer.Add(self.scanningWorkbench, 1, wx.ALL|wx.EXPAND)
self.SetSizer(sizer)
##-- Events
self.Bind(wx.EVT_MENU, self.onLaunchWizard, self.menuLaunchWizard)
self.Bind(wx.EVT_MENU, self.onLoadModel, self.menuLoadModel)
self.Bind(wx.EVT_MENU, self.onSaveModel, self.menuSaveModel)
self.Bind(wx.EVT_MENU, self.onClearModel, self.menuClearModel)
self.Bind(wx.EVT_MENU, self.onOpenProfile, self.menuOpenProfile)
self.Bind(wx.EVT_MENU, self.onSaveProfile, self.menuSaveProfile)
self.Bind(wx.EVT_MENU, self.onResetProfile, self.menuResetProfile)
self.Bind(wx.EVT_MENU, self.onExit, self.menuExit)
# self.Bind(wx.EVT_MENU, self.onModeChanged, self.menuBasicMode)
# self.Bind(wx.EVT_MENU, self.onModeChanged, self.menuAdvancedMode)
self.Bind(wx.EVT_MENU, self.onPreferences, self.menuPreferences)
self.Bind(wx.EVT_MENU, self.onControlPanelClicked, self.menuControlPanel)
self.Bind(wx.EVT_MENU, self.onControlVideoClicked, self.menuControlVideo)
self.Bind(wx.EVT_MENU, self.onCalibrationPanelClicked, self.menuCalibrationPanel)
self.Bind(wx.EVT_MENU, self.onCalibrationVideoClicked, self.menuCalibrationVideo)
self.Bind(wx.EVT_MENU, self.onScanningPanelClicked, self.menuScanningPanel)
self.Bind(wx.EVT_MENU, self.onScanningVideoSceneClicked, self.menuScanningVideo)
self.Bind(wx.EVT_MENU, self.onScanningVideoSceneClicked, self.menuScanningScene)
self.Bind(wx.EVT_MENU, self.onAbout, self.menuAbout)
self.Bind(wx.EVT_MENU, self.onWelcome, self.menuWelcome)
self.Bind(wx.EVT_MENU, lambda e: webbrowser.open('https://github.com/bq/horus/wiki'), self.menuWiki)
self.Bind(wx.EVT_MENU, lambda e: webbrowser.open('https://github.com/bq/horus'), self.menuSources)
self.Bind(wx.EVT_MENU, lambda e: webbrowser.open('https://github.com/bq/horus/issues'), self.menuIssues)
self.Bind(wx.EVT_MENU, lambda e: webbrowser.open('https://groups.google.com/forum/?hl=es#!forum/ciclop-3d-scanner'), self.menuForum)
self.Bind(wx.EVT_COMBOBOX, self.onComboBoxWorkbenchSelected, self.controlWorkbench.combo)
self.Bind(wx.EVT_COMBOBOX, self.onComboBoxWorkbenchSelected, self.calibrationWorkbench.combo)
self.Bind(wx.EVT_COMBOBOX, self.onComboBoxWorkbenchSelected, self.scanningWorkbench.combo)
self.Bind(wx.EVT_CLOSE, self.onClose)
self.updateProfileToAllControls()
x, y, w, h = wx.Display(0).GetGeometry()
ws, hs = self.size
self.SetPosition((x+(w-ws)/2., y+(h-hs)/2.))
#self.Center()
self.Show()
