class LaserTriangulationMainPage(Page):
def __init__(self, parent, afterCancelCallback=None, afterCalibrationCallback=None):
Page.__init__(self, parent,
title=_("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.onCalibration=False
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 initialize(self):
self.gauge.SetValue(0)
self._rightButton.Enable()
def onShow(self, event):
if event.GetShow():
self.videoView.play()
self.GetParent().Layout()
self.Layout()
else:
try:
self.initialize()
self.videoView.stop()
except:
pass
def getFrame(self):
if self.onCalibration:
frame = self.laserTriangulation.getImage()
else:
frame = self.driver.camera.captureImage()
#if frame is not None:
# retval, frame = self.cameraIntrinsics.detectChessboard(frame)
return frame
def onCalibrate(self):
self.onCalibration=True
self.laserTriangulation.setImage(self.driver.camera.captureImage())
self.laserTriangulation.setCallbacks(self.beforeCalibration,
lambda p: wx.CallAfter(self.progressCalibration,p),
lambda r: wx.CallAfter(self.afterCalibration,r))
self.laserTriangulation.start()
def beforeCalibration(self):
self._rightButton.Disable()
self.gauge.SetValue(0)
self.waitCursor = wx.BusyCursor()
def progressCalibration(self, progress):
self.gauge.SetValue(progress)
def afterCalibration(self, result):
self.onCalibrationFinished(result)
self.onCalibration=False
def onCalibrationFinished(self, result):
self._rightButton.Enable()
if self.afterCalibrationCallback is not None:
self.afterCalibrationCallback(result)
if hasattr(self, 'waitCursor'):
del self.waitCursor
def onCancel(self):
boardUnplugCallback = self.driver.board.unplugCallback
cameraUnplugCallback = self.driver.camera.unplugCallback
self.driver.board.setUnplugCallback(None)
self.driver.camera.setUnplugCallback(None)
if not hasattr(self, 'waitCursor'):
self.waitCursor = wx.BusyCursor()
self.onCalibration = False
self.laserTriangulation.cancel()
if self.afterCancelCallback is not None:
self.afterCancelCallback()
del self.waitCursor
self.driver.board.setUnplugCallback(boardUnplugCallback)
self.driver.camera.setUnplugCallback(cameraUnplugCallback)
class CalibrationWorkbench(WorkbenchConnection):
def __init__(self, parent):
WorkbenchConnection.__init__(self, parent)
self.calibrating = False
self.load()
def load(self):
#-- Toolbar Configuration
self.toolbar.Realize()
self.scrollPanel = wx.lib.scrolledpanel.ScrolledPanel(self._panel, size=(290,-1))
self.scrollPanel.SetupScrolling(scroll_x=False, scrollIntoView=False)
self.scrollPanel.SetAutoLayout(1)
self.controls = ExpandableControl(self.scrollPanel)
self.videoView = VideoView(self._panel, self.getFrame, 10)
self.videoView.SetBackgroundColour(wx.BLACK)
#-- Add Scroll Panels
self.controls.addPanel('camera_settings', CameraSettingsPanel(self.controls))
self.controls.addPanel('pattern_settings', PatternSettingsPanel(self.controls))
self.controls.addPanel('laser_settings', LaserSettingsPanel(self.controls))
self.controls.addPanel('camera_intrinsics_panel', CameraIntrinsicsPanel(self.controls, buttonStartCallback=self.onCameraIntrinsicsStartCallback))
self.controls.addPanel('laser_triangulation_panel', LaserTriangulationPanel(self.controls, buttonStartCallback=self.onLaserTriangulationStartCallback))
self.controls.addPanel('platform_extrinsics_panel', PlatformExtrinsicsPanel(self.controls, buttonStartCallback=self.onPlatformExtrinsicsStartCallback))
#-- Add Calibration Pages
self.cameraIntrinsicsMainPage = CameraIntrinsicsMainPage(self._panel,
afterCancelCallback=self.onCancelCallback,
afterCalibrationCallback=self.onCameraIntrinsicsAfterCalibrationCallback)
self.cameraIntrinsicsResultPage = CameraIntrinsicsResultPage(self._panel,
buttonRejectCallback=self.onCancelCallback,
buttonAcceptCallback=self.onCameraIntrinsicsAcceptCallback)
self.laserTriangulationMainPage = LaserTriangulationMainPage(self._panel,
afterCancelCallback=self.onCancelCallback,
afterCalibrationCallback=self.onLaserTriangulationAfterCalibrationCallback)
self.laserTriangulationResultPage = LaserTriangulationResultPage(self._panel,
buttonRejectCallback=self.onCancelCallback,
buttonAcceptCallback=self.onLaserTriangulationAcceptCallback)
self.platformExtrinsicsMainPage = PlatformExtrinsicsMainPage(self._panel,
afterCancelCallback=self.onCancelCallback,
afterCalibrationCallback=self.onPlatformExtrinsicsAfterCalibrationCallback)
self.platformExtrinsicsResultPage = PlatformExtrinsicsResultPage(self._panel,
buttonRejectCallback=self.onCancelCallback,
buttonAcceptCallback=self.onPlatformExtrinsicsAcceptCallback)
self.cameraIntrinsicsMainPage.Hide()
self.cameraIntrinsicsResultPage.Hide()
self.laserTriangulationMainPage.Hide()
self.laserTriangulationResultPage.Hide()
self.platformExtrinsicsMainPage.Hide()
self.platformExtrinsicsResultPage.Hide()
#-- Layout
vsbox = wx.BoxSizer(wx.VERTICAL)
vsbox.Add(self.controls, 0, wx.ALL|wx.EXPAND, 0)
self.scrollPanel.SetSizer(vsbox)
vsbox.Fit(self.scrollPanel)
self.addToPanel(self.scrollPanel, 0)
self.addToPanel(self.videoView, 1)
self.addToPanel(self.cameraIntrinsicsMainPage, 1)
self.addToPanel(self.cameraIntrinsicsResultPage, 1)
self.addToPanel(self.laserTriangulationMainPage, 1)
self.addToPanel(self.laserTriangulationResultPage, 1)
self.addToPanel(self.platformExtrinsicsMainPage, 1)
self.addToPanel(self.platformExtrinsicsResultPage, 1)
self.updateCallbacks()
self.Layout()
def updateCallbacks(self):
self.controls.updateCallbacks()
def getFrame(self):
frame = Driver.Instance().camera.captureImage()
self.cameraIntrinsics = CameraIntrinsics.Instance()
if frame is not None:
retval, frame = self.cameraIntrinsics.detectChessboard(frame)
return frame
def onCameraIntrinsicsStartCallback(self):
self.calibrating = True
self.enableLabelTool(self.disconnectTool, False)
self.controls.setExpandable(False)
self.controls.panels['camera_intrinsics_panel'].buttonsPanel.Disable()
self.combo.Disable()
self.videoView.stop()
self.videoView.Hide()
self.cameraIntrinsicsMainPage.Show()
self.cameraIntrinsicsMainPage.videoView.SetFocus()
self.Layout()
def onLaserTriangulationStartCallback(self):
self.calibrating = True
self.enableLabelTool(self.disconnectTool, False)
self.controls.setExpandable(False)
self.controls.panels['laser_triangulation_panel'].buttonsPanel.Disable()
self.combo.Disable()
self.videoView.stop()
self.videoView.Hide()
self.laserTriangulationMainPage.Show()
self.Layout()
def onPlatformExtrinsicsStartCallback(self):
if profile.getProfileSettingFloat('pattern_distance') == 0:
PatternDistanceWindow(self)
self.updateProfileToAllControls()
else:
self.calibrating = True
self.enableLabelTool(self.disconnectTool, False)
self.controls.setExpandable(False)
self.controls.panels['platform_extrinsics_panel'].buttonsPanel.Disable()
self.combo.Disable()
self.videoView.stop()
self.videoView.Hide()
self.platformExtrinsicsMainPage.Show()
self.Layout()
def onCancelCallback(self):
self.calibrating = False
self.enableLabelTool(self.disconnectTool, True)
self.controls.setExpandable(True)
self.controls.panels['camera_intrinsics_panel'].buttonsPanel.Enable()
self.controls.panels['laser_triangulation_panel'].buttonsPanel.Enable()
self.controls.panels['platform_extrinsics_panel'].buttonsPanel.Enable()
self.controls.updateProfile()
self.combo.Enable()
self.cameraIntrinsicsMainPage.Hide()
self.cameraIntrinsicsResultPage.Hide()
self.laserTriangulationMainPage.Hide()
self.laserTriangulationResultPage.Hide()
self.platformExtrinsicsMainPage.Hide()
self.platformExtrinsicsResultPage.Hide()
self.videoView.play()
self.videoView.Show()
self.Layout()
def onCameraIntrinsicsAfterCalibrationCallback(self, result):
self.cameraIntrinsicsResultPage.processCalibration(result)
if result[0]:
self.cameraIntrinsicsMainPage.Hide()
self.cameraIntrinsicsResultPage.Show()
else:
self.cameraIntrinsicsMainPage.initialize()
self.Layout()
def onCameraIntrinsicsAcceptCallback(self):
self.videoView.play()
self.calibrating = False
self.enableLabelTool(self.disconnectTool, True)
self.controls.setExpandable(True)
self.controls.panels['camera_intrinsics_panel'].buttonsPanel.Enable()
self.controls.panels['camera_intrinsics_panel'].updateAllControlsToProfile()
self.combo.Enable()
self.cameraIntrinsicsResultPage.Hide()
self.videoView.Show()
self.Layout()
def onLaserTriangulationAfterCalibrationCallback(self, result):
self.laserTriangulationResultPage.processCalibration(result)
if result[0]:
self.laserTriangulationMainPage.Hide()
self.laserTriangulationResultPage.Show()
else:
self.laserTriangulationMainPage.initialize()
self.Layout()
def onLaserTriangulationAcceptCallback(self):
self.videoView.play()
self.calibrating = False
self.enableLabelTool(self.disconnectTool, True)
self.controls.setExpandable(True)
self.controls.panels['laser_triangulation_panel'].buttonsPanel.Enable()
self.controls.panels['laser_triangulation_panel'].updateAllControlsToProfile()
self.combo.Enable()
self.laserTriangulationResultPage.Hide()
self.videoView.Show()
self.Layout()
def onPlatformExtrinsicsAfterCalibrationCallback(self, result):
self.platformExtrinsicsResultPage.processCalibration(result)
if result[0]:
self.platformExtrinsicsMainPage.Hide()
self.platformExtrinsicsResultPage.Show()
else:
self.platformExtrinsicsMainPage.initialize()
self.Layout()
def onPlatformExtrinsicsAcceptCallback(self):
self.videoView.play()
self.calibrating = False
self.enableLabelTool(self.disconnectTool, True)
self.controls.setExpandable(True)
self.controls.panels['platform_extrinsics_panel'].buttonsPanel.Enable()
self.controls.panels['platform_extrinsics_panel'].updateAllControlsToProfile()
self.combo.Enable()
self.platformExtrinsicsResultPage.Hide()
self.videoView.Show()
self.Layout()
def updateToolbarStatus(self, status):
if status:
if self.IsShown():
self.videoView.play()
self.controls.panels['camera_intrinsics_panel'].buttonsPanel.Enable()
self.controls.panels['laser_triangulation_panel'].buttonsPanel.Enable()
self.controls.panels['platform_extrinsics_panel'].buttonsPanel.Enable()
self.controls.enableContent()
else:
self.videoView.stop()
self.controls.panels['camera_intrinsics_panel'].buttonsPanel.Disable()
self.controls.panels['laser_triangulation_panel'].buttonsPanel.Disable()
self.controls.panels['platform_extrinsics_panel'].buttonsPanel.Disable()
self.controls.disableContent()
self.calibrating = False
self.combo.Enable()
self.controls.setExpandable(True)
self.cameraIntrinsicsMainPage.Hide()
self.cameraIntrinsicsResultPage.Hide()
self.laserTriangulationMainPage.Hide()
self.laserTriangulationResultPage.Hide()
self.platformExtrinsicsMainPage.Hide()
self.platformExtrinsicsResultPage.Hide()
self.videoView.Show()
def updateProfileToAllControls(self):
self.controls.updateProfile()
class WizardPage(wx.Panel):
def __init__(self,
parent,
title="Title",
buttonPrevCallback=None,
buttonNextCallback=None):
wx.Panel.__init__(self, parent)
self.title = title
self.panel = wx.Panel(self)
self.enableNext = True
self.buttonPrevCallback = buttonPrevCallback
self.buttonSkipCallback = buttonNextCallback
self.buttonNextCallback = buttonNextCallback
self.videoView = VideoView(self, size=(300, 400))
self.videoView.SetBackgroundColour(wx.BLACK)
self.prevButton = wx.Button(self, label=_("Prev"))
self.skipButton = wx.Button(self, label=_("Skip"))
self.nextButton = wx.Button(self, label=_("Next"))
def intialize(self, pages):
self.breadcrumbs = Breadcrumbs(self, pages)
#-- Layout
vbox = wx.BoxSizer(wx.VERTICAL)
vbox.Add(self.breadcrumbs, 0, wx.ALL ^ wx.TOP | wx.EXPAND, 10)
hbox = wx.BoxSizer(wx.HORIZONTAL)
hbox.Add(self.panel, 1, wx.RIGHT | wx.EXPAND, 10)
hbox.Add(self.videoView, 0, wx.ALL, 0)
vbox.Add(hbox, 1, wx.ALL | wx.EXPAND, 20)
hbox = wx.BoxSizer(wx.HORIZONTAL)
hbox.Add(self.prevButton, 0,
wx.ALL | wx.EXPAND | wx.ALIGN_CENTER_VERTICAL | wx.ALIGN_LEFT,
2)
hbox.Add((0, 0), 1, wx.EXPAND)
hbox.Add(
self.skipButton, 0,
wx.ALL | wx.EXPAND | wx.ALIGN_CENTER_VERTICAL | wx.ALIGN_RIGHT, 2)
hbox.Add(
self.nextButton, 0,
wx.ALL | wx.EXPAND | wx.ALIGN_CENTER_VERTICAL | wx.ALIGN_RIGHT, 2)
vbox.Add(hbox, 0, wx.ALL | wx.EXPAND, 10)
self.SetSizer(vbox)
#-- Events
self.prevButton.Bind(wx.EVT_BUTTON, self._onPrevButtonPressed)
self.skipButton.Bind(wx.EVT_BUTTON, self._onSkipButtonPressed)
self.nextButton.Bind(wx.EVT_BUTTON, self._onNextButtonPressed)
self.Layout()
def addToPanel(self, _object, _size):
if _object is not None:
self.panelBox.Add(_object, _size, wx.ALL | wx.EXPAND, 3)
def _onPrevButtonPressed(self, event):
if self.buttonPrevCallback is not None:
self.buttonPrevCallback()
def _onSkipButtonPressed(self, event):
if self.buttonSkipCallback is not None:
self.buttonSkipCallback()
def _onNextButtonPressed(self, event):
if self.buttonNextCallback is not None:
self.buttonNextCallback()
class ScanningWorkbench(WorkbenchConnection):
def __init__(self, parent):
WorkbenchConnection.__init__(self, parent)
self.scanning = False
self.showVideoViews = False
self.simpleScan = SimpleScan.Instance()
self.textureScan = TextureScan.Instance()
self.currentScan = self.simpleScan
self.load()
self.pointCloudTimer = wx.Timer(self)
self.Bind(wx.EVT_TIMER, self.onPointCloudTimer, self.pointCloudTimer)
def load(self):
#-- Toolbar Configuration
self.playTool = self.toolbar.AddLabelTool(
wx.NewId(),
_("Play"),
wx.Bitmap(resources.getPathForImage("play.png")),
shortHelp=_("Play"))
self.stopTool = self.toolbar.AddLabelTool(
wx.NewId(),
_("Stop"),
wx.Bitmap(resources.getPathForImage("stop.png")),
shortHelp=_("Stop"))
self.pauseTool = self.toolbar.AddLabelTool(
wx.NewId(),
_("Pause"),
wx.Bitmap(resources.getPathForImage("pause.png")),
shortHelp=_("Pause"))
self.toolbar.Realize()
#-- Disable Toolbar Items
self.enableLabelTool(self.playTool, False)
self.enableLabelTool(self.stopTool, False)
self.enableLabelTool(self.pauseTool, False)
#-- Bind Toolbar Items
self.Bind(wx.EVT_TOOL, self.onPlayToolClicked, self.playTool)
self.Bind(wx.EVT_TOOL, self.onStopToolClicked, self.stopTool)
self.Bind(wx.EVT_TOOL, self.onPauseToolClicked, self.pauseTool)
self.scrollPanel = wx.lib.scrolledpanel.ScrolledPanel(self._panel,
size=(290, -1))
self.scrollPanel.SetupScrolling(scroll_x=False, scrollIntoView=False)
self.scrollPanel.SetAutoLayout(1)
self.controls = ExpandableControl(self.scrollPanel)
self.controls.addPanel('scan_parameters',
ScanParameters(self.controls))
self.controls.addPanel('rotative_platform',
RotativePlatform(self.controls))
self.controls.addPanel('image_acquisition',
ImageAcquisition(self.controls))
self.controls.addPanel('image_segmentation',
ImageSegmentation(self.controls))
self.controls.addPanel('point_cloud_generation',
PointCloudGeneration(self.controls))
self.splitterWindow = wx.SplitterWindow(self._panel)
self.videoView = VideoView(self.splitterWindow, self.getFrame, 10)
self.sceneView = SceneView(self.splitterWindow)
self.videoView.SetBackgroundColour(wx.BLACK)
self.sceneView.SetBackgroundColour(wx.BLACK)
self.splitterWindow.SplitVertically(self.videoView, self.sceneView)
self.splitterWindow.SetMinimumPaneSize(200)
#-- Layout
vsbox = wx.BoxSizer(wx.VERTICAL)
vsbox.Add(self.controls, 0, wx.ALL | wx.EXPAND, 0)
self.scrollPanel.SetSizer(vsbox)
vsbox.Fit(self.scrollPanel)
self.addToPanel(self.scrollPanel, 0)
self.addToPanel(self.splitterWindow, 1)
#- Video View Selector
self.buttonShowVideoViews = wx.BitmapButton(
self.videoView, wx.NewId(),
wx.Bitmap(resources.getPathForImage("views.png"),
wx.BITMAP_TYPE_ANY), (10, 10))
self.comboVideoViews = wx.ComboBox(
self.videoView,
choices=[_("Laser"), _("Gray"),
_("Line"), _("Color")],
style=wx.CB_READONLY,
pos=(60, 10))
self.buttonShowVideoViews.Hide()
self.comboVideoViews.Hide()
selectedView = {
'laser': _("Laser"),
'gray': _("Gray"),
'line': _("Line"),
'color': _("Color")
}
self.comboVideoViews.SetValue(
selectedView[profile.getProfileSetting('img_type')])
self.buttonShowVideoViews.Bind(wx.EVT_BUTTON, self.onShowVideoViews)
self.comboVideoViews.Bind(wx.EVT_COMBOBOX,
self.onComboBoVideoViewsSelect)
self.Layout()
def initialize(self):
self.controls.initialize()
def onShow(self, event):
if event.GetShow():
self.updateStatus(self.currentScan.driver.isConnected)
self.pointCloudTimer.Stop()
self.pointCloudTimer.Start(milliseconds=50)
else:
try:
self.pointCloudTimer.Stop()
self.videoView.stop()
except:
pass
def onShowVideoViews(self, event):
self.showVideoViews = not self.showVideoViews
if self.showVideoViews:
self.comboVideoViews.Show()
else:
self.comboVideoViews.Hide()
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 getFrame(self):
if self.scanning:
return self.currentScan.getImage()
else:
return self.currentScan.getImage(self.driver.camera.captureImage())
def onPointCloudTimer(self, event):
pointCloud = self.currentScan.getPointCloudIncrement()
if pointCloud is not None:
if pointCloud[0] is not None and pointCloud[1] is not None:
if len(pointCloud[0]) > 0:
self.sceneView.appendPointCloud(pointCloud[0],
pointCloud[1])
def onPlayToolClicked(self, event):
if self.currentScan.inactive:
#-- Resume
self.enableLabelTool(self.pauseTool, True)
self.enableLabelTool(self.playTool, False)
self.currentScan.resume()
self.pointCloudTimer.Start(milliseconds=50)
else:
result = True
if self.sceneView._object is not None:
dlg = wx.MessageDialog(
self,
_("Your current model will be erased.\nDo you really want to do it?"
), _("Clear Point Cloud"), wx.YES_NO | wx.ICON_QUESTION)
result = dlg.ShowModal() == wx.ID_YES
dlg.Destroy()
if result:
value = profile.getProfileSetting('scan_type')
print value
if value == _("Without Texture"):
self.currentScan = self.simpleScan
self.driver.camera.setExposure(
profile.getProfileSettingInteger(
'laser_exposure_scanning'))
elif value == _("With Texture"):
self.currentScan = self.textureScan
self.driver.camera.setExposure(
profile.getProfileSettingInteger(
'color_exposure_scanning'))
self.currentScan.setCallbacks(
self.beforeScan, None,
lambda r: wx.CallAfter(self.afterScan, r))
self.currentScan.start()
def beforeScan(self):
self.scanning = True
self.buttonShowVideoViews.Show()
self.enableLabelTool(self.disconnectTool, False)
self.enableLabelTool(self.playTool, False)
self.enableLabelTool(self.stopTool, True)
self.enableLabelTool(self.pauseTool, True)
self.sceneView.createDefaultObject()
self.videoView.setMilliseconds(200)
self.combo.Disable()
self.GetParent().menuFile.Enable(
self.GetParent().menuLaunchWizard.GetId(), False)
self.GetParent().menuFile.Enable(
self.GetParent().menuLoadModel.GetId(), False)
self.GetParent().menuFile.Enable(
self.GetParent().menuSaveModel.GetId(), False)
self.GetParent().menuFile.Enable(
self.GetParent().menuClearModel.GetId(), False)
self.GetParent().menuFile.Enable(
self.GetParent().menuOpenProfile.GetId(), False)
self.GetParent().menuFile.Enable(
self.GetParent().menuSaveProfile.GetId(), False)
self.GetParent().menuFile.Enable(
self.GetParent().menuResetProfile.GetId(), False)
self.pointCloudTimer.Start(milliseconds=50)
def afterScan(self, response):
ret, result = response
if ret:
dlg = wx.MessageDialog(
self,
_("Scanning has finished. If you want to save your point cloud go to File > Save Model"
), _("Scanning finished!"), wx.OK | wx.ICON_INFORMATION)
dlg.ShowModal()
dlg.Destroy()
self.scanning = False
self.onScanFinished()
def onStopToolClicked(self, event):
paused = self.currentScan.inactive
self.currentScan.pause()
dlg = wx.MessageDialog(
self,
_("Your current scanning will be stopped.\nDo you really want to do it?"
), _("Stop Scanning"), wx.YES_NO | wx.ICON_QUESTION)
result = dlg.ShowModal() == wx.ID_YES
dlg.Destroy()
if result:
self.scanning = False
self.currentScan.stop()
self.onScanFinished()
else:
if not paused:
self.currentScan.resume()
def onScanFinished(self):
self.buttonShowVideoViews.Hide()
self.comboVideoViews.Hide()
self.enableLabelTool(self.disconnectTool, True)
self.enableLabelTool(self.playTool, True)
self.enableLabelTool(self.stopTool, False)
self.enableLabelTool(self.pauseTool, False)
self.driver.camera.setExposure(
profile.getProfileSettingInteger('exposure_scanning'))
self.videoView.setMilliseconds(5)
self.combo.Enable()
self.GetParent().menuFile.Enable(
self.GetParent().menuLaunchWizard.GetId(), True)
self.GetParent().menuFile.Enable(
self.GetParent().menuLoadModel.GetId(), True)
self.GetParent().menuFile.Enable(
self.GetParent().menuSaveModel.GetId(), True)
self.GetParent().menuFile.Enable(
self.GetParent().menuClearModel.GetId(), True)
self.GetParent().menuFile.Enable(
self.GetParent().menuOpenProfile.GetId(), True)
self.GetParent().menuFile.Enable(
self.GetParent().menuSaveProfile.GetId(), True)
self.GetParent().menuFile.Enable(
self.GetParent().menuResetProfile.GetId(), True)
self.pointCloudTimer.Stop()
def onPauseToolClicked(self, event):
self.enableLabelTool(self.pauseTool, False)
self.enableLabelTool(self.playTool, True)
self.currentScan.pause()
self.pointCloudTimer.Stop()
def updateToolbarStatus(self, status):
if status:
if self.IsShown():
self.videoView.play()
self.enableLabelTool(self.playTool, True)
self.enableLabelTool(self.stopTool, False)
self.enableLabelTool(self.pauseTool, False)
self.controls.enableContent()
else:
self.videoView.stop()
self.enableLabelTool(self.playTool, False)
self.enableLabelTool(self.stopTool, False)
self.enableLabelTool(self.pauseTool, False)
self.controls.disableContent()
def updateProfileToAllControls(self):
self.controls.updateProfile()
self.driver.camera.setExposure(
profile.getProfileSettingInteger('exposure_scanning'))
class CameraIntrinsicsMainPage(Page):
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 initialize(self):
self._rightButton.Hide()
self.subTitleText.SetLabel(_("Press space bar to perform captures"))
self.currentGrid = 0
self.gauge.SetValue(0)
for panel in xrange(self.rows*self.columns):
self.panelGrid[panel].SetBackgroundColour((221, 221, 221))
self.panelGrid[panel].setImage(wx.Image(resources.getPathForImage("void.png")))
def onShow(self, event):
if event.GetShow():
self.gauge.SetValue(0)
self.videoView.play()
calibration.CameraIntrinsics.Instance().clearImageStack()
self.GetParent().Layout()
self.Layout()
else:
try:
self.initialize()
self.videoView.stop()
except:
pass
def getFrame(self):
frame = self.driver.camera.captureImage(mirror=True)
if frame is not None:
retval, frame = self.cameraIntrinsics.detectChessboard(frame)
if retval:
self.videoView.SetBackgroundColour((45,178,0))
else:
self.videoView.SetBackgroundColour((217,0,0))
return frame
def onKeyPress(self, event):
if event.GetKeyCode() == 32: #-- spacebar
if self.driver.isConnected:
self.videoView.pause()
frame = self.driver.camera.captureImage(mirror=False, flush=True)
if frame is not None:
retval, frame = self.cameraIntrinsics.detectChessboard(frame, capture=True)
frame = cv2.flip(frame, 1) #-- Mirror
self.addFrameToGrid(retval, frame)
self.gauge.SetValue(7*self.currentGrid)
self.videoView.play()
def addFrameToGrid(self, retval, image):
if self.currentGrid < (self.columns*self.rows):
if retval:
self.panelGrid[self.currentGrid].setFrame(image)
self.panelGrid[self.currentGrid].SetBackgroundColour((45,178,0))
self.currentGrid += 1
else:
self.panelGrid[self.currentGrid].setFrame(image)
self.panelGrid[self.currentGrid].SetBackgroundColour((217,0,0))
if self.currentGrid is (self.columns*self.rows):
self.subTitleText.SetLabel(_("Press Calibrate to continue"))
self.buttonRightCallback()
# self._rightButton.Enable()
def onCalibrate(self):
self.cameraIntrinsics.setCallbacks(self.beforeCalibration,
lambda p: wx.CallAfter(self.progressCalibration,p),
lambda r: wx.CallAfter(self.afterCalibration,r))
self.cameraIntrinsics.start()
def beforeCalibration(self):
self.videoView.pause()
self._rightButton.Disable()
self.gauge.SetValue(95)
if not hasattr(self, 'waitCursor'):
self.waitCursor = wx.BusyCursor()
def progressCalibration(self, progress):
self.gauge.SetValue(max(95, progress))
def afterCalibration(self, result):
self._rightButton.Enable()
if self.afterCalibrationCallback is not None:
self.afterCalibrationCallback(result)
if hasattr(self, 'waitCursor'):
del self.waitCursor
def onCancel(self):
boardUnplugCallback = self.driver.board.unplugCallback
cameraUnplugCallback = self.driver.camera.unplugCallback
self.driver.board.setUnplugCallback(None)
self.driver.camera.setUnplugCallback(None)
if not hasattr(self, 'waitCursor'):
self.waitCursor = wx.BusyCursor()
self.onCalibration = False
self.cameraIntrinsics.cancel()
if self.afterCancelCallback is not None:
self.afterCancelCallback()
del self.waitCursor
self.driver.board.setUnplugCallback(boardUnplugCallback)
self.driver.camera.setUnplugCallback(cameraUnplugCallback)
