def setup_engine(self):
self._enable_tool_scan(self.play_tool, True)
self._enable_tool_scan(self.stop_tool, False)
self._enable_tool_scan(self.pause_tool, False)
driver.camera.set_frame_rate(int(profile.settings['frame_rate']))
driver.camera.set_resolution(
profile.settings['camera_width'], profile.settings['camera_height'])
driver.camera.set_rotate(profile.settings['camera_rotate'])
driver.camera.set_hflip(profile.settings['camera_hflip'])
driver.camera.set_vflip(profile.settings['camera_vflip'])
driver.camera.set_luminosity(profile.settings['luminosity'])
image_capture.set_mode_texture()
texture_mode = image_capture.texture_mode
texture_mode.set_brightness(profile.settings['brightness_texture_scanning'])
texture_mode.set_contrast(profile.settings['contrast_texture_scanning'])
texture_mode.set_saturation(profile.settings['saturation_texture_scanning'])
texture_mode.set_exposure(profile.settings['exposure_texture_scanning'])
laser_mode = image_capture.laser_mode
laser_mode.brightness = profile.settings['brightness_laser_scanning']
laser_mode.contrast = profile.settings['contrast_laser_scanning']
laser_mode.saturation = profile.settings['saturation_laser_scanning']
laser_mode.exposure = profile.settings['exposure_laser_scanning']
image_capture.set_use_distortion(profile.settings['use_distortion'])
image_capture.set_remove_background(profile.settings['remove_background_scanning'])
laser_segmentation.red_channel = profile.settings['red_channel_scanning']
laser_segmentation.threshold_enable = profile.settings['threshold_enable_scanning']
laser_segmentation.threshold_value = profile.settings['threshold_value_scanning']
laser_segmentation.blur_enable = profile.settings['blur_enable_scanning']
laser_segmentation.set_blur_value(profile.settings['blur_value_scanning'])
laser_segmentation.window_enable = profile.settings['window_enable_scanning']
laser_segmentation.window_value = profile.settings['window_value_scanning']
laser_segmentation.refinement_method = profile.settings['refinement_scanning']
width, height = driver.camera.get_resolution()
calibration_data.set_resolution(width, height)
calibration_data.camera_matrix = profile.settings['camera_matrix']
calibration_data.distortion_vector = profile.settings['distortion_vector']
calibration_data.laser_planes[0].distance = profile.settings['distance_left']
calibration_data.laser_planes[0].normal = profile.settings['normal_left']
calibration_data.laser_planes[1].distance = profile.settings['distance_right']
calibration_data.laser_planes[1].normal = profile.settings['normal_right']
calibration_data.platform_rotation = profile.settings['rotation_matrix']
calibration_data.platform_translation = profile.settings['translation_vector']
ciclop_scan.capture_texture = profile.settings['capture_texture']
use_laser = profile.settings['use_laser']
ciclop_scan.set_use_left_laser(use_laser == 'Left' or use_laser == 'Both')
ciclop_scan.set_use_right_laser(use_laser == 'Right' or use_laser == 'Both')
ciclop_scan.motor_step = profile.settings['motor_step_scanning']
ciclop_scan.motor_speed = profile.settings['motor_speed_scanning']
ciclop_scan.motor_acceleration = profile.settings['motor_acceleration_scanning']
profile_point_cloud_color = profile.settings['point_cloud_color']
ciclop_scan.color = profile_point_cloud_color
#ciclop_scan.color = struct.unpack('BBB', profile.settings['point_cloud_color'].encode())
ciclop_scan.set_scan_sleep(profile.settings['scan_sleep'])
point_cloud_roi.set_show_center(profile.settings['show_center'])
point_cloud_roi.set_use_roi(profile.settings['use_roi'])
point_cloud_roi.set_diameter(profile.settings['roi_diameter'])
point_cloud_roi.set_height(profile.settings['roi_height'])
def on_laser_combo_box_changed(self, event):
value = self.laser_dict[event.GetEventObject().GetValue()]
profile.settings['use_laser'] = value
use_left = value == 'Left' or value == 'Both'
use_right = value == 'Right' or value == 'Both'
if use_left:
driver.board.laser_on(0)
else:
driver.board.laser_off(0)
if use_right:
driver.board.laser_on(1)
else:
driver.board.laser_off(1)
ciclop_scan.set_use_left_laser(use_left)
ciclop_scan.set_use_right_laser(use_right)
def set_use_laser(self, value):
ciclop_scan.set_use_left_laser(value == 'Left' or value == 'Both')
ciclop_scan.set_use_right_laser(value == 'Right' or value == 'Both')