def load_workbenches(self):
self.toolbar = ToolbarConnection(self, self.on_connect,
self.on_disconnect)
self.workbench = OrderedDict()
self.workbench['control'] = ControlWorkbench(self)
self.workbench['adjustment'] = AdjustmentWorkbench(self)
self.workbench['calibration'] = CalibrationWorkbench(self)
self.workbench['scanning'] = ScanningWorkbench(
self, self.toolbar.toolbar_scan)
self.workbench['convert'] = ConvertWorkbench(
self, self.toolbar.toolbar_convert, self.workbench['scanning'],
self.normals_calculation_callback, self.reconstruction_callback)
sizer = wx.BoxSizer(wx.VERTICAL)
sizer.Add(self.toolbar, 0, wx.ALL | wx.EXPAND)
self.Bind(wx.EVT_COMBOBOX, self.on_combo_box_selected,
self.toolbar.combo)
for workbench in self.workbench.values():
if workbench.name != 'Converting workbench':
self.toolbar.combo.Append(workbench.name)
sizer.Add(workbench, 1, wx.ALL | wx.EXPAND)
name = self.workbench[profile.settings['workbench']].name
self.update_workbench(name)
self.SetSizer(sizer)
self.workbench['scanning'].scene_view.set_point_size(
profile.settings['point_size'])
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.))
class MainWindow(wx.Frame):
size = (640+337,480+150)
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 onLaunchWizard(self, event):
self.controlWorkbench.videoView.stop()
self.calibrationWorkbench.videoView.stop()
self.calibrationWorkbench.cameraIntrinsicsMainPage.videoView.stop()
self.calibrationWorkbench.laserTriangulationMainPage.videoView.stop()
self.calibrationWorkbench.platformExtrinsicsMainPage.videoView.stop()
self.scanningWorkbench.videoView.stop()
self.controlWorkbench.Disable()
self.calibrationWorkbench.Disable()
self.scanningWorkbench.Disable()
wizard = Wizard(self)
self.controlWorkbench.Enable()
self.calibrationWorkbench.Enable()
self.scanningWorkbench.Enable()
def onLoadModel(self, event):
lastFile = os.path.split(profile.getPreference('last_file'))[0]
dlg = wx.FileDialog(self, _("Open 3D model"), lastFile, style=wx.FD_OPEN|wx.FD_FILE_MUST_EXIST)
wildcardList = ';'.join(map(lambda s: '*' + s, meshLoader.loadSupportedExtensions()))
wildcardFilter = "All (%s)|%s;%s" % (wildcardList, wildcardList, wildcardList.upper())
wildcardList = ';'.join(map(lambda s: '*' + s, meshLoader.loadSupportedExtensions()))
wildcardFilter += "|Mesh files (%s)|%s;%s" % (wildcardList, wildcardList, wildcardList.upper())
dlg.SetWildcard(wildcardFilter)
if dlg.ShowModal() == wx.ID_OK:
filename = dlg.GetPath()
if filename is not None:
self.scanningWorkbench.sceneView.loadFile(filename)
self.appendLastFile(filename)
dlg.Destroy()
def onSaveModel(self, event):
if self.scanningWorkbench.sceneView._object is None:
return
dlg = wx.FileDialog(self, _("Save 3D model"), os.path.split(profile.getPreference('last_file'))[0], style=wx.FD_SAVE|wx.FD_OVERWRITE_PROMPT)
fileExtensions = meshLoader.saveSupportedExtensions()
wildcardList = ';'.join(map(lambda s: '*' + s, fileExtensions))
wildcardFilter = "Mesh files (%s)|%s;%s" % (wildcardList, wildcardList, wildcardList.upper())
dlg.SetWildcard(wildcardFilter)
if dlg.ShowModal() == wx.ID_OK:
filename = dlg.GetPath()
if not filename.endswith('.ply'):
if sys.isLinux(): #hack for linux, as for some reason the .ply is not appended.
filename += '.ply'
meshLoader.saveMesh(filename, self.scanningWorkbench.sceneView._object)
self.appendLastFile(filename)
dlg.Destroy()
def onClearModel(self, event):
if self.scanningWorkbench.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:
self.scanningWorkbench.sceneView._clearScene()
def onOpenProfile(self, event):
""" """
dlg=wx.FileDialog(self, _("Select profile file to load"), os.path.split(profile.getPreference('last_profile'))[0], style=wx.FD_OPEN|wx.FD_FILE_MUST_EXIST)
dlg.SetWildcard("ini files (*.ini)|*.ini")
if dlg.ShowModal() == wx.ID_OK:
profileFile = dlg.GetPath()
profile.loadProfile(profileFile)
self.updateProfileToAllControls()
dlg.Destroy()
def onSaveProfile(self, event):
""" """
dlg=wx.FileDialog(self, _("Select profile file to save"), os.path.split(profile.getPreference('last_profile'))[0], style=wx.FD_SAVE)
dlg.SetWildcard("ini files (*.ini)|*.ini")
if dlg.ShowModal() == wx.ID_OK:
profileFile = dlg.GetPath()
if not profileFile.endswith('.ini'):
if sys.isLinux(): #hack for linux, as for some reason the .ini is not appended.
profileFile += '.ini'
profile.saveProfile(profileFile)
dlg.Destroy()
def onResetProfile(self, event):
""" """
dlg = wx.MessageDialog(self, _("This will reset all profile settings to defaults.\nUnless you have saved your current profile, all settings will be lost!\nDo you really want to reset?"), _("Profile reset"), wx.YES_NO | wx.ICON_QUESTION)
result = dlg.ShowModal() == wx.ID_YES
dlg.Destroy()
if result:
profile.resetProfile()
self.updateProfileToAllControls()
def onExit(self, event):
self.Close(True)
def onClose(self, event):
try:
if self.simpleScan.run or self.textureScan.run:
self.simpleScan.stop()
self.textureScan.stop()
time.sleep(0.5)
self.controlWorkbench.videoView.stop()
self.calibrationWorkbench.videoView.stop()
self.calibrationWorkbench.cameraIntrinsicsMainPage.videoView.stop()
self.calibrationWorkbench.laserTriangulationMainPage.videoView.stop()
self.calibrationWorkbench.platformExtrinsicsMainPage.videoView.stop()
self.scanningWorkbench.videoView.stop()
self.driver.board.setUnplugCallback(None)
self.driver.camera.setUnplugCallback(None)
self.driver.disconnect()
except:
pass
event.Skip()
def appendLastFile(self, lastFile):
if lastFile in self.lastFiles:
self.lastFiles.remove(lastFile)
self.lastFiles.append(lastFile)
if len(self.lastFiles) > 4:
self.lastFiles = self.lastFiles[1:5]
profile.putPreference('last_file', lastFile)
profile.putPreference('last_files', self.lastFiles)
def onModeChanged(self, event):
# profile.putPreference('basic_mode', self.menuBasicMode.IsChecked())
self.controlWorkbench.updateProfileToAllControls()
self.calibrationWorkbench.updateProfileToAllControls()
self.scanningWorkbench.updateProfileToAllControls()
self.Layout()
def onPreferences(self, event):
if sys.isWindows():
self.simpleScan.stop()
self.textureScan.stop()
self.laserTriangulation.cancel()
self.platformExtrinsics.cancel()
self.controlWorkbench.videoView.stop()
self.calibrationWorkbench.videoView.stop()
self.calibrationWorkbench.cameraIntrinsicsMainPage.videoView.stop()
self.calibrationWorkbench.laserTriangulationMainPage.videoView.stop()
self.calibrationWorkbench.platformExtrinsicsMainPage.videoView.stop()
self.scanningWorkbench.videoView.stop()
self.driver.board.setUnplugCallback(None)
self.driver.camera.setUnplugCallback(None)
self.controlWorkbench.updateStatus(False)
self.calibrationWorkbench.updateStatus(False)
self.scanningWorkbench.updateStatus(False)
self.driver.disconnect()
waitCursor = wx.BusyCursor()
prefDialog = PreferencesDialog(self)
prefDialog.ShowModal()
self.updateDriverProfile()
self.controlWorkbench.updateCallbacks()
self.calibrationWorkbench.updateCallbacks()
self.scanningWorkbench.updateCallbacks()
def onMachineSettings(self, event):
if sys.isWindows():
self.simpleScan.stop()
self.textureScan.stop()
self.laserTriangulation.cancel()
self.platformExtrinsics.cancel()
self.controlWorkbench.videoView.stop()
self.calibrationWorkbench.videoView.stop()
self.calibrationWorkbench.cameraIntrinsicsMainPage.videoView.stop()
self.calibrationWorkbench.laserTriangulationMainPage.videoView.stop()
self.calibrationWorkbench.platformExtrinsicsMainPage.videoView.stop()
self.scanningWorkbench.videoView.stop()
self.driver.board.setUnplugCallback(None)
self.driver.camera.setUnplugCallback(None)
self.controlWorkbench.updateStatus(False)
self.calibrationWorkbench.updateStatus(False)
self.scanningWorkbench.updateStatus(False)
self.driver.disconnect()
waitCursor = wx.BusyCursor()
MachineDialog = MachineSettingsDialog(self)
ret = MachineDialog.ShowModal()
if ret == wx.ID_OK:
self.scanningWorkbench.sceneView._drawMachine()
profile.saveMachineSettings(os.path.join(profile.getBasePath(), profile.getMachineSettingFileName()))
self.scanningWorkbench.controls.panels["point_cloud_generation"].updateProfile()
self.controlWorkbench.updateCallbacks()
self.calibrationWorkbench.updateCallbacks()
self.scanningWorkbench.updateCallbacks()
def onMenuViewClicked(self, key, checked, panel):
profile.putPreference(key, checked)
if checked:
panel.Show()
else:
panel.Hide()
panel.GetParent().Layout()
panel.Layout()
self.Layout()
def onControlPanelClicked(self, event):
self.onMenuViewClicked('view_control_panel',
self.menuControlPanel.IsChecked(),
self.controlWorkbench.scrollPanel)
def onControlVideoClicked(self, event):
self.onMenuViewClicked('view_control_video',
self.menuControlVideo.IsChecked(),
self.controlWorkbench.videoView)
def onCalibrationPanelClicked(self, event):
self.onMenuViewClicked('view_calibration_panel',
self.menuCalibrationPanel.IsChecked(),
self.calibrationWorkbench.scrollPanel)
def onCalibrationVideoClicked(self, event):
self.onMenuViewClicked('view_calibration_video',
self.menuCalibrationVideo.IsChecked(),
self.calibrationWorkbench.videoView)
def onScanningPanelClicked(self, event):
self.onMenuViewClicked('view_scanning_panel',
self.menuScanningPanel.IsChecked(),
self.scanningWorkbench.scrollPanel)
def onScanningVideoSceneClicked(self, event):
checkedVideo = self.menuScanningVideo.IsChecked()
checkedScene = self.menuScanningScene.IsChecked()
profile.putPreference('view_scanning_video', checkedVideo)
profile.putPreference('view_scanning_scene', checkedScene)
self.scanningWorkbench.splitterWindow.Unsplit()
if checkedVideo:
self.scanningWorkbench.videoView.Show()
self.scanningWorkbench.splitterWindow.SplitVertically(self.scanningWorkbench.videoView, self.scanningWorkbench.scenePanel)
if checkedScene:
self.scanningWorkbench.scenePanel.Show()
else:
self.scanningWorkbench.scenePanel.Hide()
self.scanningWorkbench.splitterWindow.Unsplit()
else:
self.scanningWorkbench.videoView.Hide()
if checkedScene:
self.scanningWorkbench.scenePanel.Show()
self.scanningWorkbench.splitterWindow.SplitVertically(self.scanningWorkbench.scenePanel, self.scanningWorkbench.videoView)
self.scanningWorkbench.splitterWindow.Unsplit()
else:
self.scanningWorkbench.scenePanel.Hide()
self.scanningWorkbench.splitterWindow.Unsplit()
self.scanningWorkbench.splitterWindow.Layout()
self.scanningWorkbench.Layout()
self.Layout()
def onComboBoxWorkbenchSelected(self, event):
""" """
if _(profile.getPreference('workbench')) != event.GetEventObject().GetValue():
profile.putPreference('workbench', self.workbenchDict[event.GetEventObject().GetValue()])
profile.saveProfile(os.path.join(profile.getBasePath(), 'current-profile.ini'))
self.workbenchUpdate()
def onAbout(self, event):
""" """
info = wx.AboutDialogInfo()
icon = wx.Icon(resources.getPathForImage("horus.ico"), wx.BITMAP_TYPE_ICO)
info.SetIcon(icon)
info.SetName(u'Horus')
info.SetVersion(version.getVersion())
techDescription = _('Horus is an Open Source 3D Scanner manager')
techDescription += '\n' + 'Version: ' + version.getVersion()
build = version.getBuild()
if build is not '':
techDescription += '\n' + 'Build: ' + version.getBuild()
github = version.getGitHub()
if github is not '':
techDescription += '\n' + 'GitHub: ' + version.getGitHub()
info.SetDescription(techDescription)
info.SetCopyright(u'(C) 2014-2015 Mundo Reader S.L.')
info.SetWebSite(u'http://www.bq.com')
info.SetLicence("""Horus is free software; you can redistribute
it and/or modify it under the terms of the GNU General Public License as
published by the Free Software Foundation; either version 2 of the License,
or (at your option) any later version.
Horus is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
See the GNU General Public License for more details. You should have
received a copy of the GNU General Public License along with File Hunter;
if not, write to the Free Software Foundation, Inc., 59 Temple Place,
Suite 330, Boston, MA 02111-1307 USA""")
info.AddDeveloper(u'Jesús Arroyo, Irene Sanz, Jorge Robles')
info.AddDocWriter(u'Jesús Arroyo, Ángel Larrañaga')
info.AddArtist(u'Jesús Arroyo, Nestor Toribio')
info.AddTranslator(u'Jesús Arroyo, Irene Sanz, Alexandre Galode, Natasha da Silva, Camille Montgolfier, Markus Hoedl, Andrea Fantini, Maria Albuquerque, Meike Schirmeister')
wx.AboutBox(info)
def onWelcome(self, event):
WelcomeWindow(self)
def onUpdates(self, event):
if profile.getPreferenceBool('check_for_updates'):
if version.checkForUpdates():
VersionWindow(self)
else:
dlg = wx.MessageDialog(self, _("You are running the latest version of Horus!"), _("Updated!"), wx.OK|wx.ICON_INFORMATION)
dlg.ShowModal()
dlg.Destroy()
def onBoardUnplugged(self):
self._onDeviceUnplugged(_("Board unplugged"), _("Board has been unplugged. Please, plug it in and press connect"))
def onCameraUnplugged(self):
self._onDeviceUnplugged(_("Camera unplugged"), _("Camera has been unplugged. Please, plug it in and press connect"))
def _onDeviceUnplugged(self, title="", description=""):
self.simpleScan.stop()
self.textureScan.stop()
self.laserTriangulation.cancel()
self.platformExtrinsics.cancel()
self.controlWorkbench.updateStatus(False)
self.calibrationWorkbench.updateStatus(False)
self.scanningWorkbench.updateStatus(False)
self.driver.disconnect()
dlg = wx.MessageDialog(self, description, title, wx.OK|wx.ICON_ERROR)
dlg.ShowModal()
dlg.Destroy()
def updateProfileToAllControls(self):
""" """
# if profile.getPreferenceBool('basic_mode'):
# self.menuBasicMode.Check(True)
# else:
# self.menuAdvancedMode.Check(True)
if profile.getPreferenceBool('view_control_panel'):
self.controlWorkbench.scrollPanel.Show()
self.menuControlPanel.Check(True)
else:
self.controlWorkbench.scrollPanel.Hide()
self.menuControlPanel.Check(False)
if profile.getPreferenceBool('view_control_video'):
self.controlWorkbench.videoView.Show()
self.menuControlVideo.Check(True)
else:
self.controlWorkbench.videoView.Hide()
self.menuControlVideo.Check(False)
if profile.getPreferenceBool('view_calibration_panel'):
self.calibrationWorkbench.scrollPanel.Show()
self.menuCalibrationPanel.Check(True)
else:
self.calibrationWorkbench.scrollPanel.Hide()
self.menuCalibrationPanel.Check(False)
if profile.getPreferenceBool('view_calibration_video'):
self.calibrationWorkbench.videoView.Show()
self.menuCalibrationVideo.Check(True)
else:
self.calibrationWorkbench.videoView.Hide()
self.menuCalibrationVideo.Check(False)
if profile.getPreferenceBool('view_scanning_panel'):
self.scanningWorkbench.scrollPanel.Show()
self.menuScanningPanel.Check(True)
else:
self.scanningWorkbench.scrollPanel.Hide()
self.menuScanningPanel.Check(False)
checkedVideo = profile.getPreferenceBool('view_scanning_video')
checkedScene = profile.getPreferenceBool('view_scanning_scene')
self.menuScanningVideo.Check(checkedVideo)
self.menuScanningScene.Check(checkedScene)
self.scanningWorkbench.splitterWindow.Unsplit()
if checkedVideo:
self.scanningWorkbench.videoView.Show()
self.scanningWorkbench.splitterWindow.SplitVertically(self.scanningWorkbench.videoView, self.scanningWorkbench.scenePanel)
if checkedScene:
self.scanningWorkbench.scenePanel.Show()
else:
self.scanningWorkbench.scenePanel.Hide()
self.scanningWorkbench.splitterWindow.Unsplit()
else:
self.scanningWorkbench.videoView.Hide()
if checkedScene:
self.scanningWorkbench.scenePanel.Show()
self.scanningWorkbench.splitterWindow.SplitVertically(self.scanningWorkbench.scenePanel, self.scanningWorkbench.videoView)
self.scanningWorkbench.splitterWindow.Unsplit()
else:
self.scanningWorkbench.scenePanel.Hide()
self.scanningWorkbench.splitterWindow.Unsplit()
self.updateDriverProfile()
self.updatePCGProfile()
self.updateCalibrationProfile()
self.workbenchUpdate()
self.Layout()
def updateDriverProfile(self):
self.driver.camera.setCameraId(int(profile.getProfileSetting('camera_id')[-1:]))
self.driver.board.setSerialName(profile.getProfileSetting('serial_name'))
self.driver.board.setBaudRate(profile.getProfileSettingInteger('baud_rate'))
self.driver.board.setInvertMotor(profile.getProfileSettingBool('invert_motor'))
def updatePCGProfile(self):
self.pcg.resetTheta()
self.pcg.setViewROI(profile.getMachineSettingBool('view_roi'))
self.pcg.setROIDiameter(profile.getMachineSettingInteger('roi_diameter'))
self.pcg.setROIWidth(profile.getMachineSettingInteger('roi_width'))
self.pcg.setROIHeight(profile.getMachineSettingInteger('roi_height'))
self.pcg.setROIDepth(profile.getMachineSettingInteger('roi_depth'))
self.pcg.setDegrees(profile.getProfileSettingFloat('step_degrees_scanning'))
resolution = profile.getProfileSetting('resolution_scanning')
self.pcg.setResolution(int(resolution.split('x')[1]), int(resolution.split('x')[0]))
useLaser = profile.getProfileSetting('use_laser')
self.pcg.setUseLaser(useLaser == 'Left' or useLaser == 'Both',
useLaser == 'Right' or useLaser == 'Both')
self.pcg.setCameraIntrinsics(profile.getProfileSettingNumpy('camera_matrix'),
profile.getProfileSettingNumpy('distortion_vector'))
self.pcg.setLaserTriangulation(profile.getProfileSettingNumpy('distance_left'),
profile.getProfileSettingNumpy('normal_left'),
profile.getProfileSettingNumpy('distance_right'),
profile.getProfileSettingNumpy('normal_right'))
self.pcg.setPlatformExtrinsics(profile.getProfileSettingNumpy('rotation_matrix'),
profile.getProfileSettingNumpy('translation_vector'))
scanType = profile.getProfileSetting('scan_type')
if scanType == 'Simple Scan':
self.scanningWorkbench.currentScan = self.simpleScan
self.driver.camera.setExposure(profile.getProfileSettingInteger('laser_exposure_scanning'))
elif scanType == 'Texture Scan':
self.scanningWorkbench.currentScan = self.textureScan
self.driver.camera.setExposure(profile.getProfileSettingInteger('color_exposure_scanning'))
self.simpleScan.setFastScan(profile.getProfileSettingBool('fast_scan'))
self.simpleScan.setSpeedMotor(profile.getProfileSettingInteger('feed_rate_scanning'))
self.simpleScan.setAccelerationMotor(profile.getProfileSettingInteger('acceleration_scanning'))
self.simpleScan.setImageType(profile.getProfileSetting('img_type'))
self.simpleScan.setUseThreshold(profile.getProfileSettingBool('use_cr_threshold'))
self.simpleScan.setThresholdValue(profile.getProfileSettingInteger('cr_threshold_value'))
self.simpleScan.setColor(struct.unpack('BBB',profile.getProfileSetting('point_cloud_color').decode('hex')))
self.textureScan.setFastScan(profile.getProfileSettingBool('fast_scan'))
self.textureScan.setSpeedMotor(profile.getProfileSettingInteger('feed_rate_scanning'))
self.textureScan.setAccelerationMotor(profile.getProfileSettingInteger('acceleration_scanning'))
self.textureScan.setImageType(profile.getProfileSetting('img_type'))
self.textureScan.setUseOpen(profile.getProfileSettingBool('use_open'))
self.textureScan.setOpenValue(profile.getProfileSettingInteger('open_value'))
self.textureScan.setUseThreshold(profile.getProfileSettingBool('use_threshold'))
self.textureScan.setThresholdValue(profile.getProfileSettingInteger('threshold_value'))
def updateCalibrationProfile(self):
self.driver.camera.setIntrinsics(profile.getProfileSettingNumpy('camera_matrix'),
profile.getProfileSettingNumpy('distortion_vector'))
self.cameraIntrinsics.setIntrinsics(profile.getProfileSettingNumpy('camera_matrix'),
profile.getProfileSettingNumpy('distortion_vector'))
self.cameraIntrinsics.setPatternParameters(profile.getProfileSettingInteger('pattern_rows'),
profile.getProfileSettingInteger('pattern_columns'),
profile.getProfileSettingInteger('square_width'),
profile.getProfileSettingFloat('pattern_distance'))
self.cameraIntrinsics.setUseDistortion(profile.getProfileSettingInteger('use_distortion_calibration'))
self.simpleLaserTriangulation.setIntrinsics(profile.getProfileSettingNumpy('camera_matrix'),
profile.getProfileSettingNumpy('distortion_vector'))
self.simpleLaserTriangulation.setPatternParameters(profile.getProfileSettingInteger('pattern_rows'),
profile.getProfileSettingInteger('pattern_columns'),
profile.getProfileSettingInteger('square_width'),
profile.getProfileSettingFloat('pattern_distance'))
self.simpleLaserTriangulation.setUseDistortion(profile.getProfileSettingInteger('use_distortion_calibration'))
self.laserTriangulation.setIntrinsics(profile.getProfileSettingNumpy('camera_matrix'),
profile.getProfileSettingNumpy('distortion_vector'))
self.laserTriangulation.setPatternParameters(profile.getProfileSettingInteger('pattern_rows'),
profile.getProfileSettingInteger('pattern_columns'),
profile.getProfileSettingInteger('square_width'),
profile.getProfileSettingFloat('pattern_distance'))
self.laserTriangulation.setUseDistortion(profile.getProfileSettingInteger('use_distortion_calibration'))
self.platformExtrinsics.setExtrinsicsStep(profile.getProfileSettingFloat('extrinsics_step'))
self.platformExtrinsics.setIntrinsics(profile.getProfileSettingNumpy('camera_matrix'),
profile.getProfileSettingNumpy('distortion_vector'))
self.platformExtrinsics.setPatternParameters(profile.getProfileSettingInteger('pattern_rows'),
profile.getProfileSettingInteger('pattern_columns'),
profile.getProfileSettingInteger('square_width'),
profile.getProfileSettingFloat('pattern_distance'))
self.platformExtrinsics.setUseDistortion(profile.getProfileSettingInteger('use_distortion_calibration'))
def workbenchUpdate(self, layout=True):
currentWorkbench = profile.getPreference('workbench')
wb = {'Control workbench' : self.controlWorkbench,
'Calibration workbench' : self.calibrationWorkbench,
'Scanning workbench' : self.scanningWorkbench}
waitCursor = wx.BusyCursor()
self.menuFile.Enable(self.menuLoadModel.GetId(), currentWorkbench == 'Scanning workbench')
self.menuFile.Enable(self.menuSaveModel.GetId(), currentWorkbench == 'Scanning workbench')
self.menuFile.Enable(self.menuClearModel.GetId(), currentWorkbench == 'Scanning workbench')
wb[currentWorkbench].updateProfileToAllControls()
wb[currentWorkbench].combo.SetValue(_(currentWorkbench))
if layout:
for key in wb:
if wb[key] is not None:
if key == currentWorkbench:
wb[key].Hide()
wb[key].Show()
else:
wb[key].Hide()
self.Layout()
del waitCursor
gc.collect()
##-- TODO: move to util
def serialList(self):
baselist=[]
if sys.isWindows():
import _winreg
try:
key=_winreg.OpenKey(_winreg.HKEY_LOCAL_MACHINE,"HARDWARE\\DEVICEMAP\\SERIALCOMM")
i=0
while True:
try:
values = _winreg.EnumValue(key, i)
except:
return baselist
if 'USBSER' in values[0] or 'VCP' in values[0] or '\Device\Serial' in values[0]:
baselist.append(values[1])
i+=1
except:
return baselist
else:
for device in ['/dev/ttyACM*', '/dev/ttyUSB*', "/dev/tty.usb*", "/dev/tty.wchusb*", "/dev/cu.*", "/dev/rfcomm*"]:
baselist = baselist + glob.glob(device)
return baselist
def baudRateList(self):
baselist=['9600', '14400', '19200', '38400', '57600', '115200']
return baselist
def countCameras(self):
for i in xrange(5):
cap = cv2.VideoCapture(i)
res = not cap.isOpened()
cap.release()
if res:
return i
return 5
def videoList(self):
baselist=[]
if sys.isWindows():
count = self.countCameras()
for i in xrange(count):
baselist.append(str(i))
elif sys.isDarwin():
for device in Camera_List():
baselist.append(str(device.src_id))
else:
for device in ['/dev/video*']:
baselist = baselist + glob.glob(device)
return baselist
##-- END TODO
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()
class MainWindow(wx.Frame):
size = (640+337,480+150)
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()
def onLaunchWizard(self, event):
self.controlWorkbench.videoView.stop()
self.calibrationWorkbench.videoView.stop()
self.calibrationWorkbench.cameraIntrinsicsMainPage.videoView.stop()
self.calibrationWorkbench.laserTriangulationMainPage.videoView.stop()
self.calibrationWorkbench.platformExtrinsicsMainPage.videoView.stop()
self.scanningWorkbench.videoView.stop()
self.controlWorkbench.Disable()
self.calibrationWorkbench.Disable()
self.scanningWorkbench.Disable()
wizard = Wizard(self)
self.controlWorkbench.Enable()
self.calibrationWorkbench.Enable()
self.scanningWorkbench.Enable()
def onLoadModel(self, event):
lastFile = os.path.split(profile.getPreference('last_file'))[0]
dlg = wx.FileDialog(self, _("Open 3D model"), lastFile, style=wx.FD_OPEN|wx.FD_FILE_MUST_EXIST)
wildcardList = ';'.join(map(lambda s: '*' + s, meshLoader.loadSupportedExtensions()))
wildcardFilter = "All (%s)|%s;%s" % (wildcardList, wildcardList, wildcardList.upper())
wildcardList = ';'.join(map(lambda s: '*' + s, meshLoader.loadSupportedExtensions()))
wildcardFilter += "|Mesh files (%s)|%s;%s" % (wildcardList, wildcardList, wildcardList.upper())
dlg.SetWildcard(wildcardFilter)
if dlg.ShowModal() == wx.ID_OK:
filename = dlg.GetPath()
if filename is not None:
self.scanningWorkbench.sceneView.loadFile(filename)
self.appendLastFile(filename)
dlg.Destroy()
def onSaveModel(self, event):
if self.scanningWorkbench.sceneView._object is None:
return
dlg = wx.FileDialog(self, _("Save 3D model"), os.path.split(profile.getPreference('last_file'))[0], style=wx.FD_SAVE|wx.FD_OVERWRITE_PROMPT)
fileExtensions = meshLoader.saveSupportedExtensions()
wildcardList = ';'.join(map(lambda s: '*' + s, fileExtensions))
wildcardFilter = "Mesh files (%s)|%s;%s" % (wildcardList, wildcardList, wildcardList.upper())
dlg.SetWildcard(wildcardFilter)
if dlg.ShowModal() == wx.ID_OK:
filename = dlg.GetPath()
if not filename.endswith('.ply'):
if platform.system() == 'Linux': #hack for linux, as for some reason the .ply is not appended.
filename += '.ply'
meshLoader.saveMesh(filename, self.scanningWorkbench.sceneView._object)
self.appendLastFile(filename)
dlg.Destroy()
def onClearModel(self, event):
if self.scanningWorkbench.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:
self.scanningWorkbench.sceneView._clearScene()
def onOpenProfile(self, event):
""" """
dlg=wx.FileDialog(self, _("Select profile file to load"), os.path.split(profile.getPreference('last_profile'))[0], style=wx.FD_OPEN|wx.FD_FILE_MUST_EXIST)
dlg.SetWildcard("ini files (*.ini)|*.ini")
if dlg.ShowModal() == wx.ID_OK:
profileFile = dlg.GetPath()
profile.loadProfile(profileFile)
self.updateProfileToAllControls()
dlg.Destroy()
def onSaveProfile(self, event):
""" """
dlg=wx.FileDialog(self, _("Select profile file to save"), os.path.split(profile.getPreference('last_profile'))[0], style=wx.FD_SAVE)
dlg.SetWildcard("ini files (*.ini)|*.ini")
if dlg.ShowModal() == wx.ID_OK:
profileFile = dlg.GetPath()
if not profileFile.endswith('.ini'):
if platform.system() == 'Linux': #hack for linux, as for some reason the .ini is not appended.
profileFile += '.ini'
profile.saveProfile(profileFile)
dlg.Destroy()
def onResetProfile(self, event):
""" """
dlg = wx.MessageDialog(self, _("This will reset all profile settings to defaults.\nUnless you have saved your current profile, all settings will be lost!\nDo you really want to reset?"), _("Profile reset"), wx.YES_NO | wx.ICON_QUESTION)
result = dlg.ShowModal() == wx.ID_YES
dlg.Destroy()
if result:
profile.resetProfile()
self.updateProfileToAllControls()
def onExit(self, event):
self.Close(True)
def onClose(self, event):
try:
if self.simpleScan.run or self.textureScan.run:
self.simpleScan.stop()
self.textureScan.stop()
time.sleep(0.5)
self.controlWorkbench.videoView.stop()
self.calibrationWorkbench.videoView.stop()
self.calibrationWorkbench.cameraIntrinsicsMainPage.videoView.stop()
self.calibrationWorkbench.laserTriangulationMainPage.videoView.stop()
self.calibrationWorkbench.platformExtrinsicsMainPage.videoView.stop()
self.scanningWorkbench.videoView.stop()
self.driver.board.setUnplugCallback(None)
self.driver.camera.setUnplugCallback(None)
self.driver.disconnect()
except:
pass
event.Skip()
def appendLastFile(self, lastFile):
if lastFile in self.lastFiles:
self.lastFiles.remove(lastFile)
self.lastFiles.append(lastFile)
if len(self.lastFiles) > 4:
self.lastFiles = self.lastFiles[1:5]
profile.putPreference('last_file', lastFile)
profile.putPreference('last_files', self.lastFiles)
def onModeChanged(self, event):
# profile.putPreference('basic_mode', self.menuBasicMode.IsChecked())
self.controlWorkbench.updateProfileToAllControls()
self.calibrationWorkbench.updateProfileToAllControls()
self.scanningWorkbench.updateProfileToAllControls()
self.Layout()
def onPreferences(self, event):
if os.name == 'nt':
self.simpleScan.stop()
self.textureScan.stop()
self.laserTriangulation.cancel()
self.platformExtrinsics.cancel()
self.controlWorkbench.videoView.stop()
self.calibrationWorkbench.videoView.stop()
self.calibrationWorkbench.cameraIntrinsicsMainPage.videoView.stop()
self.calibrationWorkbench.laserTriangulationMainPage.videoView.stop()
self.calibrationWorkbench.platformExtrinsicsMainPage.videoView.stop()
self.scanningWorkbench.videoView.stop()
self.driver.board.setUnplugCallback(None)
self.driver.camera.setUnplugCallback(None)
self.controlWorkbench.updateStatus(False)
self.calibrationWorkbench.updateStatus(False)
self.scanningWorkbench.updateStatus(False)
self.driver.disconnect()
waitCursor = wx.BusyCursor()
prefDialog = PreferencesDialog(self)
prefDialog.ShowModal()
wx.CallAfter(prefDialog.Show)
self.updateDriverProfile()
self.controlWorkbench.updateCallbacks()
self.calibrationWorkbench.updateCallbacks()
self.scanningWorkbench.updateCallbacks()
def onMenuViewClicked(self, key, checked, panel):
profile.putPreference(key, checked)
if checked:
panel.Show()
else:
panel.Hide()
panel.GetParent().Layout()
panel.Layout()
self.Layout()
def onControlPanelClicked(self, event):
self.onMenuViewClicked('view_control_panel',
self.menuControlPanel.IsChecked(),
self.controlWorkbench.scrollPanel)
def onControlVideoClicked(self, event):
self.onMenuViewClicked('view_control_video',
self.menuControlVideo.IsChecked(),
self.controlWorkbench.videoView)
def onCalibrationPanelClicked(self, event):
self.onMenuViewClicked('view_calibration_panel',
self.menuCalibrationPanel.IsChecked(),
self.calibrationWorkbench.scrollPanel)
def onCalibrationVideoClicked(self, event):
self.onMenuViewClicked('view_calibration_video',
self.menuCalibrationVideo.IsChecked(),
self.calibrationWorkbench.videoView)
def onScanningPanelClicked(self, event):
self.onMenuViewClicked('view_scanning_panel',
self.menuScanningPanel.IsChecked(),
self.scanningWorkbench.scrollPanel)
def onScanningVideoSceneClicked(self, event):
checkedVideo = self.menuScanningVideo.IsChecked()
checkedScene = self.menuScanningScene.IsChecked()
profile.putPreference('view_scanning_video', checkedVideo)
profile.putPreference('view_scanning_scene', checkedScene)
self.scanningWorkbench.splitterWindow.Unsplit()
if checkedVideo:
self.scanningWorkbench.videoView.Show()
self.scanningWorkbench.splitterWindow.SplitVertically(self.scanningWorkbench.videoView, self.scanningWorkbench.scenePanel)
if checkedScene:
self.scanningWorkbench.scenePanel.Show()
else:
self.scanningWorkbench.scenePanel.Hide()
self.scanningWorkbench.splitterWindow.Unsplit()
else:
self.scanningWorkbench.videoView.Hide()
if checkedScene:
self.scanningWorkbench.scenePanel.Show()
self.scanningWorkbench.splitterWindow.SplitVertically(self.scanningWorkbench.scenePanel, self.scanningWorkbench.videoView)
self.scanningWorkbench.splitterWindow.Unsplit()
else:
self.scanningWorkbench.scenePanel.Hide()
self.scanningWorkbench.splitterWindow.Unsplit()
self.scanningWorkbench.splitterWindow.Layout()
self.scanningWorkbench.Layout()
self.Layout()
def onComboBoxWorkbenchSelected(self, event):
""" """
if _(profile.getPreference('workbench')) != event.GetEventObject().GetValue():
profile.putPreference('workbench', self.workbenchDict[event.GetEventObject().GetValue()])
profile.saveProfile(os.path.join(profile.getBasePath(), 'current-profile.ini'))
self.workbenchUpdate()
def onAbout(self, event):
""" """
info = wx.AboutDialogInfo()
icon = wx.Icon(resources.getPathForImage("horus.ico"), wx.BITMAP_TYPE_ICO)
info.SetIcon(icon)
info.SetName(u'Horus')
info.SetVersion(VERSION)
techDescription = ''
if os.path.isfile(resources.getPathForVersion()):
with open(resources.getPathForVersion(), 'r') as f:
techDescription = '\n' + f.read().replace('\n','')
info.SetDescription(_('Horus is an Open Source 3D Scanner manager') + techDescription)
info.SetCopyright(u'(C) 2014-2015 Mundo Reader S.L.')
info.SetWebSite(u'http://www.bq.com')
info.SetLicence("""Horus is free software; you can redistribute
it and/or modify it under the terms of the GNU General Public License as
published by the Free Software Foundation; either version 2 of the License,
or (at your option) any later version.
Horus is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
See the GNU General Public License for more details. You should have
received a copy of the GNU General Public License along with File Hunter;
if not, write to the Free Software Foundation, Inc., 59 Temple Place,
Suite 330, Boston, MA 02111-1307 USA""")
info.AddDeveloper(u'Jesús Arroyo, Irene Sanz')
info.AddDocWriter(u'Jesús Arroyo, Ángel Larrañaga')
info.AddArtist(u'Jesús Arroyo, Nestor Toribio')
info.AddTranslator(u'Jesús Arroyo, Irene Sanz, Alexandre Galode, Natasha da Silva')
wx.AboutBox(info)
def onWelcome(self, event):
""" """
welcome = WelcomeWindow(self)
def onBoardUnplugged(self):
self._onDeviceUnplugged(_("Board unplugged"), _("Board has been unplugged. Please, plug it in and press connect"))
def onCameraUnplugged(self):
self._onDeviceUnplugged(_("Camera unplugged"), _("Camera has been unplugged. Please, plug it in and press connect"))
def _onDeviceUnplugged(self, title="", description=""):
self.simpleScan.stop()
self.textureScan.stop()
self.laserTriangulation.cancel()
self.platformExtrinsics.cancel()
self.controlWorkbench.updateStatus(False)
self.calibrationWorkbench.updateStatus(False)
self.scanningWorkbench.updateStatus(False)
self.driver.disconnect()
dlg = wx.MessageDialog(self, description, title, wx.OK|wx.ICON_ERROR)
dlg.ShowModal()
dlg.Destroy()
def updateProfileToAllControls(self):
""" """
# if profile.getPreferenceBool('basic_mode'):
# self.menuBasicMode.Check(True)
# else:
# self.menuAdvancedMode.Check(True)
if profile.getPreferenceBool('view_control_panel'):
self.controlWorkbench.scrollPanel.Show()
self.menuControlPanel.Check(True)
else:
self.controlWorkbench.scrollPanel.Hide()
self.menuControlPanel.Check(False)
if profile.getPreferenceBool('view_control_video'):
self.controlWorkbench.videoView.Show()
self.menuControlVideo.Check(True)
else:
self.controlWorkbench.videoView.Hide()
self.menuControlVideo.Check(False)
if profile.getPreferenceBool('view_calibration_panel'):
self.calibrationWorkbench.scrollPanel.Show()
self.menuCalibrationPanel.Check(True)
else:
self.calibrationWorkbench.scrollPanel.Hide()
self.menuCalibrationPanel.Check(False)
if profile.getPreferenceBool('view_calibration_video'):
self.calibrationWorkbench.videoView.Show()
self.menuCalibrationVideo.Check(True)
else:
self.calibrationWorkbench.videoView.Hide()
self.menuCalibrationVideo.Check(False)
if profile.getPreferenceBool('view_scanning_panel'):
self.scanningWorkbench.scrollPanel.Show()
self.menuScanningPanel.Check(True)
else:
self.scanningWorkbench.scrollPanel.Hide()
self.menuScanningPanel.Check(False)
checkedVideo = profile.getPreferenceBool('view_scanning_video')
checkedScene = profile.getPreferenceBool('view_scanning_scene')
self.menuScanningVideo.Check(checkedVideo)
self.menuScanningScene.Check(checkedScene)
self.scanningWorkbench.splitterWindow.Unsplit()
if checkedVideo:
self.scanningWorkbench.videoView.Show()
self.scanningWorkbench.splitterWindow.SplitVertically(self.scanningWorkbench.videoView, self.scanningWorkbench.scenePanel)
if checkedScene:
self.scanningWorkbench.scenePanel.Show()
else:
self.scanningWorkbench.scenePanel.Hide()
self.scanningWorkbench.splitterWindow.Unsplit()
else:
self.scanningWorkbench.videoView.Hide()
if checkedScene:
self.scanningWorkbench.scenePanel.Show()
self.scanningWorkbench.splitterWindow.SplitVertically(self.scanningWorkbench.scenePanel, self.scanningWorkbench.videoView)
self.scanningWorkbench.splitterWindow.Unsplit()
else:
self.scanningWorkbench.scenePanel.Hide()
self.scanningWorkbench.splitterWindow.Unsplit()
self.updateDriverProfile()
self.updatePCGProfile()
self.updateCalibrationProfile()
self.workbenchUpdate()
self.Layout()
def updateDriverProfile(self):
self.driver.camera.setCameraId(int(profile.getProfileSetting('camera_id')[-1:]))
self.driver.board.setSerialName(profile.getProfileSetting('serial_name'))
self.driver.board.setBaudRate(profile.getProfileSettingInteger('baud_rate'))
self.driver.board.setInvertMotor(profile.getProfileSettingBool('invert_motor'))
def updatePCGProfile(self):
self.pcg.resetTheta()
self.pcg.setViewROI(profile.getProfileSettingBool('view_roi'))
self.pcg.setROIDiameter(profile.getProfileSettingInteger('roi_diameter'))
self.pcg.setROIHeight(profile.getProfileSettingInteger('roi_height'))
self.pcg.setDegrees(profile.getProfileSettingFloat('step_degrees_scanning'))
resolution = profile.getProfileSetting('resolution_scanning')
self.pcg.setResolution(int(resolution.split('x')[1]), int(resolution.split('x')[0]))
useLaser = profile.getProfileSetting('use_laser')
self.pcg.setUseLaser(useLaser == 'Left' or useLaser == 'Both',
useLaser == 'Right' or useLaser == 'Both')
self.pcg.setCameraIntrinsics(profile.getProfileSettingNumpy('camera_matrix'),
profile.getProfileSettingNumpy('distortion_vector'))
self.pcg.setLaserTriangulation(profile.getProfileSettingNumpy('distance_left'),
profile.getProfileSettingNumpy('normal_left'),
profile.getProfileSettingNumpy('distance_right'),
profile.getProfileSettingNumpy('normal_right'))
self.pcg.setPlatformExtrinsics(profile.getProfileSettingNumpy('rotation_matrix'),
profile.getProfileSettingNumpy('translation_vector'))
scanType = profile.getProfileSetting('scan_type')
if scanType == 'Simple Scan':
self.scanningWorkbench.currentScan = self.simpleScan
self.driver.camera.setExposure(profile.getProfileSettingInteger('laser_exposure_scanning'))
elif scanType == 'Texture Scan':
self.scanningWorkbench.currentScan = self.textureScan
self.driver.camera.setExposure(profile.getProfileSettingInteger('color_exposure_scanning'))
self.simpleScan.setFastScan(profile.getProfileSettingBool('fast_scan'))
self.simpleScan.setSpeedMotor(profile.getProfileSettingInteger('feed_rate_scanning'))
self.simpleScan.setAccelerationMotor(profile.getProfileSettingInteger('acceleration_scanning'))
self.simpleScan.setImageType(profile.getProfileSetting('img_type'))
self.simpleScan.setUseThreshold(profile.getProfileSettingBool('use_cr_threshold'))
self.simpleScan.setThresholdValue(profile.getProfileSettingInteger('cr_threshold_value'))
self.simpleScan.setColor(struct.unpack('BBB',profile.getProfileSetting('point_cloud_color').decode('hex')))
self.textureScan.setFastScan(profile.getProfileSettingBool('fast_scan'))
self.textureScan.setSpeedMotor(profile.getProfileSettingInteger('feed_rate_scanning'))
self.textureScan.setAccelerationMotor(profile.getProfileSettingInteger('acceleration_scanning'))
self.textureScan.setImageType(profile.getProfileSetting('img_type'))
self.textureScan.setUseOpen(profile.getProfileSettingBool('use_open'))
self.textureScan.setOpenValue(profile.getProfileSettingInteger('open_value'))
self.textureScan.setUseThreshold(profile.getProfileSettingBool('use_threshold'))
self.textureScan.setThresholdValue(profile.getProfileSettingInteger('threshold_value'))
def updateCalibrationProfile(self):
self.driver.camera.setIntrinsics(profile.getProfileSettingNumpy('camera_matrix'),
profile.getProfileSettingNumpy('distortion_vector'))
self.cameraIntrinsics.setIntrinsics(profile.getProfileSettingNumpy('camera_matrix'),
profile.getProfileSettingNumpy('distortion_vector'))
self.cameraIntrinsics.setPatternParameters(profile.getProfileSettingInteger('pattern_rows'),
profile.getProfileSettingInteger('pattern_columns'),
profile.getProfileSettingInteger('square_width'),
profile.getProfileSettingFloat('pattern_distance'))
self.cameraIntrinsics.setUseDistortion(profile.getProfileSettingInteger('use_distortion_calibration'))
self.simpleLaserTriangulation.setIntrinsics(profile.getProfileSettingNumpy('camera_matrix'),
profile.getProfileSettingNumpy('distortion_vector'))
self.simpleLaserTriangulation.setPatternParameters(profile.getProfileSettingInteger('pattern_rows'),
profile.getProfileSettingInteger('pattern_columns'),
profile.getProfileSettingInteger('square_width'),
profile.getProfileSettingFloat('pattern_distance'))
self.simpleLaserTriangulation.setUseDistortion(profile.getProfileSettingInteger('use_distortion_calibration'))
self.laserTriangulation.setIntrinsics(profile.getProfileSettingNumpy('camera_matrix'),
profile.getProfileSettingNumpy('distortion_vector'))
self.laserTriangulation.setPatternParameters(profile.getProfileSettingInteger('pattern_rows'),
profile.getProfileSettingInteger('pattern_columns'),
profile.getProfileSettingInteger('square_width'),
profile.getProfileSettingFloat('pattern_distance'))
self.laserTriangulation.setUseDistortion(profile.getProfileSettingInteger('use_distortion_calibration'))
self.platformExtrinsics.setExtrinsicsStep(profile.getProfileSettingFloat('extrinsics_step'))
self.platformExtrinsics.setIntrinsics(profile.getProfileSettingNumpy('camera_matrix'),
profile.getProfileSettingNumpy('distortion_vector'))
self.platformExtrinsics.setPatternParameters(profile.getProfileSettingInteger('pattern_rows'),
profile.getProfileSettingInteger('pattern_columns'),
profile.getProfileSettingInteger('square_width'),
profile.getProfileSettingFloat('pattern_distance'))
self.platformExtrinsics.setUseDistortion(profile.getProfileSettingInteger('use_distortion_calibration'))
def workbenchUpdate(self, layout=True):
currentWorkbench = profile.getPreference('workbench')
wb = {'Control workbench' : self.controlWorkbench,
'Calibration workbench' : self.calibrationWorkbench,
'Scanning workbench' : self.scanningWorkbench}
waitCursor = wx.BusyCursor()
self.menuFile.Enable(self.menuLoadModel.GetId(), currentWorkbench == 'Scanning workbench')
self.menuFile.Enable(self.menuSaveModel.GetId(), currentWorkbench == 'Scanning workbench')
self.menuFile.Enable(self.menuClearModel.GetId(), currentWorkbench == 'Scanning workbench')
wb[currentWorkbench].updateProfileToAllControls()
wb[currentWorkbench].combo.SetValue(_(currentWorkbench))
if layout:
for key in wb:
if wb[key] is not None:
if key == currentWorkbench:
wb[key].Hide()
wb[key].Show()
else:
wb[key].Hide()
self.Layout()
del waitCursor
gc.collect()
##-- TODO: move to util
def serialList(self):
baselist=[]
if os.name=="nt":
import _winreg
try:
key=_winreg.OpenKey(_winreg.HKEY_LOCAL_MACHINE,"HARDWARE\\DEVICEMAP\\SERIALCOMM")
i=0
while True:
try:
values = _winreg.EnumValue(key, i)
baselist.append(values[1])
i+=1
except:
return baselist
except:
return baselist
else:
for device in ['/dev/ttyACM*', '/dev/ttyUSB*', "/dev/tty.usb*", "/dev/cu.*", "/dev/rfcomm*"]:
baselist = baselist + glob.glob(device)
return baselist
def baudRateList(self):
baselist=['9600', '14400', '19200', '38400', '57600', '115200']
return baselist
def countCameras(self):
for i in xrange(5):
cap = cv2.VideoCapture(i)
res = not cap.isOpened()
cap.release()
if res:
return i
return 5
def videoList(self):
baselist=[]
if os.name == 'nt':
count = self.countCameras()
for i in xrange(count):
baselist.append(str(i))
else:
for device in ['/dev/video*']:
baselist = baselist + glob.glob(device)
return baselist
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()