def __init__(self, parent, afterCancelCallback=None, afterCalibrationCallback=None):
Page.__init__(self, parent,
title=_("Simple 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.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 __init__(self, parent):
""""""
ExpandablePanel.__init__(self,
parent,
_("Scan Parameters"),
hasUndo=False,
hasRestore=False)
self.driver = Driver.Instance()
self.simpleScan = SimpleScan.Instance()
self.textureScan = TextureScan.Instance()
self.pcg = PointCloudGenerator.Instance()
self.main = self.GetParent().GetParent().GetParent().GetParent()
self.parent = parent
self.lastScan = profile.getProfileSetting('scan_type')
self.clearSections()
section = self.createSection('scan_parameters')
section.addItem(
ComboBox,
'scan_type',
tooltip=
_("Simple Scan algorithm captures only the geometry using one image. Texture Scan algorithm captures also the texture using two images"
))
section.addItem(ComboBox, 'use_laser')
if os.name != 'nt':
section.addItem(CheckBox, 'fast_scan')
def __init__(self):
""" """
self.theta = 0
self.driver = Driver.Instance()
self.pcg = PointCloudGenerator.Instance()
self.run = False
self.inactive = False
self.moveMotor = True
self.generatePointCloud = True
self.fastScan = False
self.speedMotor = 200
self.accelerationMotor = 400
self.imgType = 'laser'
self.imgColor = None
self.imgLaser = None
self.imgGray = None
self.imgLine = None
#TODO: Callbacks to Observer pattern
self.beforeCallback = None
self.afterCallback = None
self.progress = 0
self.range = 0
self.imagesQueue = Queue.Queue(100)
self.points3DQueue = Queue.Queue(1000)
def __init__(self, parent):
Workbench.__init__(self, parent)
self.driver = Driver.Instance()
#-- Toolbar Configuration
self.connectTool = self.toolbar.AddLabelTool(
wx.NewId(),
_("Connect"),
wx.Bitmap(resources.getPathForImage("connect.png")),
shortHelp=_("Connect"))
self.disconnectTool = self.toolbar.AddLabelTool(
wx.NewId(),
_("Disconnect"),
wx.Bitmap(resources.getPathForImage("disconnect.png")),
shortHelp=_("Disconnect"))
self.toolbar.Realize()
#-- Disable Toolbar Items
self.enableLabelTool(self.connectTool, True)
self.enableLabelTool(self.disconnectTool, False)
#-- Bind Toolbar Items
self.Bind(wx.EVT_TOOL, self.onConnectToolClicked, self.connectTool)
self.Bind(wx.EVT_TOOL, self.onDisconnectToolClicked,
self.disconnectTool)
self.Layout()
self.videoView = None
self.Bind(wx.EVT_SHOW, self.onShow)
def __init__(self):
self.theta = 0
self.driver = Driver.Instance()
self.rad = np.pi / 180.0
self.umin = 0
self.umax = 960
self.vmin = 0
self.vmax = 1280
self.circleResolution = 30
self.circleArray = np.array([[
np.cos(i * 2 * np.pi / self.circleResolution)
for i in xrange(self.circleResolution)
],
[
np.sin(i * 2 * np.pi /
self.circleResolution)
for i in xrange(self.circleResolution)
],
np.zeros(self.circleResolution)])
self.rectangleArray = np.array(
[[0.5, 0.5, -0.5, -0.5], [0.5, -0.5, 0.5, -0.5],
np.zeros(4)], np.float32)
def __init__(self, parent):
""""""
ExpandablePanel.__init__(self, parent, _("Image Acquisition"))
self.driver = Driver.Instance()
self.pcg = PointCloudGenerator.Instance()
self.simpleScan = SimpleScan.Instance()
self.textureScan = TextureScan.Instance()
self.main = self.GetParent().GetParent().GetParent().GetParent()
self.last_resolution = profile.getProfileSetting('resolution_scanning')
self.clearSections()
section = self.createSection('camera_scanning')
section.addItem(
Slider,
'brightness_scanning',
tooltip=
_('Image luminosity. Low values are better for environments with high ambient light conditions. High values are recommended for poorly lit places'
))
section.addItem(
Slider,
'contrast_scanning',
tooltip=
_('Relative difference in intensity between an image point and its surroundings. Low values are recommended for black or very dark colored objects. High values are better for very light colored objects'
))
section.addItem(
Slider,
'saturation_scanning',
tooltip=
_('Purity of color. Low values will cause colors to disappear from the image. High values will show an image with very intense colors'
))
section.addItem(
Slider,
'laser_exposure_scanning',
tooltip=
_('Amount of light per unit area. It is controlled by the time the camera sensor is exposed during a frame capture. High values are recommended for poorly lit places'
))
section.addItem(
Slider,
'color_exposure_scanning',
tooltip=
_('Amount of light per unit area. It is controlled by the time the camera sensor is exposed during a frame capture. High values are recommended for poorly lit places'
))
section.addItem(
ComboBox,
'framerate_scanning',
tooltip=
_('Number of frames captured by the camera every second. Maximum frame rate is recommended'
))
section.addItem(
ComboBox,
'resolution_scanning',
tooltip=_('Size of the video. Maximum resolution is recommended'))
section.addItem(
CheckBox,
'use_distortion_scanning',
tooltip=
_("This option applies lens distortion correction to the video. This process slows the video feed from the camera"
))
def __init__(self):
self.isCalibrating = False
self.driver = Driver.Instance()
#TODO: Callbacks to Observer pattern
self.beforeCallback = None
self.progressCallback = None
self.afterCallback = None
def __init__(self, parent):
""""""
ExpandablePanel.__init__(self, parent, _("Camera Control"))
self.driver = Driver.Instance()
self.main = self.GetParent().GetParent().GetParent().GetParent()
self.initialize()
def __init__(self, parent):
""""""
ExpandablePanel.__init__(self, parent, _("Laser Settings"))
self.driver = Driver.Instance()
self.laserTriangulation = calibration.LaserTriangulation.Instance()
self.initialize()
def __init__(self,
parent,
buttonPrevCallback=None,
buttonNextCallback=None):
WizardPage.__init__(self,
parent,
title=_("Calibration"),
buttonPrevCallback=buttonPrevCallback,
buttonNextCallback=buttonNextCallback)
self.driver = Driver.Instance()
self.cameraIntrinsics = calibration.CameraIntrinsics.Instance()
self.laserTriangulation = calibration.LaserTriangulation.Instance()
self.platformExtrinsics = calibration.PlatformExtrinsics.Instance()
self.phase = 'none'
self.patternLabel = wx.StaticText(
self.panel,
label=
_("Put the pattern on the platform as shown in the picture and press \"Calibrate\""
))
self.patternLabel.Wrap(400)
self.imageView = ImageView(self.panel)
self.imageView.setImage(
wx.Image(resources.getPathForImage("pattern-position-right.jpg")))
self.calibrateButton = wx.Button(self.panel, label=_("Calibrate"))
self.cancelButton = wx.Button(self.panel, label=_("Cancel"))
self.gauge = wx.Gauge(self.panel, range=100, size=(-1, 30))
self.resultLabel = wx.StaticText(self.panel, size=(-1, 30))
self.cancelButton.Disable()
self.resultLabel.Hide()
self.skipButton.Enable()
self.nextButton.Disable()
#-- Layout
vbox = wx.BoxSizer(wx.VERTICAL)
vbox.Add(self.patternLabel, 0, wx.ALL | wx.CENTER, 5)
vbox.Add(self.imageView, 1, wx.ALL | wx.EXPAND, 5)
vbox.Add(self.resultLabel, 0, wx.ALL | wx.CENTER, 5)
vbox.Add(self.gauge, 0, wx.ALL | wx.EXPAND, 5)
hbox = wx.BoxSizer(wx.HORIZONTAL)
hbox.Add(self.cancelButton, 1, wx.ALL | wx.EXPAND, 5)
hbox.Add(self.calibrateButton, 1, wx.ALL | wx.EXPAND, 5)
vbox.Add(hbox, 0, wx.ALL | wx.EXPAND, 2)
self.panel.SetSizer(vbox)
self.Layout()
self.calibrateButton.Bind(wx.EVT_BUTTON,
self.onCalibrationButtonClicked)
self.cancelButton.Bind(wx.EVT_BUTTON, self.onCancelButtonClicked)
self.Bind(wx.EVT_SHOW, self.onShow)
self.videoView.setMilliseconds(20)
self.videoView.setCallback(self.getFrame)
def __init__(self, parent, buttonStartCallback):
CalibrationPanel.__init__(self, parent, titleText=_("Camera Intrinsics"), buttonStartCallback=buttonStartCallback,
description=_("Determines the camera matrix and the distortion coefficients using Zhang2000 algorithm and pinhole camera model."))
self.driver = Driver.Instance()
self.pcg = scan.PointCloudGenerator.Instance()
self.cameraIntrinsics = calibration.CameraIntrinsics.Instance()
self.laserTriangulation = calibration.LaserTriangulation.Instance()
self.platformExtrinsics = calibration.PlatformExtrinsics.Instance()
cameraPanel = wx.Panel(self.content)
distortionPanel = wx.Panel(self.content)
cameraText = wx.StaticText(self.content, label=_("Camera matrix"))
cameraText.SetFont((wx.Font(10, wx.FONTFAMILY_DEFAULT, wx.NORMAL, wx.FONTWEIGHT_NORMAL)))
self.cameraTexts = [[0.0 for j in range(3)] for i in range(3)]
self.cameraValues = np.zeros((3,3))
cameraBox = wx.BoxSizer(wx.VERTICAL)
cameraPanel.SetSizer(cameraBox)
for i in range(3):
ibox = wx.BoxSizer(wx.HORIZONTAL)
for j in range(3):
jbox = wx.BoxSizer(wx.VERTICAL)
self.cameraTexts[i][j] = wx.TextCtrl(cameraPanel, wx.ID_ANY, "")
self.cameraTexts[i][j].SetMinSize((0,-1))
self.cameraTexts[i][j].SetEditable(False)
self.cameraTexts[i][j].Disable()
jbox.Add(self.cameraTexts[i][j], 1, wx.ALL|wx.EXPAND, 2)
ibox.Add(jbox, 1, wx.ALL|wx.EXPAND, 2)
cameraBox.Add(ibox, 1, wx.ALL|wx.EXPAND, 2)
distortionText = wx.StaticText(self.content, label=_("Distortion vector"))
distortionText.SetFont((wx.Font(10, wx.FONTFAMILY_DEFAULT, wx.NORMAL, wx.FONTWEIGHT_NORMAL)))
self.distortionTexts = [0]*5
self.distortionValues = np.zeros(5)
distortionBox = wx.BoxSizer(wx.HORIZONTAL)
distortionPanel.SetSizer(distortionBox)
for i in range(5):
ibox = wx.BoxSizer(wx.HORIZONTAL)
self.distortionTexts[i] = wx.TextCtrl(distortionPanel, wx.ID_ANY, "")
self.distortionTexts[i].SetMinSize((0,-1))
self.distortionTexts[i].SetEditable(False)
self.distortionTexts[i].Disable()
ibox.Add(self.distortionTexts[i], 1, wx.ALL|wx.EXPAND, 2)
distortionBox.Add(ibox, 1, wx.ALL|wx.EXPAND, 2)
self.parametersBox.Add(cameraText, 0, wx.ALL|wx.EXPAND, 8)
self.parametersBox.Add(cameraPanel, 0, wx.ALL|wx.EXPAND, 2)
self.parametersBox.Add(distortionText, 0, wx.ALL|wx.EXPAND, 8)
self.parametersBox.Add(distortionPanel, 0, wx.ALL|wx.EXPAND, 2)
self.Layout()
def __init__(self, parent):
""""""
ExpandablePanel.__init__(self, parent, _("Point Cloud Generation"))
self.driver = Driver.Instance()
self.simpleScan = SimpleScan.Instance()
self.pcg = PointCloudGenerator.Instance()
self.main = self.GetParent().GetParent().GetParent().GetParent()
self.initialize()
def __init__(self, parent):
""""""
ExpandablePanel.__init__(self,
parent,
_("Motor Control"),
hasUndo=False)
self.driver = Driver.Instance()
self.initialize()
def __init__(self, parent):
""""""
ExpandablePanel.__init__(self, parent, _("Image Segmentation"))
self.driver = Driver.Instance()
self.pcg = PointCloudGenerator.Instance()
self.simpleScan = SimpleScan.Instance()
self.textureScan = TextureScan.Instance()
self.initialize()
def __init__(self, parent, buttonPrevCallback=None, buttonNextCallback=None):
WizardPage.__init__(self, parent,
title=_("Connection"),
buttonPrevCallback=buttonPrevCallback,
buttonNextCallback=buttonNextCallback)
self.parent = parent
self.driver = Driver.Instance()
self.cameraIntrinsics = calibration.CameraIntrinsics.Instance()
self.autoCheck = calibration.SimpleLaserTriangulation.Instance()
self.connectButton = wx.Button(self.panel, label=_("Connect"))
self.settingsButton = wx.Button(self.panel, label=_("Edit settings"))
self.patternLabel = wx.StaticText(self.panel, label=_("Put the pattern on the platform as shown in the picture and press \"Auto check\""))
self.patternLabel.Wrap(400)
self.imageView = ImageView(self.panel)
self.imageView.setImage(wx.Image(resources.getPathForImage("pattern-position-right.jpg")))
self.autoCheckButton = wx.Button(self.panel, label=_("Auto check"))
self.gauge = wx.Gauge(self.panel, range=100, size=(-1, 30))
self.resultLabel = wx.StaticText(self.panel, size=(-1, 30))
self.connectButton.Enable()
self.settingsButton.Enable()
self.patternLabel.Disable()
self.imageView.Disable()
self.autoCheckButton.Disable()
self.skipButton.Disable()
self.nextButton.Disable()
self.resultLabel.Hide()
self.enableNext = False
vbox = wx.BoxSizer(wx.VERTICAL)
hbox = wx.BoxSizer(wx.HORIZONTAL)
hbox.Add(self.connectButton, 1, wx.ALL|wx.EXPAND, 5)
hbox.Add(self.settingsButton, 1, wx.ALL|wx.EXPAND, 5)
vbox.Add(hbox, 0, wx.ALL|wx.EXPAND, 2)
vbox.Add(self.patternLabel, 0, wx.ALL|wx.CENTER, 5)
vbox.Add(self.imageView, 1, wx.ALL|wx.EXPAND, 5)
vbox.Add(self.resultLabel, 0, wx.ALL|wx.CENTER, 5)
vbox.Add(self.gauge, 0, wx.ALL|wx.EXPAND, 5)
vbox.Add(self.autoCheckButton, 0, wx.ALL|wx.EXPAND, 5)
self.panel.SetSizer(vbox)
self.Layout()
self.connectButton.Bind(wx.EVT_BUTTON, self.onConnectButtonClicked)
self.settingsButton.Bind(wx.EVT_BUTTON, self.onSettingsButtonClicked)
self.autoCheckButton.Bind(wx.EVT_BUTTON, self.onAutoCheckButtonClicked)
self.Bind(wx.EVT_SHOW, self.onShow)
self.videoView.setMilliseconds(50)
self.videoView.setCallback(self.getDetectChessboardFrame)
self.updateStatus(self.driver.isConnected)
def __init__(self, parent, buttonPrevCallback=None, buttonNextCallback=None):
WizardPage.__init__(self, parent,
title=_("Connection"),
buttonPrevCallback=buttonPrevCallback,
buttonNextCallback=buttonNextCallback)
self.parent = parent
self.driver = Driver.Instance()
self.cameraIntrinsics = calibration.CameraIntrinsics.Instance()
self.autoCheck = calibration.SimpleLaserTriangulation.Instance()
self.connectButton = wx.Button(self.panel, label=_("Connect"))
luminosity=profile.getProfileSettingObject('luminosity').getType()
self.luminosityComboBox = wx.ComboBox(self.panel, wx.ID_ANY,
value=profile.getProfileSetting('luminosity'),
choices=[_(luminosity[0]), _(luminosity[1]), _(luminosity[2])],
style=wx.CB_READONLY)
self.patternLabel = wx.StaticText(self.panel, label=_("Put the pattern on the platform and press \"Auto check\""))
self.imageView = ImageView(self.panel)
self.imageView.setImage(wx.Image(resources.getPathForImage("pattern-position-right.jpg")))
self.autoCheckButton = wx.Button(self.panel, label=_("Auto check"))
self.gauge = wx.Gauge(self.panel, range=100, size=(-1, 30))
self.resultLabel = wx.StaticText(self.panel, size=(-1, 30))
self.connectButton.Enable()
self.patternLabel.Disable()
self.imageView.Disable()
self.autoCheckButton.Disable()
self.skipButton.Disable()
self.nextButton.Disable()
self.resultLabel.Hide()
self.enableNext = False
vbox = wx.BoxSizer(wx.VERTICAL)
hbox = wx.BoxSizer(wx.HORIZONTAL)
hbox.Add(self.connectButton, 1, wx.ALL|wx.EXPAND, 5)
hbox.Add(self.luminosityComboBox, 0, wx.ALL|wx.EXPAND, 5)
vbox.Add(hbox, 0, wx.ALL|wx.EXPAND, 2)
vbox.Add(self.patternLabel, 0, wx.ALL|wx.CENTER, 5)
vbox.Add(self.imageView, 1, wx.ALL|wx.EXPAND, 5)
vbox.Add(self.resultLabel, 0, wx.ALL|wx.CENTER, 5)
vbox.Add(self.gauge, 0, wx.ALL|wx.EXPAND, 5)
vbox.Add(self.autoCheckButton, 0, wx.ALL|wx.EXPAND, 5)
self.panel.SetSizer(vbox)
self.Layout()
self.connectButton.Bind(wx.EVT_BUTTON, self.onConnectButtonClicked)
self.luminosityComboBox.Bind(wx.EVT_COMBOBOX, self.onLuminosityComboBoxChanged)
self.autoCheckButton.Bind(wx.EVT_BUTTON, self.onAutoCheckButtonClicked)
self.Bind(wx.EVT_SHOW, self.onShow)
self.videoView.setMilliseconds(50)
self.videoView.setCallback(self.getDetectChessboardFrame)
self.updateStatus(self.driver.isConnected)
def __init__(self, parent):
""""""
ExpandablePanel.__init__(self,
parent,
_("LDR Value"),
hasUndo=False,
hasRestore=False)
self.driver = Driver.Instance()
self.initialize()
def __init__(self, parent):
""""""
ExpandablePanel.__init__(self, parent, _("Laser Settings"), hasUndo=False, hasRestore=False)
self.driver = Driver.Instance()
self.laserTriangulation = calibration.LaserTriangulation.Instance()
self.clearSections()
section = self.createSection('laser_settings')
# section.addItem(Slider, 'laser_threshold_value', self.laserTriangulation.setThreshold)
section.addItem(ToggleButton, 'left_button')
section.addItem(ToggleButton, 'right_button')
def __init__(self, parent):
""""""
ExpandablePanel.__init__(self,
parent,
_("LDR Value"),
hasUndo=False,
hasRestore=False)
self.driver = Driver.Instance()
self.clearSections()
section = self.createSection('ldr_control')
section.addItem(LDRSection, 'ldr_value')
def __init__(self, parent):
""""""
ExpandablePanel.__init__(self,
parent,
_("Gcode Control"),
hasUndo=False,
hasRestore=False)
self.driver = Driver.Instance()
self.clearSections()
section = self.createSection('gcode_control')
section.addItem(GcodeSection, 'gcode_gui')
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 __init__(self, parent):
""""""
ExpandablePanel.__init__(self,
parent,
_("Rotative Platform"),
hasUndo=False)
self.driver = Driver.Instance()
self.simpleScan = SimpleScan.Instance()
self.textureScan = TextureScan.Instance()
self.pcg = PointCloudGenerator.Instance()
self.main = self.GetParent().GetParent().GetParent().GetParent()
self.initialize()
def __init__(self, parent):
""""""
ExpandablePanel.__init__(self,
parent,
_("Laser Control"),
hasUndo=False,
hasRestore=False)
self.driver = Driver.Instance()
self.clearSections()
section = self.createSection('laser_control')
section.addItem(ToggleButton, 'left_button')
section.addItem(ToggleButton, 'right_button')
def __init__(self, parent):
super(Wizard, self).__init__(parent,
title="",
size=(640 + 120, 480 + 40))
self.parent = parent
self.driver = Driver.Instance()
self.currentWorkbench = profile.getPreference('workbench')
self.connectionPage = ConnectionPage(
self,
buttonPrevCallback=self.onConnectionPagePrevClicked,
buttonNextCallback=self.onConnectionPageNextClicked)
self.calibrationPage = CalibrationPage(
self,
buttonPrevCallback=self.onCalibrationPagePrevClicked,
buttonNextCallback=self.onCalibrationPageNextClicked)
self.scanningPage = ScanningPage(
self,
buttonPrevCallback=self.onScanningPagePrevClicked,
buttonNextCallback=self.onScanningPageNextClicked)
pages = [self.connectionPage, self.calibrationPage, self.scanningPage]
self.connectionPage.intialize(pages)
self.calibrationPage.intialize(pages)
self.scanningPage.intialize(pages)
self.connectionPage.Show()
self.calibrationPage.Hide()
self.scanningPage.Hide()
self.driver.board.setUnplugCallback(
lambda: wx.CallAfter(self.onBoardUnplugged))
self.driver.camera.setUnplugCallback(
lambda: wx.CallAfter(self.onCameraUnplugged))
hbox = wx.BoxSizer(wx.HORIZONTAL)
hbox.Add(self.connectionPage, 1, wx.ALL | wx.EXPAND, 0)
hbox.Add(self.calibrationPage, 1, wx.ALL | wx.EXPAND, 0)
hbox.Add(self.scanningPage, 1, wx.ALL | wx.EXPAND, 0)
self.SetSizer(hbox)
self.Bind(wx.EVT_CLOSE, lambda e: self.onExit())
self.Centre()
self.ShowModal()
def __init__(self, parent):
""""""
ExpandablePanel.__init__(self, parent, _("Point Cloud Generation"))
self.driver = Driver.Instance()
self.simpleScan = SimpleScan.Instance()
self.pcg = PointCloudGenerator.Instance()
self.main = self.GetParent().GetParent().GetParent().GetParent()
self.clearSections()
section = self.createSection('point_cloud_generation')
section.addItem(CheckBox, 'view_roi', tooltip=_("View the Region Of Interest (ROI). This cylindrical region is the one being scanned. All information outside won't be taken into account during the scanning process"))
section.addItem(Slider, 'roi_diameter')
section.addItem(Slider, 'roi_height')
section.addItem(Button, 'point_cloud_color')
def __init__(self, parent):
""""""
ExpandablePanel.__init__(self, parent, _("Rotative Platform"), hasUndo=False)
self.driver = Driver.Instance()
self.simpleScan = SimpleScan.Instance()
self.textureScan = TextureScan.Instance()
self.pcg = PointCloudGenerator.Instance()
self.main = self.GetParent().GetParent().GetParent().GetParent()
self.clearSections()
section = self.createSection('motor_scanning')
section.addItem(TextBox, 'step_degrees_scanning')
section.addItem(TextBox, 'feed_rate_scanning')
section.addItem(TextBox, 'acceleration_scanning')
def __init__(self, parent):
""""""
ExpandablePanel.__init__(self,
parent,
_("Motor Control"),
hasUndo=False)
self.driver = Driver.Instance()
self.clearSections()
section = self.createSection('motor_control')
section.addItem(TextBox, 'step_degrees_control')
section.addItem(TextBox, 'feed_rate_control')
section.addItem(TextBox, 'acceleration_control')
section.addItem(CallbackButton, 'move_button')
section.addItem(ToggleButton, 'enable_button')
def __init__(self, parent):
""""""
ExpandablePanel.__init__(self, parent, _("Image Segmentation"))
self.driver = Driver.Instance()
self.pcg = PointCloudGenerator.Instance()
self.simpleScan = SimpleScan.Instance()
self.textureScan = TextureScan.Instance()
self.clearSections()
section = self.createSection('image_segmentation_simple', None, tag='Simple Scan')
section.addItem(CheckBox, 'use_cr_threshold', tooltip=_("Threshold is a function used to remove the noise when scanning. It removes a pixel if its intensity is less than the threshold value"))
section.addItem(Slider, 'cr_threshold_value')
section = self.createSection('image_segmentation_texture', None, tag='Texture Scan')
section.addItem(CheckBox, 'use_open', tooltip=_("Open is an operation used to remove the noise when scanning. The higher its value, the lower the noise but also the lower the detail in the image"))
section.addItem(Slider, 'open_value')
section.addItem(CheckBox, 'use_threshold', tooltip=_("Threshold is a function used to remove the noise when scanning. It removes a pixel if its intensity is less than the threshold value"))
section.addItem(Slider, 'threshold_value')
def __init__(self, parent):
WorkbenchConnection.__init__(self, parent)
self.driver = Driver.Instance()
self.load()
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.))
