def generate(self): g.cloud(self.an,name='scene',color='r',dice=6,R=1,access='new') try : ll=np.shape(self.bn)[1] for i in range (ll): g.cloud(self.bn[i,:],display=False,name='scene',color='g',dice=6,access='append') except : g.cloud(self.bn,display=False,name='scene',color='g',dice=6,access='append')
def show3(self,l=-1,amb=False,sc='all'):
""" Display constraints and theirs boxes through geomview.
geomview parameters are the following
self.parmsh['display']=False # launch geomview interactively
self.parmsh['scene']=True # display whole scene
self.parmsh['boxes']=True # display constraint box
self.parmsh['constr_boxes']=False # display constraint box
self.parmsh['estimated']=True # display estimated point
...
.. todo:
create a .ini file for geomview parameters
:Parameters:
l : layer number to observe. If -1 estimation is made on the highest available layer. default = -1
amb : display ambiguous boxes. default = false
sc : display all constraint or give a list with the constrinat number to observe ex: [0,1,3]. default 'all'
:Returns:
Nothing but calls a geomview instance
"""
Nc = self.Nc
filename = "./geom/cla.list"
fd =open(filename,"w")
fd.write("LIST\n")
par=self.parmsh
if par['constr_boxes']:
if l==-1:
if sc == 'all':
for c in self.c:
c.parmsh['display']=False
c.parmsh['scene']=False
fname = c.show3()
fd.write("{<"+fname+".list}\n")
else :
try:
for vsc in sc:
self.c[vsc].parmsh['display']=False
self.c[vsc].parmsh['scene']=False
fname = self.c[vsc].show3()
fd.write("{<"+fname+".list}\n")
except :
self.c[sc].parmsh['display']=False
self.c[sc].parmsh['scene']=False
fname = self.c[sc].show3()
fd.write("{<"+fname+".list}\n")
else:
self.c[l].parmsh['dispay']=False
self.c[l].parmsh['scene']=False
fname = self.c[l].show3()
fd.write("{<"+fname+".list}\n")
col = ['r','b','g','m','y','b','r']
if par['scene']:
an= np.zeros(len(self.bn))
for c in self.c:
an=np.vstack((an,c.p))
S=Scene(an=an,bn=self.bn)
sce=S.generate()
if par['estimated']:
try :
sce = g.cloud(self.pe,display=False,name='scene',color='k',dice=6,access='append')
except :
pass
fd.write("{<"+sce+"}\n")
if par['boxes']:
for l in self.dlayer.keys():
self.dlayer[l][0].parmsh['display']=False
self.dlayer[l][1].parmsh['display']=False
try :
fname = self.dlayer[l][0].show3(col=col[Nc-l+1],Id=l)
fd.write("{<"+fname+"}\n")
except :
pass
if amb :
coco=['r','v','b','y']
fname = self.dlayer[l][1].show3(col=col[Nc-l],Id=l+1)
# fname = self.dlayer[l][1].show3(col=coco,Id=l+1)
fd.write("{<"+fname+"}\n")
fd.close()
chaine = "geomview -nopanel -b 1 1 1 " + filename + " 2>/dev/null &"
os.system(chaine)
