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 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):
""" display constraint on Geomview
The filename is boxes{Id}.list
Id is the Id of the current constraint
"""
if self.runable:
fname = 'boxes' + str(self.id)
filename = basename + "/geom/" + fname + ".list"
fd = open(filename, "w")
fd.write("LIST\n")
#
# Display scene
#
if self.parmsh['scene']:
fd.write("{<scene.list}\n")
#
# Display boxes
#
# if self.parmsh['mode']=='Full':
# H_Id=self.history[-1].Id+1
# #
# # Display all boxes
# #
# for k in range(len(self.history)):
# cons = self.history[k] # constraint k
# lb = cons.lbox
# lb.parmsh['display']=False
# filename2=lb.show3(Id=cons.Id)
# fd.write("{<"+filename2+"}\n")
elif self.parmsh['mode'] == 'Current':
#
# Display current box
#
color = ['m', 'g', 'c', 'y', 'm', 'b', 'r',
'm', 'g', 'c', 'y', 'orange', 'skyblue']
#color = ['skyblue','skyblue','orange']
if self.parmsh['boxes']:
lb = self.lbox
lb.parmsh['display'] = False
filename2 = lb.show3(Id=[self.id], col='m') # )color[self.Id])
fd.write("{<" + filename2 + "}\n")
#
# Display Spherical Constraint
#
if self.parmsh['quadric']:
if self.type == 'TOA':
c1 = str(self.range + self.vcw * self.sstd)
c2 = str(max(0, self.range - self.vcw * self.sstd))
try:
c3 = str(self.p[0]) + " " + str(self.p[1]) + " " + \
str(self.p[2])
except:
c3 = str(self.p[0]) + " " + str(self.p[
1]) + " " + str(0)
fd.write("{appearance {-edge patchdice 10 10 material {alpha 0.2}} {SPHERE " + c1 + " " + c3 + " }}\n")
fd.write("{appearance {-edge patchdice 10 10 material {alpha 0.2}} {SPHERE " + c2 + " " + c3 + " }}\n")
fd.close()
#
# Display points
#
if self.parmsh['point']:
if self.type != 'Fusion':
g.cloud(self.p, name=fname, color='g',
dice=6, access='append')
if self.evaluated:
if self.parmsh['estimated']:
g.cloud(self.pe, name=fname, color='b',
dice=6, access='append')
if self.parmsh['estimated_LS']:
g.cloud(self.p_LS, name=fname, color='r',
dice=6, access='append')
if self.parmsh['grid']:
if self.evaluated:
g.cloud(self.g.p, name=fname, color='k', dice=2,
R=0.1, access='append')
if self.parmsh['display']:
print filename
chaine = "geomview -nopanel -b 1 1 1 " + \
filename + " 2>/dev/null &"
os.system(chaine)
else:
return(fname)
else:
print 'constraint is not runnable. It can not be displayed'
def show3(self):
""" display constraint on Geomview
The filename is boxes{Id}.list
Id is the Id of the current constraint
"""
if self.runable:
fname = "boxes" + str(self.id)
filename = basename + "/geom/" + fname + ".list"
fd = open(filename, "w")
fd.write("LIST\n")
#
# Display scene
#
if self.parmsh["scene"]:
fd.write("{<scene.list}\n")
#
# Display boxes
#
# if self.parmsh['mode']=='Full':
# H_Id=self.history[-1].Id+1
# #
# # Display all boxes
# #
# for k in range(len(self.history)):
# cons = self.history[k] # constraint k
# lb = cons.lbox
# lb.parmsh['display']=False
# filename2=lb.show3(Id=cons.Id)
# fd.write("{<"+filename2+"}\n")
elif self.parmsh["mode"] == "Current":
#
# Display current box
#
color = ["m", "g", "c", "y", "m", "b", "r", "m", "g", "c", "y", "orange", "skyblue"]
# color = ['skyblue','skyblue','orange']
if self.parmsh["boxes"]:
lb = self.lbox
lb.parmsh["display"] = False
filename2 = lb.show3(Id=[self.id], col="m") # )color[self.Id])
fd.write("{<" + filename2 + "}\n")
#
# Display Spherical Constraint
#
if self.parmsh["quadric"]:
if self.type == "TOA":
c1 = str(self.range + self.vcw * self.sstd)
c2 = str(max(0, self.range - self.vcw * self.sstd))
try:
c3 = str(self.p[0]) + " " + str(self.p[1]) + " " + str(self.p[2])
except:
c3 = str(self.p[0]) + " " + str(self.p[1]) + " " + str(0)
fd.write(
"{appearance {-edge patchdice 10 10 material {alpha 0.2}} {SPHERE "
+ c1
+ " "
+ c3
+ " }}\n"
)
fd.write(
"{appearance {-edge patchdice 10 10 material {alpha 0.2}} {SPHERE "
+ c2
+ " "
+ c3
+ " }}\n"
)
fd.close()
#
# Display points
#
if self.parmsh["point"]:
if self.type != "Fusion":
g.cloud(self.p, name=fname, color="g", dice=6, access="append")
if self.evaluated:
if self.parmsh["estimated"]:
g.cloud(self.pe, name=fname, color="b", dice=6, access="append")
if self.parmsh["estimated_LS"]:
g.cloud(self.p_LS, name=fname, color="r", dice=6, access="append")
if self.parmsh["grid"]:
if self.evaluated:
g.cloud(self.g.p, name=fname, color="k", dice=2, R=0.1, access="append")
if self.parmsh["display"]:
print filename
chaine = "geomview -nopanel -b 1 1 1 " + filename + " 2>/dev/null &"
os.system(chaine)
else:
return fname
else:
print "constraint is not runnable. It can not be displayed"
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 = basename + "/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:
if c.runable:
c.parmsh['display'] = False
c.parmsh['scene'] = False
fname = c.show3()
fd.write("{<" + fname + ".list}\n")
else:
try:
for vsc in sc:
if self.c[vsc].runable:
self.c[vsc].parmsh['display'] = False
self.c[vsc].parmsh['scene'] = False
fname = self.c[vsc].show3()
fd.write("{<" + fname + ".list}\n")
except:
if self.c[sc].runable:
self.c[sc].parmsh['display'] = False
self.c[sc].parmsh['scene'] = False
fname = self.c[sc].show3()
fd.write("{<" + fname + ".list}\n")
else:
if c[l].runable:
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:
if c.runable:
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')
fd.write("{<" + sce + "}\n")
except:
pass
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)
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 = basename + "/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:
if c.runable:
c.parmsh['display'] = False
c.parmsh['scene'] = False
fname = c.show3()
fd.write("{<" + fname + ".list}\n")
else:
try:
for vsc in sc:
if self.c[vsc].runable:
self.c[vsc].parmsh['display'] = False
self.c[vsc].parmsh['scene'] = False
fname = self.c[vsc].show3()
fd.write("{<" + fname + ".list}\n")
except:
if self.c[sc].runable:
self.c[sc].parmsh['display'] = False
self.c[sc].parmsh['scene'] = False
fname = self.c[sc].show3()
fd.write("{<" + fname + ".list}\n")
else:
if c[l].runable:
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:
if c.runable:
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')
fd.write("{<" + sce + "}\n")
except:
pass
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)