class LaserTriangulation3DPlot(wx.Panel):
def __init__(self, parent):
wx.Panel.__init__(self, parent)
self.initialize()
def initialize(self):
fig = Figure(facecolor=(0.7490196, 0.7490196, 0.7490196, 1),
tight_layout=True)
self.canvas = FigureCanvasWxAgg(self, -1, fig)
self.canvas.SetExtraStyle(wx.EXPAND)
#TODO
#self.ax = fig.gca(projection='3d', axisbg=(0.7490196, 0.7490196, 0.7490196, 1))
self.ax = fig.gca(projection='3d')
self.Bind(wx.EVT_SIZE, self.onSize)
self.Layout()
def onSize(self, event):
self.canvas.SetClientSize(self.GetClientSize())
self.canvas.draw()
self.Layout()
def add(self, args):
dL, nL, stdL, dR, nR, stdR = args
rL = np.cross(np.array([0, 0, 1]), nL)
sL = np.cross(rL, nL)
RL = np.array([rL, sL, nL])
rR = np.cross(np.array([0, 0, 1]), nR)
sR = np.cross(rR, nR)
RR = np.array([rR, sR, nR])
self.addPlane(RL, dL * nL)
self.addPlane(RR, dR * nR)
self.ax.plot([0, 50], [0, 0], [0, 0], linewidth=2.0, color='red')
self.ax.plot([0, 0], [0, 0], [0, 50], linewidth=2.0, color='green')
self.ax.plot([0, 0], [0, 50], [0, 0], linewidth=2.0, color='blue')
self.ax.set_xlabel('X')
self.ax.set_ylabel('Z')
self.ax.set_zlabel('Y')
self.ax.text(-100, 0, 0, str(round(stdL, 5)), fontsize=15)
self.ax.text(100, 0, 0, str(round(stdR, 5)), fontsize=15)
self.ax.set_xlim(-150, 150)
self.ax.set_ylim(0, 400)
self.ax.set_zlim(-150, 150)
self.ax.invert_xaxis()
self.ax.invert_yaxis()
self.ax.invert_zaxis()
self.canvas.draw()
self.Layout()
def addPlane(self, R, t):
w = 200
h = 300
p = np.array([[-w / 2, -h / 2, 0], [-w / 2, h / 2,
0], [w / 2, h / 2, 0],
[w / 2, -h / 2, 0], [-w / 2, -h / 2, 0]])
n = np.array([[0, 0, 1], [0, 0, 1], [0, 0, 1], [0, 0, 1], [0, 0, 1]])
self.ax.plot([0, t[0]], [0, t[2]], [0, t[1]],
linewidth=2.0,
color='yellow')
points = np.dot(R.T, p.T) + np.array([t, t, t, t, t]).T
normals = np.dot(R.T, n.T)
X = np.array([points[0], normals[0]])
Y = np.array([points[1], normals[1]])
Z = np.array([points[2], normals[2]])
self.ax.plot_surface(X, Z, Y, linewidth=0, color=(1, 0, 0, 0.8))
self.canvas.draw()
def clear(self):
self.ax.cla()
class PlotPanel(wx.Panel):
''' Base class for the plotting in GenX - all the basic functionallity
should be implemented in this class. The plots should be derived from
this class. These classes should implement an update method to update
the plots.
'''
def __init__(self, parent, id = -1, color = None, dpi = None
, style = wx.NO_FULL_REPAINT_ON_RESIZE|wx.EXPAND|wx.ALL
, config = None, config_name = '', **kwargs):
wx.Panel.__init__(self,parent, id = id, style = style, **kwargs)
self.parent = parent
self.callback_window = self
self.config = config
self.config_name = config_name
self.figure = Figure(None,dpi)
self.canvas = FigureCanvasWxAgg(self, -1, self.figure)
self.canvas.SetExtraStyle(wx.EXPAND)
self.SetColor(color)
self.Bind(wx.EVT_IDLE, self._onIdle)
self.Bind(wx.EVT_SIZE, self._onSize)
self._resizeflag = True
self.print_size = (15./2.54, 12./2.54)
#self._SetSize()
# Flags and bindings for zooming
self.zoom = False
self.zooming = False
self.scale = 'linear'
self.autoscale = True
self.canvas.Bind(wx.EVT_LEFT_DOWN, self.OnLeftMouseButtonDown)
self.canvas.Bind(wx.EVT_LEFT_UP, self.OnLeftMouseButtonUp)
self.canvas.Bind(wx.EVT_MOTION, self.OnMouseMove)
self.canvas.Bind(wx.EVT_LEFT_DCLICK, self.OnLeftDblClick)
self.canvas.Bind(wx.EVT_RIGHT_UP, self.OnContextMenu)
cursor = wx.StockCursor(wx.CURSOR_CROSS)
self.canvas.SetCursor(cursor)
self.old_scale_state = True
self.ax = None
# Init printout stuff
self.fig_printer = FigurePrinter(self)
# Create the drawing bitmap
self.bitmap =wx.EmptyBitmap(1, 1)
# DEBUG_MSG("__init__() - bitmap w:%d h:%d" % (w,h), 2, self)
self._isDrawn = False
def SetColor(self, rgbtuple=None):
''' Set the figure and canvas color to be the same '''
if not rgbtuple:
rgbtuple = wx.SystemSettings.GetColour(wx.SYS_COLOUR_BTNFACE).Get()
col = [c/255. for c in rgbtuple]
self.figure.set_facecolor(col)
self.figure.set_edgecolor(col)
self.canvas.SetBackgroundColour(wx.Colour(*rgbtuple))
def _onSize(self, evt):
self._resizeflag = True
self._SetSize()
#self.canvas.draw(repaint = False)
def _onIdle(self, evt):
if self._resizeflag:
self._resizeflag = False
self._SetSize()
#self.canvas.gui_repaint(drawDC = wx.PaintDC(self))
def _SetSize(self, pixels = None):
''' This method can be called to force the Plot to be a desired
size which defaults to the ClientSize of the Panel.
'''
if not pixels:
pixels = self.GetClientSize()
self.canvas.SetSize(pixels)
#self.figure.set_size_inches(pixels[0]/self.figure.get_dpi()
#, pixels[1]/self.figure.get_dpi())
def ReadConfig(self):
'''ReadConfig(self) --> None
Reads in the config file
'''
bool_items = ['zoom', 'autoscale']
bool_func = [self.SetZoom, self.SetAutoScale]
if not self.config:
return
vals = []
for index in range(len(bool_items)):
try:
val = self.config.get_boolean(self.config_name,\
bool_items[index])
except io.OptionError as e:
print('Could not locate option %s.%s'\
%(self.config_name, bool_items[index]))
vals.append(None)
else:
vals.append(val)
try:
scale = self.config.get(self.config_name, 'y scale')
string_sucess = True
except io.OptionError as e:
string_sucess = False
print('Could not locate option %s.%s'\
%(self.config_name, 'scale'))
else:
self.SetYScale(scale)
# This is done due to that the zoom and autoscale has to read
# before any commands are issued in order not to overwrite
# the config
[bool_func[i](vals[i]) for i in range(len(vals)) if vals[i]]
def WriteConfig(self):
'''WriteConfig(self) --> None
Writes the current settings to the config file
'''
if self.config:
self.config.set(self.config_name, 'zoom', self.GetZoom())
self.config.set(self.config_name, 'autoscale', self.GetAutoScale())
self.config.set(self.config_name, 'y scale', self.GetYScale())
def SetZoom(self, active = False):
'''
set the zoomstate
'''
#if not self.zoom_sel:
#self.zoom_sel = RectangleSelector(self.ax,\
# self.box_select_callback, drawtype='box',useblit=False)
#print help(self.zoom_sel.ignore)
if active:
#self.zoom_sel.ignore = lambda x: False
self.zoom = True
cursor = wx.StockCursor(wx.CURSOR_MAGNIFIER)
self.canvas.SetCursor(cursor)
if self.callback_window:
evt = state_changed(zoomstate = True,\
yscale = self.GetYScale(), autoscale = self.autoscale)
wx.PostEvent(self.callback_window, evt)
if self.ax:
#self.ax.set_autoscale_on(False)
self.old_scale_state = self.GetAutoScale()
self.SetAutoScale(False)
else:
#self.zoom_sel.ignore = lambda x: True
self.zoom = False
cursor = wx.StockCursor(wx.CURSOR_CROSS)
self.canvas.SetCursor(cursor)
if self.callback_window:
evt = state_changed(zoomstate = False,\
yscale = self.GetYScale(), autoscale = self.autoscale)
wx.PostEvent(self.callback_window, evt)
if self.ax:
#self.ax.set_autoscale_on(self.autoscale)
self.SetAutoScale(self.old_scale_state)
self.WriteConfig()
def GetZoom(self):
'''GetZoom(self) --> state [bool]
Returns the zoom state of the plot panel.
True = zoom active
False = zoom inactive
'''
return self.zoom
def SetAutoScale(self, state):
'''SetAutoScale(self, state) --> None
Sets autoscale of the main axes wheter or not it should autoscale
when plotting
'''
#self.ax.set_autoscale_on(state)
self.autoscale = state
self.WriteConfig()
evt = state_changed(zoomstate = self.GetZoom(),\
yscale = self.GetYScale(), autoscale = self.autoscale)
wx.PostEvent(self.callback_window, evt)
def GetAutoScale(self):
'''GetAutoScale(self) --> state [bool]
Returns the autoscale state, true if the plots is automatically
scaled for each plot command.
'''
return self.autoscale
def AutoScale(self, force = False):
'''AutoScale(self) --> None
A log safe way to autoscale the plots - the ordinary axis tight
does not work for negative log data. This works!
'''
if not (self.autoscale or force):
return
# If nothing is plotted no autoscale use defaults...
if sum([len(line.get_ydata()) > 0 for line in self.ax.lines]) == 0:
self.ax.set_xlim(0, 1)
self.ax.set_ylim(1e-3, 1.0)
return
if self.scale == 'log':
#print 'log scaling'
# Find the lowest possible value of all the y-values that are
#greater than zero. check so that y data contain data before min
# is applied
tmp = [line.get_ydata().compress(line.get_ydata() > 0.0).min()\
for line in self.ax.lines if array(line.get_ydata() > 0.0).sum() > 0]
if len(tmp) > 0:
ymin = min(tmp)
else:
ymin = 1e-3
tmp = [line.get_ydata().compress(line.get_ydata() > 0.0).max()\
for line in self.ax.lines if array(line.get_ydata() > 0.0).sum() > 0]
if len(tmp) > 0:
ymax = max(tmp)
else:
ymax = 1
else:
ymin = min([array(line.get_ydata()).min()\
for line in self.ax.lines if len(line.get_ydata()) > 0])
ymax = max([array(line.get_ydata()).max()\
for line in self.ax.lines if len(line.get_ydata()) > 0])
tmp = [array(line.get_xdata()).min()\
for line in self.ax.lines if len(line.get_ydata()) > 0]
if len(tmp) > 0:
xmin = min(tmp)
else:
xmin = 0
tmp = [array(line.get_xdata()).max()\
for line in self.ax.lines if len(line.get_ydata()) > 0]
if len(tmp) > 0:
xmax = max(tmp)
else:
xmax = 1
# Set the limits
#print 'Autoscaling to: ', ymin, ymax
self.ax.set_xlim(xmin, xmax)
self.ax.set_ylim(ymin*(1-sign(ymin)*0.05), ymax*(1+sign(ymax)*0.05))
#self.ax.set_yscale(self.scale)
self.flush_plot()
def SetYScale(self, scalestring):
''' SetYScale(self, scalestring) --> None
Sets the y-scale of the main plotting axes. Currently accepts
'log' or 'lin'.
'''
if self.ax:
if scalestring == 'log':
self.scale = 'log'
self.AutoScale(force = True)
try:
self.ax.set_yscale('log')
except OverflowError:
self.AutoScale(force = True)
elif scalestring == 'linear' or scalestring == 'lin':
self.scale = 'linear'
self.ax.set_yscale('linear')
self.AutoScale(force = True)
else:
raise ValueError('Not allowed scaling')
self.flush_plot()
evt = state_changed(zoomstate = self.GetZoom(),\
yscale = self.GetYScale(), autoscale = self.autoscale)
wx.PostEvent(self.callback_window, evt)
self.WriteConfig()
def GetYScale(self):
'''GetYScale(self) --> String
Returns the current y-scale in use. Currently the string
'log' or 'linear'. If the axes does not exist it returns None.
'''
if self.ax:
return self.ax.get_yscale()
else:
return None
def CopyToClipboard(self, event = None):
'''CopyToClipboard(self, event) --> None
Copy the plot to the clipboard.
'''
self.canvas.Copy_to_Clipboard(event = event)
def PrintSetup(self, event = None):
'''PrintSetup(self) --> None
Sets up the printer. Creates a dialog box
'''
self.fig_printer.pageSetup()
def PrintPreview(self, event = None):
'''PrintPreview(self) --> None
Prints a preview on screen.
'''
self.fig_printer.previewFigure(self.figure)
def Print(self, event= None):
'''Print(self) --> None
Print the figure.
'''
self.fig_printer.printFigure(self.figure)
def SetCallbackWindow(self, window):
'''SetCallbackWindow(self, window) --> None
Sets the callback window that should recieve the events from
picking.
'''
self.callback_window = window
def OnLeftDblClick(self, event):
if self.ax and self.zoom:
tmp = self.GetAutoScale()
self.SetAutoScale(True)
self.AutoScale()
self.SetAutoScale(tmp)
#self.AutoScale()
#self.flush_plot()
#self.ax.set_autoscale_on(False)
def OnLeftMouseButtonDown(self, event):
self.start_pos = event.GetPosition()
#print 'Left Mouse button pressed ', self.ax.transData.inverse_xy_tup(self.start_pos)
class Point:
pass
p = Point()
p.x, p.y = self.start_pos
size = self.canvas.GetClientSize()
p.y = (size.height - p.y)
if self.zoom and self.ax:
if mat_ver > zoom_ver:
in_axes = self.ax.in_axes(p)
else:
in_axes = self.ax.in_axes(*self.start_pos)
if in_axes:
self.zooming = True
self.cur_rect = None
self.canvas.CaptureMouse()
else:
self.zooming = False
elif self.ax:
size = self.canvas.GetClientSize()
if mat_ver > zoom_ver:
xy = self.ax.transData.inverted().transform(\
array([self.start_pos[0], size.height-self.start_pos[1]])\
[newaxis,:])
x, y = xy[0,0], xy[0,1]
else:
x, y = self.ax.transData.inverse_xy_tup(\
(self.start_pos[0], size.height - self.start_pos[1]))
if self.callback_window:
evt = plot_position(text = '(%.3e, %.3e)'%(x, y))
wx.PostEvent(self.callback_window, evt)
#print x,y
def OnMouseMove(self, event):
if self.zooming and event.Dragging() and event.LeftIsDown():
self.cur_pos = event.GetPosition()
#print 'Mouse Move ', self.ax.transData.inverse_xy_tup(self.cur_pos)
class Point:
pass
p = Point()
p.x, p.y = self.cur_pos
size = self.canvas.GetClientSize()
p.y = (size.height - p.y)
if mat_ver > zoom_ver:
in_axes = self.ax.in_axes(p)
else:
in_axes = self.ax.in_axes(*self.start_pos)
if in_axes:
new_rect = (min(self.start_pos[0], self.cur_pos[0]),
min(self.start_pos[1], self.cur_pos[1]),
abs(self.cur_pos[0] - self.start_pos[0]),
abs(self.cur_pos[1] - self.start_pos[1]))
self._DrawAndErase(new_rect, self.cur_rect)
self.cur_rect = new_rect
#event.Skip()
def OnLeftMouseButtonUp(self, event):
if self.canvas.HasCapture():
#print 'Left Mouse button up'
self.canvas.ReleaseMouse()
if self.zooming and self.cur_rect:
# Note: The coordinte system for matplotlib have a different
# direction of the y-axis and a different origin!
size = self.canvas.GetClientSize()
if mat_ver > zoom_ver:
start = self.ax.transData.inverted().transform(\
array([self.start_pos[0], size.height-self.start_pos[1]])[newaxis,:])
end = self.ax.transData.inverted().transform(\
array([self.cur_pos[0], size.height-self.cur_pos[1]])[newaxis, :])
xend, yend = end[0,0], end[0,1]
xstart, ystart = start[0,0], start[0,1]
else:
xstart, ystart = self.ax.transData.inverse_xy_tup(\
(self.start_pos[0], size.height-self.start_pos[1]))
xend, yend = self.ax.transData.inverse_xy_tup(\
(self.cur_pos[0], size.height-self.cur_pos[1]))
#print xstart, xend
#print ystart, yend
self.ax.set_xlim(min(xstart,xend), max(xstart,xend))
self.ax.set_ylim(min(ystart,yend), max(ystart,yend))
self.flush_plot()
self.zooming = False
def _DrawAndErase(self, box_to_draw, box_to_erase = None):
'''_DrawAndErase(self, box_to_draw, box_to_erase = None) --> None
'''
dc = wx.ClientDC(self.canvas)
# dc.BeginDrawing()
dc.SetPen(wx.Pen(wx.WHITE, 1, wx.DOT))
dc.SetBrush(wx.TRANSPARENT_BRUSH)
dc.SetLogicalFunction(wx.XOR)
if box_to_erase:
dc.DrawRectangle(*box_to_erase)
dc.DrawRectangle(*box_to_draw)
# dc.EndDrawing()
def OnContextMenu(self, event):
'''OnContextMenu(self, event) --> None
Callback to show the popmenu for the plot which allows various
settings to be made.
'''
menu = wx.Menu()
zoomID = wx.NewId()
menu.AppendCheckItem(zoomID, "Zoom")
menu.Check(zoomID, self.GetZoom())
def OnZoom(event):
self.SetZoom(not self.GetZoom())
self.Bind(wx.EVT_MENU, OnZoom, id = zoomID)
zoomallID = wx.NewId()
menu.Append(zoomallID, 'Zoom All')
def zoomall(event):
tmp = self.GetAutoScale()
self.SetAutoScale(True)
self.AutoScale()
self.SetAutoScale(tmp)
#self.flush_plot()
self.Bind(wx.EVT_MENU, zoomall, id = zoomallID)
copyID = wx.NewId()
menu.Append(copyID, "Copy")
def copy(event):
self.CopyToClipboard()
self.Bind(wx.EVT_MENU, copy, id = copyID)
yscalemenu = wx.Menu()
logID = wx.NewId()
linID = wx.NewId()
yscalemenu.AppendRadioItem(logID, "log")
yscalemenu.AppendRadioItem(linID, "linear")
menu.AppendMenu(-1, "y-scale", yscalemenu)
if self.GetYScale() == 'log':
yscalemenu.Check(logID, True)
else:
yscalemenu.Check(linID, True)
def yscale_log(event):
if self.ax:
self.SetYScale('log')
self.AutoScale()
self.flush_plot()
def yscale_lin(event):
if self.ax:
self.SetYScale('lin')
self.AutoScale()
self.flush_plot()
self.Bind(wx.EVT_MENU, yscale_log, id = logID)
self.Bind(wx.EVT_MENU, yscale_lin, id = linID)
autoscaleID = wx.NewId()
menu.AppendCheckItem(autoscaleID, "Autoscale")
menu.Check(autoscaleID, self.GetAutoScale())
def OnAutoScale(event):
self.SetAutoScale(not self.GetAutoScale())
self.Bind(wx.EVT_MENU, OnAutoScale, id = autoscaleID)
# Time to show the menu
self.PopupMenu(menu)
menu.Destroy()
def flush_plot(self):
#self._SetSize()
#self.canvas.gui_repaint(drawDC = wx.PaintDC(self))
#self.ax.set_yscale(self.scale)
self.canvas.draw()
def update(self, data):
pass
class PlatformExtrinsics3DPlot(wx.Panel):
def __init__(self, parent):
wx.Panel.__init__(self, parent)
self.initialize()
def initialize(self):
fig = Figure(facecolor=(0.7490196, 0.7490196, 0.7490196, 1),
tight_layout=True)
self.canvas = FigureCanvasWxAgg(self, -1, fig)
self.canvas.SetExtraStyle(wx.EXPAND)
#TODO
#self.ax = fig.gca(projection='3d', axisbg=(0.7490196, 0.7490196, 0.7490196, 1))
self.ax = fig.gca(projection='3d')
self.Bind(wx.EVT_SIZE, self.on_size)
self.Layout()
def on_size(self, event):
self.canvas.SetClientSize(self.GetClientSize())
self.canvas.draw()
self.Layout()
def add(self, args):
R, t, center, point, normal, [x, y, z], circle = args
# plot the surface, data, and synthetic circle
self.ax.scatter(x, z, y, c='b', marker='o')
# self.ax.scatter(center[0], center[2], center[1], c='b', marker='o')
self.ax.plot(circle[0], circle[2], circle[1], c='r')
d = pattern.origin_distance
self.ax.plot([t[0], t[0] + 50 * R[0][0]], [t[2], t[2] + 50 * R[2][0]],
[t[1], t[1] + 50 * R[1][0]],
linewidth=2.0,
color='red')
self.ax.plot([t[0], t[0] + 50 * R[0][1]], [t[2], t[2] + 50 * R[2][1]],
[t[1], t[1] + 50 * R[1][1]],
linewidth=2.0,
color='green')
self.ax.plot([t[0], t[0] + d * R[0][2]], [t[2], t[2] + d * R[2][2]],
[t[1], t[1] + d * R[1][2]],
linewidth=2.0,
color='blue')
self.ax.plot([0, 50], [0, 0], [0, 0], linewidth=2.0, color='red')
self.ax.plot([0, 0], [0, 0], [0, 50], linewidth=2.0, color='green')
self.ax.plot([0, 0], [0, 50], [0, 0], linewidth=2.0, color='blue')
self.ax.set_xlabel('X')
self.ax.set_ylabel('Z')
self.ax.set_zlabel('Y')
self.ax.set_xlim(-150, 150)
self.ax.set_ylim(0, 400)
self.ax.set_zlim(-150, 150)
self.ax.invert_xaxis()
self.ax.invert_yaxis()
self.ax.invert_zaxis()
self.canvas.draw()
self.Layout()
def clear(self):
self.ax.cla()
class CameraIntrinsics3DPlot(wx.Panel):
def __init__(self, parent):
wx.Panel.__init__(self, parent)
self.initialize()
def initialize(self):
self.fig = Figure(facecolor=(0.7490196, 0.7490196, 0.7490196, 1),
tight_layout=True)
self.canvas = FigureCanvasWxAgg(self, -1, self.fig)
self.canvas.SetExtraStyle(wx.EXPAND)
self.ax = self.fig.gca(projection='3d',
axisbg=(0.7490196, 0.7490196, 0.7490196, 1))
self.print_canvas()
self.Bind(wx.EVT_SIZE, self.on_size)
self.Layout()
def on_size(self, event):
self.canvas.SetClientSize(self.GetClientSize())
self.Layout()
event.Skip()
def print_canvas(self):
self.ax.plot([0, 50], [0, 0], [0, 0], linewidth=2.0, color='red')
self.ax.plot([0, 0], [0, 0], [0, 50], linewidth=2.0, color='green')
self.ax.plot([0, 0], [0, 50], [0, 0], linewidth=2.0, color='blue')
self.ax.set_xlabel('X')
self.ax.set_ylabel('Z')
self.ax.set_zlabel('Y')
self.ax.set_xlim(-150, 150)
self.ax.set_ylim(0, 500)
self.ax.set_zlim(-150, 150)
self.ax.invert_xaxis()
self.ax.invert_yaxis()
self.ax.invert_zaxis()
def add(self, error, rvecs, tvecs):
w = pattern.columns * pattern.square_width
h = pattern.rows * pattern.square_width
p = np.array([[0, 0, 0], [w, 0, 0], [w, h, 0], [0, h, 0], [0, 0, 0]])
n = np.array([[0, 0, 1], [0, 0, 1], [0, 0, 1], [0, 0, 1], [0, 0, 1]])
c = np.array([[30, 0, 0], [0, 30, 0], [0, 0, -30]])
self.ax.text(-100, 200, 0, str(round(error, 5)), fontsize=15)
for ind, transvector in enumerate(rvecs):
R = cv2.Rodrigues(transvector)[0]
t = tvecs[ind]
points = (np.dot(R, p.T) + np.array([t, t, t, t, t]).T)[0]
normals = np.dot(R, n.T)
X = np.array([points[0], normals[0]])
Y = np.array([points[1], normals[1]])
Z = np.array([points[2], normals[2]])
coords = (np.dot(R, c.T) + np.array([t, t, t]).T)[0]
CX = coords[0]
CY = coords[1]
CZ = coords[2]
color = (random.random(), random.random(), random.random(), 0.8)
self.ax.plot_surface(X, Z, Y, linewidth=0, color=color)
self.ax.plot([t[0][0], CX[0]], [t[2][0], CZ[0]], [t[1][0], CY[0]],
linewidth=1.0,
color='green')
self.ax.plot([t[0][0], CX[1]], [t[2][0], CZ[1]], [t[1][0], CY[1]],
linewidth=1.0,
color='red')
self.ax.plot([t[0][0], CX[2]], [t[2][0], CZ[2]], [t[1][0], CY[2]],
linewidth=1.0,
color='blue')
self.canvas.draw()
self.Layout()
def clear(self):
self.ax.cla()
self.print_canvas()
