Merge pull request #61 from diffCheckOrg/substractive_segmentation_with_DFAssembly

refactoring segmentations with DFAsssembly

Author: 9and3

src/gh/components/DF_CAD_segmentator/code.py

@@ -38,7 +38,7 @@ def RunScript(self,
         o_clusters = []
         # the df cloud clusters
         df_clusters = []
-        # we make a deepcopy of the input clouds because 
+        # we make a deepcopy of the input clouds
         df_clouds = [df_cvt_bindings.cvt_rhcloud_2_dfcloud(cloud.Duplicate()) for cloud in i_clouds]
 
         df_beams = i_assembly.beams
@@ -73,11 +73,11 @@ def RunScript(self,
 
         return o_clusters, rh_beams_meshes
 
-if __name__ == "__main__":
-    com = DFCADSegmentator()
-    o_clusters, rh_beams_meshes = com.RunScript(
-        i_clouds,
-        i_assembly,
-        i_angle_threshold,
-        i_association_threshold
-        )
+# if __name__ == "__main__":
+#     com = DFCADSegmentator()
+#     o_clusters, rh_beams_meshes = com.RunScript(
+#         i_clouds,
+#         i_assembly,
+#         i_angle_threshold,
+#         i_association_threshold
+#         )

src/gh/components/DF_joint_segmentator/code.py

@@ -7,84 +7,84 @@
 from diffCheck import df_cvt_bindings as df_cvt
 import diffCheck.df_util
 
+from Grasshopper.Kernel import GH_RuntimeMessageLevel as RML
 from ghpythonlib.componentbase import executingcomponent as component
 
+import typing
+
 ABSTOL = Rhino.RhinoDoc.ActiveDoc.ModelAbsoluteTolerance
 
 class DFJointSegmentator(component):
+    def __init__(self):
+        super(DFJointSegmentator, self).__init__()
     def RunScript(self, 
-                  i_clusters: Rhino.Geometry.PointCloud, 
-                  i_joints: Rhino.Geometry.Mesh, 
-                  i_joint_ids: int,
+                  i_clusters: typing.List[Rhino.Geometry.PointCloud], 
+                  i_assembly: diffCheck.df_geometries.DFAssembly,
                   i_angle_threshold: float,
                   i_distance_threshold: float):
-        """
-        Amongst clusters, associates the clusters to the individual joints, 
-        creates a reference point cloud for each joint, 
-        and returns the joint segments, the reference point clouds, and the ICP transformations from the first to the second.
-
-        :param i_clusters: The clusters to be associated to the joints.
-        :param i_joints: The joints to which the clusters will be associated. These are meshes.
-        :param i_joint_ids: The joint ids of the joints.
-        :param i_angle_threshold: The angle threshold for the association of the clusters to the joints.
-        :param i_distance_threshold: The distance threshold for the association of the clusters to the joints.
-        """
+
         if i_angle_threshold is None : i_angle_threshold = 0.1
         if i_distance_threshold is None : i_distance_threshold = 0.1
-
-        if len(i_joints) != len(i_joint_ids):
-            raise ValueError("The number of joints and joint ids must be the same.")
 
         if len(i_clusters) == 0:
             raise ValueError("No clusters given.")
 
         if not isinstance(i_clusters[0], Rhino.Geometry.PointCloud):
             raise ValueError("The input clusters must be PointClouds.")
-        
-        if not isinstance(i_joints[0], Rhino.Geometry.Mesh):
-            raise ValueError("The input joints must be convertible to Meshes.")
 
+        # get number of joints
+        n_joints = i_assembly.total_number_joints
 
         # prepping the reference meshes
-        n_joints = max(i_joint_ids) + 1
-        joints = [ [] for i in range(n_joints) ]
-        for face, id in zip(i_joints, i_joint_ids):
-            face.Subdivide()
-            face.Faces.ConvertQuadsToTriangles()
-            joints[id].append(df_cvt.cvt_rhmesh_2_dfmesh(face))
-
-        joint_clouds = []
-        registrations = []
-        joint_segments = []
-        df_clouds = [df_cvt.cvt_rhcloud_2_dfcloud(cluster) for cluster in i_clusters]
+        df_joints = [[] for _ in range(n_joints)]
+        for joint in i_assembly.all_joints:
+            for face in joint.faces:
+                face = face.to_mesh()
+                face.Subdivide()
+                face.Faces.ConvertQuadsToTriangles()
+                df_joints[joint.id].append(df_cvt.cvt_rhmesh_2_dfmesh(face))
+
+        ref_rh_joint_clouds = []
+        transforms = []
+        rh_joint_segments = []
+        df_cloud_clusters = [df_cvt.cvt_rhcloud_2_dfcloud(cluster) for cluster in i_clusters]
 
         # for each joint, find the corresponding clusters and merge them, generate a reference point cloud, and register the merged clusters to the reference point cloud
-        for joint in joints:
-
+        for df_joint in df_joints:
             # create the reference point cloud
-            joint_cloud = diffcheck_bindings.dfb_geometry.DFPointCloud()
+            ref_df_joint_cloud = diffcheck_bindings.dfb_geometry.DFPointCloud()
 
-            for face in joint:
-                face_cloud = face.sample_points_uniformly(1000)
-                joint_cloud.add_points(face_cloud)
+            for face in df_joint:
+                ref_face_cloud = face.sample_points_uniformly(1000)
+                ref_df_joint_cloud.add_points(ref_face_cloud)
 
-            joint_clouds.append(df_cvt.cvt_dfcloud_2_rhcloud(joint_cloud))
+            ref_rh_joint_clouds.append(df_cvt.cvt_dfcloud_2_rhcloud(ref_df_joint_cloud))
 
             # find the corresponding clusters and merge them
-            segment = diffcheck_bindings.dfb_segmentation.DFSegmentation.associate_clusters(joint, df_clouds, i_angle_threshold, i_distance_threshold)
-            diffcheck_bindings.dfb_segmentation.DFSegmentation.clean_unassociated_clusters(df_clouds, [segment], [joint], i_angle_threshold ,i_distance_threshold)
-
+            df_joint_segment = diffcheck_bindings.dfb_segmentation.DFSegmentation.associate_clusters(df_joint, df_cloud_clusters, i_angle_threshold, i_distance_threshold)
+            diffcheck_bindings.dfb_segmentation.DFSegmentation.clean_unassociated_clusters(df_cloud_clusters, [df_joint_segment], [df_joint], i_angle_threshold, i_distance_threshold)
+            
             # register the merged clusters to the reference point cloud
-            registration = diffcheck_bindings.dfb_registrations.DFRefinedRegistration.O3DICP(segment, joint_cloud)
+            registration = diffcheck_bindings.dfb_registrations.DFRefinedRegistration.O3DICP(df_joint_segment, ref_df_joint_cloud)
             res = registration.transformation_matrix
-
-            registrations.append(df_cvt.cvt_ndarray_2_rh_transform(res))
-            joint_segments.append(df_cvt.cvt_dfcloud_2_rhcloud(segment))
-
-        return joint_segments, registrations, joint_clouds
+            transforms.append(df_cvt.cvt_ndarray_2_rh_transform(res))
+            rh_joint_segments.append(df_cvt.cvt_dfcloud_2_rhcloud(df_joint_segment))
+        
+        o_joint_segments = []
+        o_transforms = []
+        o_reference_point_clouds = []
+        for  joint_segment, transform, _joint_cloud in zip(rh_joint_segments, transforms, ref_rh_joint_clouds):
+            if joint_segment.IsValid:
+                o_joint_segments.append(joint_segment)
+                o_transforms.append(transform)
+                o_reference_point_clouds.append(_joint_cloud)
+            else:
+                ghenv.Component.AddRuntimeMessage(RML.Warning, "Some joints could not be segmented and were ignored.")
+
+        return o_joint_segments, o_transforms, o_reference_point_clouds
 
 # if __name__ == "__main__":
-#     o_joint_segments, o_reference_point_clouds, o_transforms = main(i_clusters, i_joints, i_joint_ids)
-
+#     comp = DFJointSegmentator()
+#     o_joint_segments, o_transforms, o_reference_point_clouds = comp.RunScript(i_clusters, i_assembly, i_angle_threshold, i_distance_threshold)
 #     for i in range(len(o_joint_segments)):
 #         o_joint_segments[i].Transform(o_transforms[i])

src/gh/components/DF_joint_segmentator/metadata.json

@@ -13,7 +13,6 @@
         "marshalOutGuids": true,
         "iconDisplay": 2,
         "inputParameters": [
-            
             {
                 "name": "i_clusters",
                 "nickname": "i_clusters",
@@ -27,28 +26,16 @@
                 "typeHintID": "pointcloud"
             },
             {
-                "name": "i_joint_faces",
-                "nickname": "i_joint_faces",
-                "description": "The joints to extract and analyze",
+                "name": "i_assembly",
+                "nickname": "i_assembly",
+                "description": "The assembly to extract the joints from",
                 "optional": false,
                 "allowTreeAccess": false,
                 "showTypeHints": true,
-                "scriptParamAccess": "list",
-                "wireDisplay": "default",
-                "sourceCount": 0,
-                "typeHintID": "mesh"
-            },
-            {
-                "name": "i_joint_ids",
-                "nickname": "i_joint_ids",
-                "description": "The joint ids of the assembly",
-                "optional": false,
-                "allowTreeAccess": true,
-                "showTypeHints": true,
-                "scriptParamAccess": "list",
+                "scriptParamAccess": "item",
                 "wireDisplay": "default",
                 "sourceCount": 0,
-                "typeHintID": "int"
+                "typeHintID": "ghdoc"
             },
             {
                 "name": "i_angle_threshold",

src/gh/diffCheck/diffCheck/df_geometries.py

@@ -313,6 +313,10 @@ def __repr__(self):
     def id(self):
         return self.__id
 
+    @property
+    def number_joints(self):
+        return max([joint.id for joint in self.joints]) + 1
+
     @property
     def joint_faces(self):
         return [face for face in self.faces if face.is_joint]
@@ -420,20 +424,27 @@ def dump_xml(self, pretty_xml: str, dir: str):
         with open(file_path, "w") as f:
             f.write(pretty_xml)
 
+    @property
+    def total_number_joints(self):
+        return max([joint.id for joint in self.all_joints]) + 1
+
     @property
     def all_joint_faces(self):
+        self._all_jointfaces = []
         for beam in self.beams:
             self._all_jointfaces.extend(beam.joint_faces)
         return self._all_jointfaces
 
     @property
     def all_side_faces(self):
+        self._all_sidefaces = []
         for beam in self.beams:
             self._all_sidefaces.extend(beam.side_faces)
         return self._all_sidefaces
 
     @property
     def all_joints(self):
+        self._all_joints = []
         for beam in self.beams:
             self._all_joints.extend(beam.joints)
         return self._all_joints