feat-fix: pose comparison takes (or converts to) data tree as input and detects if list or history is passed

Author: DamienGilliard

src/gh/components/DF_pose_comparison/code.py

@@ -2,18 +2,35 @@
 #! python3
 
 import Rhino
+import Grasshopper
 from ghpythonlib.componentbase import executingcomponent as component
-
-import System
+import ghpythonlib.treehelpers as th
 
 import diffCheck.df_geometries
 import numpy
 
+def compute_comparison(measured_pose, cad_pose):
+    cad_origin = cad_pose.Origin
+    measured_origin = measured_pose.Origin
+    distance = cad_origin.DistanceTo(measured_origin)
+
+    # Compare the orientations using the formula: $$ \theta = \arccos\left(\frac{\text{trace}(R_{\text{pred}}^T R_{\text{meas}}) - 1}{2}\right) $$
+    transform_o_to_cad = Rhino.Geometry.Transform.PlaneToPlane(Rhino.Geometry.Plane.WorldXY, cad_pose)
+    transform_o_to_measured = Rhino.Geometry.Transform.PlaneToPlane(Rhino.Geometry.Plane.WorldXY, measured_pose)
+    np_transform_o_to_cad = numpy.array(transform_o_to_cad.ToDoubleArray(rowDominant=True)).reshape((4, 4))
+    np_transform_o_to_measured = numpy.array(transform_o_to_measured.ToDoubleArray(rowDominant=True)).reshape((4, 4))
+
+    R_cad = np_transform_o_to_cad[:3, :3]
+    R_measured = np_transform_o_to_measured[:3, :3]
+    R_rel = numpy.dot(R_cad.T, R_measured)
+    theta = numpy.arccos(numpy.clip((numpy.trace(R_rel) - 1) / 2, -1.0, 1.0))
+
+    # Compute the transformation matrix between the CAD pose and the measured pose
+    transform_cad_to_measured = Rhino.Geometry.Transform.PlaneToPlane(cad_pose, measured_pose)
+    return distance, theta, transform_cad_to_measured
 
 class DFPoseComparison(component):
-    def RunScript(self,
-            i_assembly: diffCheck.df_geometries.DFAssembly,
-            i_measured_planes: System.Collections.Generic.List[object]):
+    def RunScript(self, i_assembly: diffCheck.df_geometries.DFAssembly, i_measured_planes: Grasshopper.DataTree[object]):
 
         CAD_poses = [beam.plane for beam in i_assembly.beams]
 
@@ -22,31 +39,35 @@ def RunScript(self,
         o_transforms_cad_to_measured = []
         # Compare the origins
         #   measure the distance between the origins of the CAD pose and the measured pose and output this in the component
-        for i in range(len(i_measured_planes)):
-            if not i_measured_planes[i]:
-                o_distances.append(None)
-                o_angles.append(None)
-                o_transforms_cad_to_measured.append(None)
-                continue
-            cad_origin = CAD_poses[i].Origin
-            measured_origin = i_measured_planes[i].Origin
-            distance = cad_origin.DistanceTo(measured_origin)
-            o_distances.append(distance)
-
-            # Compare the orientations using the formula: $$ \theta = \arccos\left(\frac{\text{trace}(R_{\text{pred}}^T R_{\text{meas}}) - 1}{2}\right) $$
-            transform_o_to_cad = Rhino.Geometry.Transform.PlaneToPlane(Rhino.Geometry.Plane.WorldXY, CAD_poses[i])
-            transform_o_to_measured = Rhino.Geometry.Transform.PlaneToPlane(Rhino.Geometry.Plane.WorldXY, i_measured_planes[i])
-            np_transform_o_to_cad = numpy.array(transform_o_to_cad.ToDoubleArray(rowDominant=True)).reshape((4, 4))
-            np_transform_o_to_measured = numpy.array(transform_o_to_measured.ToDoubleArray(rowDominant=True)).reshape((4, 4))
-
-            R_cad = np_transform_o_to_cad[:3, :3]
-            R_measured = np_transform_o_to_measured[:3, :3]
-            R_rel = numpy.dot(R_cad.T, R_measured)
-            theta = numpy.arccos(numpy.clip((numpy.trace(R_rel) - 1) / 2, -1.0, 1.0))
-            o_angles.append(theta)
-
-            # Compute the transformation matrix between the CAD pose and the measured pose
-            transform_cad_to_measured = Rhino.Geometry.Transform.PlaneToPlane(CAD_poses[i], i_measured_planes[i])
-            o_transforms_cad_to_measured.append(transform_cad_to_measured)
-
-        return [o_distances, o_angles, o_transforms_cad_to_measured]
+
+        bc = i_measured_planes.BranchCount
+        if bc > 1:
+            poses_per_beam = i_measured_planes.Branches
+            for beam_id, poses in enumerate(poses_per_beam):
+                o_distances.append(bc * [])
+                o_angles.append(bc * [])
+                o_transforms_cad_to_measured.append(bc * [])
+                for pose in poses:
+                    if not pose:
+                        o_distances[beam_id].append(None)
+                        o_angles[beam_id].append(None)
+                        o_transforms_cad_to_measured[beam_id].append(None)
+                    else:
+                        dist, angle, transform_cad_to_measured = compute_comparison(pose, CAD_poses[beam_id])
+                        o_distances[beam_id].append(dist)
+                        o_angles[beam_id].append(angle)
+                        o_transforms_cad_to_measured[beam_id].append(transform_cad_to_measured)
+        else:
+            i_measured_planes.Flatten()
+            measured_plane_list = th.tree_to_list(i_measured_planes)
+            print(measured_plane_list)
+            for i, plane in enumerate(measured_plane_list):
+                dist, angle, transform_cad_to_measured = compute_comparison(plane, CAD_poses[i])
+                o_distances.append(dist)
+                o_angles.append(angle)
+                o_transforms_cad_to_measured.append(transform_cad_to_measured)
+
+        if bc == 1:
+            return o_distances, o_angles, o_transforms_cad_to_measured
+        else:
+            return th.list_to_tree(o_distances), th.list_to_tree(o_angles), th.list_to_tree(o_transforms_cad_to_measured)

src/gh/components/DF_pose_comparison/metadata.json

@@ -32,7 +32,7 @@
                 "optional": false,
                 "allowTreeAccess": true,
                 "showTypeHints": true,
-                "scriptParamAccess": "list",
+                "scriptParamAccess": "tree",
                 "wireDisplay": "default",
                 "sourceCount": 0
             }