feat-wip: creation of pose comparison component

Author: DamienGilliard

src/gh/components/DF_pose_comparison/code.py

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+#! python3
+
+import Rhino
+from ghpythonlib.componentbase import executingcomponent as component
+
+import System
+
+import numpy
+
+
+class DFPoseComparison(component):
+    def RunScript(self,
+            i_CAD_poses: System.Collections.Generic.List[Rhino.Geometry.Plane],
+            i_measured_poses: System.Collections.Generic.List[Rhino.Geometry.Plane]):
+
+        if len(i_CAD_poses) != len(i_measured_poses):
+            ghenv.Component.Message = "evaluation during assembly" # noqa: F821
+        else:
+            ghenv.Component.Message = "evaluation of completed assembly" # noqa: F821
+
+        o_distances = []
+        o_angles = []
+        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_poses)):
+            cad_origin = i_CAD_poses[i].Origin
+            measured_origin = i_measured_poses[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, i_CAD_poses[i])
+            transform_o_to_measured = Rhino.Geometry.Transform.PlaneToPlane(Rhino.Geometry.Plane.WorldXY, i_measured_poses[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(i_CAD_poses[i], i_measured_poses[i])
+            o_transforms_cad_to_measured.append(transform_cad_to_measured)
+
+        return [o_distances, o_angles, o_transforms_cad_to_measured]

src/gh/components/DF_pose_comparison/icon.png

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+{
+    "name": "DFPoseComparison",
+    "nickname": "DFPoseComparison",
+    "category": "diffCheck",
+    "subcategory": "Analysis",
+    "description": "Compares CAD poses with measured poses to compute errors.",
+    "exposure": 4,
+    "instanceGuid": "13d76641-6f4f-4e78-a7dd-e64e176ffb2a",
+    "ghpython": {
+        "hideOutput": true,
+        "hideInput": true,
+        "isAdvancedMode": true,
+        "marshalOutGuids": true,
+        "iconDisplay": 2,
+        "inputParameters": [
+            {
+                "name": "i_CAD_poses",
+                "nickname": "i_CAD_poses",
+                "description": "The CAD poses to compare.",
+                "optional": false,
+                "allowTreeAccess": true,
+                "showTypeHints": true,
+                "scriptParamAccess": "list",
+                "wireDisplay": "default",
+                "sourceCount": 0,
+                "typeHintID": "plane"
+            },
+            {
+                "name": "i_measured_poses",
+                "nickname": "i_measured_poses",
+                "description": "The measured poses to compare against the CAD poses.",
+                "optional": false,
+                "allowTreeAccess": true,
+                "showTypeHints": true,
+                "scriptParamAccess": "list",
+                "wireDisplay": "default",
+                "sourceCount": 0,
+                "typeHintID": "plane"
+            }
+        ],
+        "outputParameters": [
+            {
+                "name": "o_distances",
+                "nickname": "o_distances",
+                "description": "The distances between the CAD pose origins and measured pose origins.",
+                "optional": false,
+                "sourceCount": 0,
+                "graft": false
+            },
+            {
+                "name": "o_angles",
+                "nickname": "o_angles",
+                "description": "The angles between the CAD pose orientations and measured pose orientations.",
+                "optional": false,
+                "sourceCount": 0,
+                "graft": false
+            },
+            {
+                "name": "o_transforms_cad_to_measured",
+                "nickname": "o_transforms_cad_to_measured",
+                "description": "The transformation matrices from CAD poses to measured poses.",
+                "optional": false,
+                "sourceCount": 0,
+                "graft": false
+            }
+        ]
+    }
+}

src/gh/components/DF_pose_comparison/metadata.json

@@ -0,0 +1 @@
+ $$ \theta = \arccos\left(\frac{\text{trace}(R_{\text{pred}}^T R_{\text{meas}}) - 1}{2}\right) $$