Feature/pose comparison

CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.16.)
-project(diffCheck VERSION 1.3.0 LANGUAGES CXX C)
+project(diffCheck VERSION 1.3.1 LANGUAGES CXX C)
 set(CMAKE_CXX_STANDARD 17)
 
 list(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake)

manifest.yml

@@ -1,6 +1,6 @@
 ---
 name: diffCheck
-version: 1.3.0
+version: 1.3.1
 authors:
 - Andrea Settimi
 - Damien Gilliard

src/gh/components/DF_pose_comparison/code.py

@@ -0,0 +1,73 @@
+"""Compares CAD poses with measured poses to compute errors."""
+#! python3
+
+import Rhino
+import Grasshopper
+from ghpythonlib.componentbase import executingcomponent as component
+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: Grasshopper.DataTree[object]):
+
+        CAD_poses = [beam.plane for beam in i_assembly.beams]
+
+        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
+
+        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

@@ -0,0 +1,67 @@
+{
+    "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_assembly",
+                "nickname": "i_assembly",
+                "description": "The DFAssembly of the structure.",
+                "optional": false,
+                "allowTreeAccess": true,
+                "showTypeHints": true,
+                "scriptParamAccess": "item",
+                "wireDisplay": "default",
+                "sourceCount": 0,
+                "typeHintID": "ghdoc"
+            },
+            {
+                "name": "i_measured_planes",
+                "nickname": "i_measured_planes",
+                "description": "The measured planes (aka poses) to compare against the CAD planes.",
+                "optional": false,
+                "allowTreeAccess": true,
+                "showTypeHints": true,
+                "scriptParamAccess": "tree",
+                "wireDisplay": "default",
+                "sourceCount": 0
+            }
+        ],
+        "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_estimation/metadata.json

@@ -64,8 +64,8 @@
         ],
         "outputParameters": [
             {
-                "name": "o_planes",
-                "nickname": "o_planes",
+                "name": "o_measured_planes",
+                "nickname": "o_measured_planes",
                 "description": "The resulting planes of the pose estimation in the last iteration.",
                 "optional": false,
                 "sourceCount": 0,

src/gh/diffCheck/diffCheck/__init__.py

@@ -1,6 +1,6 @@
 import os
 
-__version__ = "1.3.0"
+__version__ = "1.3.1"
 
 # make the dlls available to the python interpreter
 PATH_TO_DLL = "dlls"

src/gh/diffCheck/diffCheck/df_geometries.py

@@ -382,7 +382,7 @@ def __post_init__(self):
 
         self._center: rg.Point3d = None
         self._axis: rg.Line = self.compute_axis()
-        self.plane: rg.Plane = self.compute_plane()
+        self._plane: rg.Plane = self.compute_plane()
         self._length: float = self._axis.Length
 
         self.__uuid = uuid.uuid4().int
@@ -516,25 +516,17 @@ def compute_axis(self, is_unitized: bool = True) -> rg.Line:
 
     def compute_plane(self) -> rg.Plane:
         """
-        This function computes the plane of the beam based on its axis and the first joint's center.
-        The plane is oriented along the beam's axis.
+        This is an utility function that computes the plane of the beam.
+        The plane is calculated using the beam's axis and the world Z axis.
 
         :return plane: The plane of the beam
         """
-        if not self.joints:
-            raise ValueError("The beam has no joints to compute a plane")
+        beam_direction = self.axis.Direction
+        df_faces = [face for face in self.faces]
+        sorted_df_faces = sorted(df_faces, key=lambda face: Rhino.Geometry.AreaMassProperties.Compute(face._rh_brepface).Area if face._rh_brepface else 0, reverse=True)
+        largest_side_face_normal = sorted_df_faces[0].normal
 
-        #main axis as defined above
-        main_direction = self.compute_axis().Direction
-
-        #secondary axis as normal to the largest face of the beam
-        largest_face = max(self.faces, key=lambda f: f.area)
-        secondary_axis = largest_face.normal
-        secondary_vector = rg.Vector3d(secondary_axis[0], secondary_axis[1], secondary_axis[2])
-        first_vector = rg.Vector3d.CrossProduct(main_direction, secondary_vector)
-        origin = self.center
-
-        return rg.Plane(origin, first_vector, secondary_vector)
+        return rg.Plane(self.center, beam_direction, rg.Vector3d(largest_side_face_normal[0], largest_side_face_normal[1], largest_side_face_normal[2]))
 
     def compute_joint_distances_to_midpoint(self) -> typing.List[float]:
         """
@@ -696,6 +688,11 @@ def axis(self):
         self._axis = self.compute_axis()
         return self._axis
 
+    @property
+    def plane(self):
+        self._plane = self.compute_plane()
+        return self._plane
+
     @property
     def length(self):
         self._length = self._axis.Length

src/gh/diffCheck/setup.py

@@ -4,7 +4,7 @@
 
 setup(
     name="diffCheck",
-    version="1.3.0",
+    version="1.3.1",
     packages=find_packages(),
     install_requires=[
         "numpy",