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freecad_x3d
Commit 0b0cddbf authored by Andrey Filippov's avatar Andrey Filippov
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Debugging, bug fixing

parent b57ed3ac
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Showing with 114 additions and 30 deletions
x3d_step_assy_color_match.py
View file @ 0b0cddbf
......@@ -28,6 +28,7 @@ from __future__ import print_function
@contact: andrey@elphel.coml
@deffield updated: Updated
'''
from email import Errors
__author__ = "Andrey Filippov"
__copyright__ = "Copyright 2015, Elphel, Inc."
__license__ = "GPL"
......@@ -37,7 +38,7 @@ __email__ = "andrey@elphel.com"
__status__ = "Development"
import FreeCAD
import FreeCADGui # just to update cosole output (change to threads later?)
import FreeCADGui # just to update console output (change to threads later?) - does not seem to work
import Part
import os
import time
......@@ -57,6 +58,10 @@ X3D_DIR = "x3d"
X3D_EXT = ".x3d"
INFO_EXT = ".pickle"
PRECISION = 0.0001
PRECISION_AREA = 0.001
PRECISION_VOLUME = 0.001
PRECISION_GYRATION = 0.001
PRECISION_INSIDE = 0.03
COLOR_PER_VERTEX = True
if ROOT_DIR[0] == "~":
......@@ -333,6 +338,8 @@ def findPartsTransformations(solids, objects, candidates, info_dict, insidePreci
containing list of colors (tuples) for which there is an area match between assembly element and a part.
Build element part frame from colors first, then (if not enough) use inertial directions
"""
progress_bar = Base.ProgressIndicator()
progress_bar.start("Finding transformations for library parts to match assembly elements ...", len(objects))
transformations=[]
for i,s in enumerate(solids):
tolerance = insidePrecision * s.BoundBox.DiagonalLength # Or should it be fraction of the translation distance?
......@@ -396,11 +403,13 @@ def findPartsTransformations(solids, objects, candidates, info_dict, insidePreci
else:
trans.append(None) # so Transformations have same structure as candidates
print("*** Could not find match for part %s"%(cand_name))
transformations.append(trans)
transformations.append(trans)
progress_bar.next() # True) # True - enable ESC to abort
progress_bar.stop()
return transformations
def colorMatchCandidate(assy_object, candidates, info_dict, precision = PRECISION):
def colorMatchCandidate(assy_object, candidates, info_dict, precision = PRECISION_AREA):
"""
@return dictionary partName -> list of colors (as 3-tuples)
"""
......@@ -428,11 +437,27 @@ def colorMatchCandidate(assy_object, candidates, info_dict, precision = PRECISIO
if len(colors) == max_match:
colored_candidates[candidate]=colors
return colored_candidates
"""
PRECISION_AREA = 0.02
PRECISION_VOLUME = 0.03
PRECISION_INSIDE = 0.03
"""
#components=scan_step_parts.findComponents("/home/andrey/parts/0393/export/nc393_07_flat_noassy.stp")
def findComponents(assembly, precision_inside = PRECISION_INSIDE, precision = PRECISION):
def findComponents(assembly,
precision_area = PRECISION_AREA,
precision_volume = PRECISION_VOLUME,
precision_gyration = PRECISION_GYRATION,
precision_inside = PRECISION_INSIDE,
precision = PRECISION,
show_best = True):
"""
@param assembly - may be file path (different treatment for Gui/no-Gui, Shape or doc.Objects
@param precision_area = PRECISION_AREA - relative precision in surface area calculations
@param precision_volume = PRECISION_VOLUME - relative precision in volume calculations
@param precision_gyration = PRECISION_GYRATION - relative precision in radius of gyration calculations
@param precision_inside = PRECISION_INSIDE - relative precision in calculations of point inside/outside of a solid
@param precision = PRECISION - precision in vector calculation
@param show_best - calculate and show the best relative match for each parameter
"""
start_time=time.time()
print("Getting parts database")
......@@ -458,39 +483,70 @@ def findComponents(assembly, precision_inside = PRECISION_INSIDE, precision = PR
else:
objects,solids = create_file_info(assembly, aname)
# print (objects)
progress_bar = Base.ProgressIndicator()
progress_bar.start("Looking for matching parts for each of the assembly element ...", len(objects))
candidates=[]
for i,o in enumerate(objects):
# try:
# FreeCADGui.updateGui()
# except:
# pass
# print (i,o)
print (i,o)
this_candidates = []
list_errors=[]
rg=o['principal']['RadiusOfGyration']
rgp = precision*math.sqrt(rg[0]**2 + rg[1]**2 + rg[2]**2)
vp = o['volume']*precision
ap = o['area']*precision
rg_av = math.sqrt(rg[0]**2 + rg[1]**2 + rg[2]**2)
rgp = precision_gyration * rg_av
vp = o['volume']*precision_volume
ap = o['area']*precision_area
for n in info_dict:
co = info_dict[n][0]
if ((abs(o['volume'] - co['volume']) < vp) and
(abs(o['area'] - co['area']) < ap) and
(abs(rg[0] - co['principal']['RadiusOfGyration'][0]) < ap) and
(abs(rg[1] - co['principal']['RadiusOfGyration'][1]) < ap) and
(abs(rg[2] - co['principal']['RadiusOfGyration'][2]) < ap)):
errors = (abs(o['volume'] - co['volume']),
abs(o['area'] - co['area']),
abs(rg[0] - co['principal']['RadiusOfGyration'][0]),
abs(rg[1] - co['principal']['RadiusOfGyration'][1]),
abs(rg[2] - co['principal']['RadiusOfGyration'][2]),
)
if show_best:
list_errors.append(errors)
# if ((abs(o['volume'] - co['volume']) < vp) and
# (abs(o['area'] - co['area']) < ap) and
# (abs(rg[0] - co['principal']['RadiusOfGyration'][0]) < rgp) and
# (abs(rg[1] - co['principal']['RadiusOfGyration'][1]) < rgp) and
# (abs(rg[2] - co['principal']['RadiusOfGyration'][2]) < rgp)):
if ((errors[0] < vp) and
(errors[1] < ap) and
(errors[2] < rgp) and
(errors[3] < rgp) and
(errors[4] < rgp)):
this_candidates.append(n)
if show_best:
weighted_errors = [errors[0]/vp + errors[1]/ap + (errors[2] + errors[3] + errors[4])/rgp for errors in list_errors]
best_index = weighted_errors.index(min(weighted_errors))
errors = list_errors[best_index]
print ("Best match with %s, relative errors: dV=%f, dS=%f, dRG1=%f, dRG2=%f, dRG3=%f"%(
info_dict.keys()[best_index],
errors[0]/o['volume'],
errors[1]/o['area'],
errors[2]/rg_av,
errors[3]/rg_av,
errors[4]/rg_av))
# Filter candidates by number of color areas matched
colored_candidates=colorMatchCandidate(o, this_candidates, info_dict, precision)
colored_candidates=colorMatchCandidate(o, this_candidates, info_dict, precision_area)
try:
num_ass_obj_colors = len(o["colorCenters"])
except:
num_ass_obj_colors = 0
# print ("%d :colors: %d candidates: %s, colored_candidates: %s"%(i,num_ass_obj_colors, str(this_candidates), str(colored_candidates)))
print ("%d :colors: %d candidates: %s, colored_candidates: %s"%(i,num_ass_obj_colors, str(this_candidates), str(colored_candidates)))
candidates.append(colored_candidates)
progress_bar.next() # True) # True - enable ESC to abort
progress_bar.stop()
transformations = findPartsTransformations(solids, objects, candidates, info_dict, precision_inside, precision)
#Each part can be in two orientations - check overlap after loading actual parts
return {"Solids":solids,"objects":objects,"candidates":candidates,"transformations":transformations}
return {"solids":solids,"objects":objects,"candidates":candidates,"transformations":transformations}
def ortho3(v0,v1):
v0.normalize()
......@@ -527,7 +583,7 @@ def ppToMatrix(pp,
for color in colors:
## print ("colorCenters=", colorCenters[color]['center']," area=",colorCenters[color]['area'])
color_vectors.append(FreeCAD.Vector(colorCenters[color]['center']) - t)
# print ("color_vectors=",color_vectors)
print ("color_vectors=",color_vectors)
## print ("color_vectors=",color_vectors, "t=",t)
if color_vectors: # find the longest one
lengths = [v.Length for v in color_vectors]
......@@ -536,7 +592,7 @@ def ppToMatrix(pp,
if l > eps:
vectors.append(v.normalize())
if color_vectors: # now find the vector having maximal orthogonal component to v[0]
if vectors and color_vectors: # now find the vector having maximal orthogonal component to v[0]
lengths = [v.cross(vectors[0]).Length for v in color_vectors]
l = max(lengths)
v = color_vectors.pop(lengths.index(l))
......@@ -610,11 +666,16 @@ def list_parts_offsets():
for j,o in enumerate(info_files[name]):
d = math.sqrt(o["center"][0]**2 + o["center"][1]**2 + o["center"][2]**2)
if j == 0:
print("%3i:"%(i), end="")
print("%4d:"%(i), end="")
else:
print(" ", end="")
print(" ", end="")
print("%s offset = %6.1f"%(name, d))
def list_parts():
info_files = get_info_files()
for i, name in enumerate(info_files):
print ("%4d '%s': %d solids:%s"%(i,name,len(info_files[name]),str(info_files[name])))
# X3D Export
def getShapeNode(vertices, faces, diffuseColor = None, main_color_index = 0, colorPerVertex = True):
......@@ -647,7 +708,7 @@ def getShapeNode(vertices, faces, diffuseColor = None, main_color_index = 0, col
materialNode.set('diffuseColor', "%f %f %f" % tuple(diffuseColor[main_color_index * 3: main_color_index * 3 + 3]))
return shapeNode
def exportX3D(objects, filepath, colorPerVertex):
def exportX3D(objects, filepath, id="part", colorPerVertex=False):
"""Export given list of objects to a X3D file.
Each object is a dictionary in this form:
......@@ -657,17 +718,19 @@ def exportX3D(objects, filepath, colorPerVertex):
color : [R, G, B,...] # number range is 0-1.0, exactly 3 elements for a single color, 3*N for per-vertex colors
}
"""
progress_bar = Base.ProgressIndicator()
progress_bar.start("Saving objects to X3D file %s ..."%(filepath), len(objects))
x3dNode = et.Element('x3d')
x3dNode.set('profile', 'Interchange')
x3dNode.set('version', '3.3')
sceneNode = et.SubElement(x3dNode, 'Scene')
progress_bar = Base.ProgressIndicator()
progress_bar.start("Saving objects to X3D file %s ..."%(filepath), len(objects))
groupNode = et.SubElement(sceneNode, 'Group')
groupNode.set('id', id)
for o in objects:
shapeNode = getShapeNode(o["points"], o["faces"], o["color"], o["main_color_index"], colorPerVertex)
sceneNode.append(shapeNode)
groupNode.append(shapeNode)
progress_bar.next() # True) # True - enable ESC to abort
oneliner= et.tostring(x3dNode)
......@@ -744,10 +807,12 @@ def prepareX3dExport(freecadObjects, fname=""):
return objects
def generatePartsX3d(dir_list = DIR_LIST, colorPerVertex = COLOR_PER_VERTEX):
start_time=time.time()
info_dict= get_info_files(dir_list) # Will (re-) build info files if missing
step_list = get_step_list(dir_list) #relative to ROOT_DIR
if not X3D_DIR in os.listdir(ROOT_DIR):
os.mkdir(os.path.join(ROOT_DIR,X3D_DIR))
numExported=0
for step_file in step_list:
partName,_ = os.path.splitext(os.path.basename(step_file))
x3dFile = os.path.join(ROOT_DIR,X3D_DIR,partName + X3D_EXT)
......@@ -757,9 +822,11 @@ def generatePartsX3d(dir_list = DIR_LIST, colorPerVertex = COLOR_PER_VERTEX):
doc = FreeCAD.activeDocument()
doc.Label = partName
x3d_objects = prepareX3dExport(doc.Objects, step_file) # step_file needed just for progress bar
exportX3D(x3d_objects, x3dFile, colorPerVertex)
exportX3D(x3d_objects, x3dFile, id="part_"+partName, colorPerVertex=colorPerVertex)
FreeCAD.closeDocument(doc.Name)
FreeCADGui.updateGui()
numExported += 1
print("Exported %d files as X3D in @%f seconds, "%(numExported, time.time()-start_time))
def matrix4ToX3D(m, eps=0.000001): #assuming 3x3 matrix is pure rotational
axis=FreeCAD.Vector(m.A32-m.A23, m.A13-m.A31, m.A21-m.A12)
......@@ -805,11 +872,27 @@ def matrix4ToX3D(m, eps=0.000001): #assuming 3x3 matrix is pure rotational
def generateAssemblyX3d(assembly_path, components = None, dir_list = DIR_LIST, colorPerVertex = COLOR_PER_VERTEX):
def generateAssemblyX3d(assembly_path,
components = None,
dir_list = DIR_LIST,
colorPerVertex = COLOR_PER_VERTEX,
precision_area = PRECISION_AREA,
precision_volume = PRECISION_VOLUME,
precision_gyration = PRECISION_GYRATION,
precision_inside = PRECISION_INSIDE,
precision = PRECISION
):
start_time=time.time()
info_dict = get_info_files(dir_list) # Will (re-) build info files if missing
generatePartsX3d(dir_list = DIR_LIST, colorPerVertex = COLOR_PER_VERTEX) # Will only run if files are not there yet
if not components:
components = findComponents(assembly_path, precision_inside = PRECISION_INSIDE, precision = PRECISION)
components = findComponents(assembly_path,
precision_area = precision_area,
precision_volume = precision_volume,
precision_gyration = precision_gyration,
precision_inside = precision_inside,
precision = precision,
show_best = False)
assName,_ = os.path.splitext(os.path.basename(assembly_path))
x3dFile = os.path.join(ROOT_DIR,X3D_DIR,assName + X3D_EXT) # currently in the same directory as parts
x3dNode = et.Element('x3d')
......@@ -880,6 +963,7 @@ def generateAssemblyX3d(assembly_path, components = None, dir_list = DIR_LIST, c
print ("Writing assembly to %s"%(x3dFile))
with open(x3dFile, "wr") as f:
f.write(reparsed.toprettyxml(indent=" "))
print("Assembly %s exported as X3D file in @%f seconds, "%(x3dFile, time.time()-start_time))
......
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