Debugging, bug fixing (0b0cddbf) · Commits · Elphel / freecad_x3d

x3d_step_assy_color_match.py

+114 −30

Original line number	Original line	Diff line number	Diff line
	@@ -28,6 +28,7 @@ from __future__ import print_function
	@contact: andrey@elphel.coml		@contact: andrey@elphel.coml
	@deffield updated: Updated		@deffield updated: Updated
	'''		'''
			from email import Errors
	__author__ = "Andrey Filippov"		__author__ = "Andrey Filippov"
	__copyright__ = "Copyright 2015, Elphel, Inc."		__copyright__ = "Copyright 2015, Elphel, Inc."
	__license__ = "GPL"		__license__ = "GPL"
	@@ -37,7 +38,7 @@ __email__ = "andrey@elphel.com"
	__status__ = "Development"		__status__ = "Development"

	import FreeCAD		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 Part
	import os		import os
	import time		import time
	@@ -57,6 +58,10 @@ X3D_DIR = "x3d"
	X3D_EXT = ".x3d"		X3D_EXT = ".x3d"
	INFO_EXT = ".pickle"		INFO_EXT = ".pickle"
	PRECISION = 0.0001		PRECISION = 0.0001
			PRECISION_AREA = 0.001
			PRECISION_VOLUME = 0.001
			PRECISION_GYRATION = 0.001

	PRECISION_INSIDE = 0.03		PRECISION_INSIDE = 0.03
	COLOR_PER_VERTEX = True		COLOR_PER_VERTEX = True
	if ROOT_DIR[0] == "~":		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.		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		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=[]		transformations=[]
	for i,s in enumerate(solids):		for i,s in enumerate(solids):
	tolerance = insidePrecision * s.BoundBox.DiagonalLength # Or should it be fraction of the translation distance?		tolerance = insidePrecision * s.BoundBox.DiagonalLength # Or should it be fraction of the translation distance?
	@@ -397,10 +404,12 @@ def findPartsTransformations(solids, objects, candidates, info_dict, insidePreci
	trans.append(None) # so Transformations have same structure as candidates		trans.append(None) # so Transformations have same structure as candidates
	print("*** Could not find match for part %s"%(cand_name))		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		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)		@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:		if len(colors) == max_match:
	colored_candidates[candidate]=colors		colored_candidates[candidate]=colors
	return colored_candidates		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")		#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 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()		start_time=time.time()
	print("Getting parts database")		print("Getting parts database")
	@@ -458,39 +483,70 @@ def findComponents(assembly, precision_inside = PRECISION_INSIDE, precision = PR
	else:		else:
	objects,solids = create_file_info(assembly, aname)		objects,solids = create_file_info(assembly, aname)
	# print (objects)		# print (objects)
			progress_bar = Base.ProgressIndicator()
			progress_bar.start("Looking for matching parts for each of the assembly element ...", len(objects))

	candidates=[]		candidates=[]
	for i,o in enumerate(objects):		for i,o in enumerate(objects):
	# try:		# try:
	# FreeCADGui.updateGui()		# FreeCADGui.updateGui()
	# except:		# except:
	# pass		# pass
	# print (i,o)		print (i,o)

	this_candidates = []		this_candidates = []
			list_errors=[]
	rg=o['principal']['RadiusOfGyration']		rg=o['principal']['RadiusOfGyration']
	rgp = precisionmath.sqrt(rg[0]2 + rg[1]2 + rg[2]*2)		rg_av = math.sqrt(rg[0]2 + rg[1]2 + rg[2]**2)
	vp = o['volume']*precision		rgp = precision_gyration * rg_av
	ap = o['area']*precision		vp = o['volume']*precision_volume
			ap = o['area']*precision_area
	for n in info_dict:		for n in info_dict:
	co = info_dict[n][0]		co = info_dict[n][0]
	if ((abs(o['volume'] - co['volume']) < vp) and		errors = (abs(o['volume'] - co['volume']),
	(abs(o['area'] - co['area']) < ap) and		abs(o['area'] - co['area']),
	(abs(rg[0] - co['principal']['RadiusOfGyration'][0]) < ap) and		abs(rg[0] - co['principal']['RadiusOfGyration'][0]),
	(abs(rg[1] - co['principal']['RadiusOfGyration'][1]) < ap) and		abs(rg[1] - co['principal']['RadiusOfGyration'][1]),
	(abs(rg[2] - co['principal']['RadiusOfGyration'][2]) < ap)):		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)		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		# 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:		try:
	num_ass_obj_colors = len(o["colorCenters"])		num_ass_obj_colors = len(o["colorCenters"])
	except:		except:
	num_ass_obj_colors = 0		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)		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)		transformations = findPartsTransformations(solids, objects, candidates, info_dict, precision_inside, precision)
	#Each part can be in two orientations - check overlap after loading actual parts		#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):		def ortho3(v0,v1):
	v0.normalize()		v0.normalize()
	@@ -527,7 +583,7 @@ def ppToMatrix(pp,
	for color in colors:		for color in colors:
	## print ("colorCenters=", colorCenters[color]['center']," area=",colorCenters[color]['area'])		## print ("colorCenters=", colorCenters[color]['center']," area=",colorCenters[color]['area'])
	color_vectors.append(FreeCAD.Vector(colorCenters[color]['center']) - t)		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)		## print ("color_vectors=",color_vectors, "t=",t)
	if color_vectors: # find the longest one		if color_vectors: # find the longest one
	lengths = [v.Length for v in color_vectors]		lengths = [v.Length for v in color_vectors]
	@@ -536,7 +592,7 @@ def ppToMatrix(pp,
	if l > eps:		if l > eps:
	vectors.append(v.normalize())		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]		lengths = [v.cross(vectors[0]).Length for v in color_vectors]
	l = max(lengths)		l = max(lengths)
	v = color_vectors.pop(lengths.index(l))		v = color_vectors.pop(lengths.index(l))
	@@ -610,11 +666,16 @@ def list_parts_offsets():
	for j,o in enumerate(info_files[name]):		for j,o in enumerate(info_files[name]):
	d = math.sqrt(o["center"][0]2 + o["center"][1]2 + o["center"][2]**2)		d = math.sqrt(o["center"][0]2 + o["center"][1]2 + o["center"][2]**2)
	if j == 0:		if j == 0:
	print("%3i:"%(i), end="")		print("%4d:"%(i), end="")
	else:		else:
	print(" ", end="")		print(" ", end="")
	print("%s offset = %6.1f"%(name, d))		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		# X3D Export
	def getShapeNode(vertices, faces, diffuseColor = None, main_color_index = 0, colorPerVertex = True):		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]))		materialNode.set('diffuseColor', "%f %f %f" % tuple(diffuseColor[main_color_index * 3: main_color_index * 3 + 3]))
	return shapeNode		return shapeNode

	def exportX3D(objects, filepath, colorPerVertex):		def exportX3D(objects, filepath, id="part", colorPerVertex=False):
	"""Export given list of objects to a X3D file.		"""Export given list of objects to a X3D file.

	Each object is a dictionary in this form:		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		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 = et.Element('x3d')
	x3dNode.set('profile', 'Interchange')		x3dNode.set('profile', 'Interchange')
	x3dNode.set('version', '3.3')		x3dNode.set('version', '3.3')
	sceneNode = et.SubElement(x3dNode, 'Scene')		sceneNode = et.SubElement(x3dNode, 'Scene')
	progress_bar = Base.ProgressIndicator()		groupNode = et.SubElement(sceneNode, 'Group')
	progress_bar.start("Saving objects to X3D file %s ..."%(filepath), len(objects))		groupNode.set('id', id)

	for o in objects:		for o in objects:
	shapeNode = getShapeNode(o["points"], o["faces"], o["color"], o["main_color_index"], colorPerVertex)		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		progress_bar.next() # True) # True - enable ESC to abort

	oneliner= et.tostring(x3dNode)		oneliner= et.tostring(x3dNode)
	@@ -744,10 +807,12 @@ def prepareX3dExport(freecadObjects, fname=""):
	return objects		return objects

	def generatePartsX3d(dir_list = DIR_LIST, colorPerVertex = COLOR_PER_VERTEX):		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		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		step_list = get_step_list(dir_list) #relative to ROOT_DIR
	if not X3D_DIR in os.listdir(ROOT_DIR):		if not X3D_DIR in os.listdir(ROOT_DIR):
	os.mkdir(os.path.join(ROOT_DIR,X3D_DIR))		os.mkdir(os.path.join(ROOT_DIR,X3D_DIR))
			numExported=0
	for step_file in step_list:		for step_file in step_list:
	partName,_ = os.path.splitext(os.path.basename(step_file))		partName,_ = os.path.splitext(os.path.basename(step_file))
	x3dFile = os.path.join(ROOT_DIR,X3D_DIR,partName + X3D_EXT)		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 = FreeCAD.activeDocument()
	doc.Label = partName		doc.Label = partName
	x3d_objects = prepareX3dExport(doc.Objects, step_file) # step_file needed just for progress bar		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)		FreeCAD.closeDocument(doc.Name)
	FreeCADGui.updateGui()		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		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)		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		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		generatePartsX3d(dir_list = DIR_LIST, colorPerVertex = COLOR_PER_VERTEX) # Will only run if files are not there yet
	if not components:		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))		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		x3dFile = os.path.join(ROOT_DIR,X3D_DIR,assName + X3D_EXT) # currently in the same directory as parts
	x3dNode = et.Element('x3d')		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))		print ("Writing assembly to %s"%(x3dFile))
	with open(x3dFile, "wr") as f:		with open(x3dFile, "wr") as f:
	f.write(reparsed.toprettyxml(indent=" "))		f.write(reparsed.toprettyxml(indent=" "))
			print("Assembly %s exported as X3D file in @%f seconds, "%(x3dFile, time.time()-start_time))

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