per-joint segmentation works at joint face level

src/diffCheck/segmentation/DFSegmentation.cc

@@ -95,23 +95,24 @@ namespace diffCheck::segmentation
         return segments;
     }
 
-    std::shared_ptr<geometry::DFPointCloud> DFSegmentation::AssociateClustersToMeshes(
+    std::vector<std::shared_ptr<geometry::DFPointCloud>> DFSegmentation::AssociateClustersToMeshes(
         std::vector<std::shared_ptr<geometry::DFMesh>> referenceMesh,
         std::vector<std::shared_ptr<geometry::DFPointCloud>> &clusters,
         double angleThreshold,
         double associationThreshold)
     {
-        std::shared_ptr<geometry::DFPointCloud> unifiedPointCloud = std::make_shared<geometry::DFPointCloud>();
+        std::vector<std::shared_ptr<geometry::DFPointCloud>> jointFaces = std::vector<std::shared_ptr<geometry::DFPointCloud>>();
 
         // iterate through the mesh faces given as function argument
         if (referenceMesh.size() == 0)
         {
             DIFFCHECK_WARN("No mesh faces to associate with the clusters. Returning an empty point cloud.");
-            return unifiedPointCloud;
+            return std::vector<std::shared_ptr<geometry::DFPointCloud>>();
         }
         for (std::shared_ptr<diffCheck::geometry::DFMesh> face : referenceMesh)
         {
             std::shared_ptr<geometry::DFPointCloud> correspondingSegment;
+            std::shared_ptr<geometry::DFPointCloud> facePoints = std::make_shared<geometry::DFPointCloud>();
 
             // Getting the center of the mesh face
             Eigen::Vector3d faceCenter = face->Cvt2O3DTriangleMesh()->GetCenter();
@@ -124,7 +125,7 @@ namespace diffCheck::segmentation
             if (clusters.size() == 0)
             {
                 DIFFCHECK_WARN("No clusters to associate with the mesh faces. Returning an empty point cloud.");
-                return unifiedPointCloud;
+                return std::vector<std::shared_ptr<geometry::DFPointCloud>>();
             }
             for (auto segment : clusters)
             {   
@@ -160,28 +161,35 @@ namespace diffCheck::segmentation
                 DIFFCHECK_WARN("No segment found for the face. Skipping the face.");
                 continue;
             }
+            bool hasColors = correspondingSegment->GetNumColors() > 0;
+
             for (Eigen::Vector3d point : correspondingSegment->Points)
             {
                 bool pointInFace = false;
                 if (face->IsPointOnFace(point, associationThreshold))
                 {
-                    unifiedPointCloud->Points.push_back(point);
-                    unifiedPointCloud->Normals.push_back(
+                    facePoints->Points.push_back(point);
+                    facePoints->Normals.push_back(
                         correspondingSegment->Normals[std::distance(
                             correspondingSegment->Points.begin(), 
                             std::find(correspondingSegment->Points.begin(), 
                             correspondingSegment->Points.end(), 
                             point))]
                         );
+                    if (hasColors)
+                    {
+                        facePoints->Colors.push_back(
+                            correspondingSegment->Colors[std::distance(
+                                correspondingSegment->Points.begin(), 
+                                std::find(correspondingSegment->Points.begin(), 
+                                correspondingSegment->Points.end(), 
+                                point))]
+                            );
+                    }
                 }
             }
-            // removing points from the segment that are in the face
-            if (unifiedPointCloud->GetNumPoints() == 0)
-            {
-                DIFFCHECK_WARN("No point was associated to this segment. Skipping the segment.");
-                continue;
-            }
-            for(Eigen::Vector3d point : unifiedPointCloud->Points)
+
+            for(Eigen::Vector3d point : facePoints->Points)
             {
                 correspondingSegment->Points.erase(
                     std::remove(
@@ -190,8 +198,9 @@ namespace diffCheck::segmentation
                         point), 
                     correspondingSegment->Points.end());
             }
+        jointFaces.push_back(facePoints);
         }
-        return unifiedPointCloud;
+        return jointFaces;
     }
 
     void DFSegmentation::CleanUnassociatedClusters(
@@ -307,6 +316,10 @@ namespace diffCheck::segmentation
                 {
                     completed_segment->Points.push_back(point);
                     completed_segment->Normals.push_back(cluster->Normals[std::distance(cluster->Points.begin(), std::find(cluster->Points.begin(), cluster->Points.end(), point))]);
+                    if (cluster->GetNumColors() > 0)
+                    {
+                        completed_segment->Colors.push_back(cluster->Colors[std::distance(cluster->Points.begin(), std::find(cluster->Points.begin(), cluster->Points.end(), point))]);
+                    }
                 }
             }
             std::vector<int> indicesToRemove;

src/diffCheck/segmentation/DFSegmentation.hh

@@ -33,7 +33,7 @@ namespace diffCheck::segmentation
          * @param associationThreshold the threshold to consider the points of a segment and a mesh face as associable. It is the ratio between the surface of the closest mesh triangle and the sum of the areas of the three triangles that form the rest of the pyramid described by the mesh triangle and the point we want to associate or not. The lower the number, the more strict the association will be and some poinnts on the mesh face might be wrongfully excluded.
          * @return std::shared_ptr<geometry::DFPointCloud> The unified segments
          */
-        static std::shared_ptr<geometry::DFPointCloud> DFSegmentation::AssociateClustersToMeshes(
+        static std::vector<std::shared_ptr<geometry::DFPointCloud>> DFSegmentation::AssociateClustersToMeshes(
             std::vector<std::shared_ptr<geometry::DFMesh>> referenceMesh,
             std::vector<std::shared_ptr<geometry::DFPointCloud>> &clusters,
             double angleThreshold = 0.1,

src/diffCheckApp.cc

@@ -12,139 +12,6 @@
 
 int main()
 {
-  auto initTime = std::chrono::high_resolution_clock::now();
-
-  std::shared_ptr<diffCheck::geometry::DFPointCloud> pcdSrc = std::make_shared<diffCheck::geometry::DFPointCloud>();
-
-  std::vector<std::vector<std::shared_ptr<diffCheck::geometry::DFMesh>>> meshSrc = std::vector<std::vector<std::shared_ptr<diffCheck::geometry::DFMesh>>>();
-  std::vector<std::shared_ptr<diffCheck::geometry::DFPointCloud>> segments;
-  std::vector<std::string> meshPaths;
-
-  std::string meshesFolderPath = R"(C:\Users\localuser\Desktop\meshes_for_diffCheck\joints\)";
-
-  for (int i = 1; i <= 3; i++)
-  {
-    std::vector<std::shared_ptr<diffCheck::geometry::DFMesh>> fullJoint;
-    for (int j = 1; j <= 3; j++)
-    {
-      std::string meshPath = meshesFolderPath + std::to_string(i) + "/" + std::to_string(j) + ".ply";
-      std::shared_ptr<diffCheck::geometry::DFMesh> mesh = std::make_shared<diffCheck::geometry::DFMesh>();
-      mesh->LoadFromPLY(meshPath);
-      fullJoint.push_back(mesh);
-    }
-    meshSrc.push_back(fullJoint);
-  }
-
-  std::string pathPcdSrc = R"(C:\Users\localuser\Desktop\meshes_for_diffCheck\joints\full_beam.ply)";
-
-  pcdSrc->LoadFromPLY(pathPcdSrc);
-
-  pcdSrc->EstimateNormals(false, 100);
-  pcdSrc->VoxelDownsample(0.007);
-  auto intermediateTime = std::chrono::high_resolution_clock::now();
-  segments = diffCheck::segmentation::DFSegmentation::NormalBasedSegmentation(
-    pcdSrc,
-    15.0f,
-    15,
-    true,
-    50,
-    0.5f,
-    false);
-  std::cout << "number of segments:" << segments.size()<< std::endl;
-
-  std::vector<std::shared_ptr<diffCheck::geometry::DFPointCloud>> unifiedSegments;
-  for (int i = 0; i < meshSrc.size(); i++)
-  {
-    std::shared_ptr<diffCheck::geometry::DFPointCloud> unifiedSegment = std::make_shared<diffCheck::geometry::DFPointCloud>();
-    unifiedSegment = diffCheck::segmentation::DFSegmentation::AssociateClustersToMeshes(
-      meshSrc[i], 
-      segments, 
-      .2, 
-      .05);
-    unifiedSegments.push_back(unifiedSegment);
-  }
-
-  diffCheck::segmentation::DFSegmentation::CleanUnassociatedClusters(segments, 
-    unifiedSegments, 
-    meshSrc,
-    .2, 
-    .05);
-
-  // Perform a registration per joint
-  for (int i = 0; i < meshSrc.size(); i++)
-  {
-    std::shared_ptr<diffCheck::geometry::DFPointCloud> referencePointCloud = std::make_shared<diffCheck::geometry::DFPointCloud>();
-    for (auto jointFace : meshSrc[i])
-    {
-      std::shared_ptr<diffCheck::geometry::DFPointCloud> facePointCloud = jointFace->SampleCloudUniform(1000);
-      referencePointCloud->Points.insert(referencePointCloud->Points.end(), facePointCloud->Points.begin(), facePointCloud->Points.end());
-    }
-    referencePointCloud->EstimateNormals(false, 100);
-
-    diffCheck::transformation::DFTransformation transformation = diffCheck::registrations::DFRefinedRegistration::O3DICP(
-      unifiedSegments[i],
-      referencePointCloud);
-
-    std::cout << "Transformation matrix:" << std::endl;
-    std::cout << transformation.TransformationMatrix << std::endl;
-
-    diffCheck::visualizer::Visualizer deVisu = diffCheck::visualizer::Visualizer("DiffCheckApp", 1000, 800, 50, 50, false, true, false);
-    for (int i = 0; i < segments.size(); i++)
-    {
-      segments[i]->ApplyTransformation(transformation);
-      deVisu.AddPointCloud(segments[i]);
-    }
-    for (auto joint : meshSrc)
-    {
-      for (auto face : joint)
-      {
-        deVisu.AddMesh(face);
-      }
-    }
-    deVisu.Run();
-  }
-
-  diffCheck::visualizer::Visualizer vis(std::string("DiffCheckApp"), 1000, 800, 50, 50, false, true, false);
-  for (auto segment : segments)
-  {
-    // colorize the segments with random colors
-    double r = static_cast<double>(rand()) / RAND_MAX;
-    double g = static_cast<double>(rand()) / RAND_MAX;
-    double b = static_cast<double>(rand()) / RAND_MAX;
-
-    segment->Colors.clear();
-    for (int i = 0; i < segment->Points.size(); i++)
-    {
-      segment->Colors.push_back(Eigen::Vector3d(0, 0, 0));
-    }
-  vis.AddPointCloud(segment);
-  }
-  for(auto joint : meshSrc)
-  {
-    for(auto mesh : joint){vis.AddMesh(mesh);}
-  }
-
-  int numSegments = unifiedSegments.size();
-
-  for (int i = 0; i < numSegments; i++)
-  {
-    for (int j = 0; j < unifiedSegments[i]->Points.size(); j++)
-    {
-      unifiedSegments[i]->Colors.push_back(Eigen::Vector3d((double(numSegments) - double(i))/double(numSegments), 1, double(i) / double(numSegments)));
-    }
-  }
-  for (auto seg : unifiedSegments)
-  {
-    vis.AddPointCloud(seg);
-  }
-
-  auto endTime = std::chrono::high_resolution_clock::now();
-  auto duration = std::chrono::duration_cast<std::chrono::milliseconds>(endTime - initTime);
-  auto segmentationTime = std::chrono::duration_cast<std::chrono::milliseconds>(endTime - intermediateTime);
-  std::cout << "Total computation time:" << duration.count() << std::endl;
-  std::cout << "Segmentation time:" << segmentationTime.count() << std::endl;
-
-  vis.Run();
-
+  std::cout << "Hello, World!" << std::endl;
   return 0;
 }

src/gh/components/DF_CAD_segmentator/code.py

@@ -8,6 +8,7 @@
 
 
 from diffCheck.diffcheck_bindings import dfb_segmentation
+from diffCheck.diffcheck_bindings import dfb_geometry
 
 from diffCheck import df_cvt_bindings
 
@@ -18,10 +19,10 @@ def RunScript(self,
         i_clouds: System.Collections.Generic.IList[Rhino.Geometry.PointCloud],
         i_assembly,
         i_angle_threshold: float = 0.1,
-        i_association_threshold: float = 0.1) -> rg.PointCloud:
+        i_association_threshold: float = 0.1) -> Rhino.Geometry.PointCloud:
 
         if i_clouds is None or i_assembly is None:
-            self.AddRuntimeMessage(RML.Warning, "Please provide a cloud and an assembly to segmentate")
+            self.AddRuntimeMessage(RML.Warning, "Please provide a cloud and an assembly to segment.")
             return None
         if i_angle_threshold is None:
             i_angle_threshold = 0.1
@@ -43,12 +44,16 @@ def RunScript(self,
             df_beams_meshes.append(df_b_mesh_faces)
             rh_beams_meshes.append(rh_b_mesh_faces)
 
-            df_asssociated_cluster = dfb_segmentation.DFSegmentation.associate_clusters(
+            df_asssociated_cluster_faces = dfb_segmentation.DFSegmentation.associate_clusters(
                 reference_mesh=df_b_mesh_faces,
                 unassociated_clusters=df_clouds,
                 angle_threshold=i_angle_threshold,
                 association_threshold=i_association_threshold
             )
+
+            df_asssociated_cluster = dfb_geometry.DFPointCloud()
+            for df_associated_face in df_asssociated_cluster_faces:
+                df_asssociated_cluster.add_points(df_associated_face)
             df_clusters.append(df_asssociated_cluster)
 
         dfb_segmentation.DFSegmentation.clean_unassociated_clusters(
@@ -61,4 +66,4 @@ def RunScript(self,
 
         o_clusters = [df_cvt_bindings.cvt_dfcloud_2_rhcloud(cluster) for cluster in df_clusters]
 
-        return o_clusters, rh_beams_meshes
+        return o_clusters