Remove DFBeams + Preview DFAssembly

.github/workflows/py-sanity-check.yml

@@ -1,6 +1,10 @@
 name: py-sanity-checks
 
-on: [push, pull_request]
+on:
+  push:
+    branches: ["main"]
+  pull_request:
+    branches: ["main"]
 
 jobs:
   build:

_build/.buildinfo

@@ -0,0 +1,4 @@
+# Sphinx build info version 1
+# This file hashes the configuration used when building these files. When it is not found, a full rebuild will be done.
+config: 114ee4aa3afb3461d1b1d4e67aa69180
+tags: 645f666f9bcd5a90fca523b33c5a78b7

_build/_downloads/6f3f9e982d76c0531e90f767aec46233/diffCheckBindings.cc

@@ -0,0 +1,211 @@
+// diffCheck_py.cc
+#include <pybind11/pybind11.h>
+#include <pybind11/eigen.h>
+#include <pybind11/stl.h>
+
+#include "diffCheck.hh"
+
+namespace py = pybind11;
+
+bool test() { return true; }
+
+PYBIND11_MODULE(diffcheck_bindings, m) {
+    m.doc() = "The diffcheck bindings for python.";
+
+    //#################################################################################################
+    // testing namespace
+    //#################################################################################################
+
+    py::module_ submodule_test = m.def_submodule("dfb_test", "A submodule for testing the python bindings.");
+    submodule_test.def("test", &test, "Simple function testing a vanilla python bindings.");
+
+    //#################################################################################################
+    // dfb_geometry namespace
+    //#################################################################################################
+
+    py::module_ submodule_geometry = m.def_submodule("dfb_geometry", "A submodule for wrap geometries in df.");
+
+    py::class_<diffCheck::geometry::DFPointCloud, std::shared_ptr<diffCheck::geometry::DFPointCloud>>(submodule_geometry, "DFPointCloud",
+        "A class for the point cloud representation.")
+        .def(py::init<>())
+        .def(py::init<std::vector<Eigen::Vector3d>, std::vector<Eigen::Vector3d>, std::vector<Eigen::Vector3d>>(),
+            py::arg("points"), py::arg("colors"), py::arg("normals"))
+
+        .def("compute_distance", &diffCheck::geometry::DFPointCloud::ComputeDistance,
+            py::arg("target_cloud"))
+
+        .def("voxel_downsample", &diffCheck::geometry::DFPointCloud::VoxelDownsample,
+            py::arg("voxel_size"))
+        .def("uniform_downsample", &diffCheck::geometry::DFPointCloud::UniformDownsample,
+            py::arg("every_k_points"))
+        .def("downsample_by_size", &diffCheck::geometry::DFPointCloud::DownsampleBySize,
+            py::arg("target_size"))
+
+        .def("apply_transformation", &diffCheck::geometry::DFPointCloud::ApplyTransformation,
+            py::arg("transformation"))
+
+        .def("estimate_normals", &diffCheck::geometry::DFPointCloud::EstimateNormals,
+            py::arg("use_cilantro_evaluator") = false,
+            py::arg("knn") = 100,
+            py::arg("search_radius") = std::nullopt)
+
+        .def("apply_color", (void (diffCheck::geometry::DFPointCloud::*)(int, int, int)) &diffCheck::geometry::DFPointCloud::ApplyColor,
+            py::arg("r"), py::arg("g"), py::arg("b"))
+
+        .def("load_from_PLY", &diffCheck::geometry::DFPointCloud::LoadFromPLY)
+        .def("add_points", &diffCheck::geometry::DFPointCloud::AddPoints)
+
+        .def("get_tight_bounding_box", &diffCheck::geometry::DFPointCloud::GetTightBoundingBox)
+        .def("get_axis_aligned_bounding_box", &diffCheck::geometry::DFPointCloud::GetAxixAlignedBoundingBox)
+
+        .def("get_num_points", &diffCheck::geometry::DFPointCloud::GetNumPoints,
+            "Get the number of points in the point cloud.")
+        .def("get_num_colors", &diffCheck::geometry::DFPointCloud::GetNumColors)
+        .def("get_num_normals", &diffCheck::geometry::DFPointCloud::GetNumNormals)
+        .def("get_center_point", &diffCheck::geometry::DFPointCloud::GetCenterPoint)
+
+        .def("has_points", &diffCheck::geometry::DFPointCloud::HasPoints)
+        .def("has_colors", &diffCheck::geometry::DFPointCloud::HasColors)
+        .def("has_normals", &diffCheck::geometry::DFPointCloud::HasNormals)
+
+        .def_property("points",
+            [](const diffCheck::geometry::DFPointCloud &self) { return self.Points; },
+            [](diffCheck::geometry::DFPointCloud &self, const std::vector<Eigen::Vector3d>& value) { self.Points = value; })
+        .def_property("colors",
+            [](const diffCheck::geometry::DFPointCloud &self) { return self.Colors; },
+            [](diffCheck::geometry::DFPointCloud &self, const std::vector<Eigen::Vector3d>& value) { self.Colors = value; })
+        .def_property("normals",
+            [](const diffCheck::geometry::DFPointCloud &self) { return self.Normals; },
+            [](diffCheck::geometry::DFPointCloud &self, const std::vector<Eigen::Vector3d>& value) { self.Normals = value; });
+
+    py::class_<diffCheck::geometry::DFMesh, std::shared_ptr<diffCheck::geometry::DFMesh>>(submodule_geometry, "DFMesh",
+        "A class for the triangle mesh representation.")
+        .def(py::init<>())
+        .def(py::init<std::vector<Eigen::Vector3d>, std::vector<Eigen::Vector3i>, std::vector<Eigen::Vector3d>, std::vector<Eigen::Vector3d>, std::vector<Eigen::Vector3d>>())
+
+        .def("compute_distance", &diffCheck::geometry::DFMesh::ComputeDistance,
+            py::arg("target_cloud"),
+            py::arg("is_abs") = true)
+
+        .def("load_from_PLY", &diffCheck::geometry::DFMesh::LoadFromPLY)
+
+        .def("sample_points_uniformly", &diffCheck::geometry::DFMesh::SampleCloudUniform)
+
+        .def("get_tight_bounding_box", &diffCheck::geometry::DFMesh::GetTightBoundingBox)
+
+        .def("get_num_vertices", &diffCheck::geometry::DFMesh::GetNumVertices)
+        .def("get_num_faces", &diffCheck::geometry::DFMesh::GetNumFaces)
+
+        .def_property("vertices",
+            [](const diffCheck::geometry::DFMesh &self) { return self.Vertices; },
+            [](diffCheck::geometry::DFMesh &self, const std::vector<Eigen::Vector3d>& value) { self.Vertices = value; })
+        .def_property("faces",
+            [](const diffCheck::geometry::DFMesh &self) { return self.Faces; },
+            [](diffCheck::geometry::DFMesh &self, const std::vector<Eigen::Vector3i>& value) { self.Faces = value; })
+        .def_property("normals_vertex",
+            [](const diffCheck::geometry::DFMesh &self) { return self.NormalsVertex; },
+            [](diffCheck::geometry::DFMesh &self, const std::vector<Eigen::Vector3d>& value) { self.NormalsVertex = value; })
+        .def_property("normals_face",
+            [](const diffCheck::geometry::DFMesh &self) { return self.NormalsFace; },
+            [](diffCheck::geometry::DFMesh &self, const std::vector<Eigen::Vector3d>& value) { self.NormalsFace = value; })
+        .def_property("colors_vertex",
+            [](const diffCheck::geometry::DFMesh &self) { return self.ColorsVertex; },
+            [](diffCheck::geometry::DFMesh &self, const std::vector<Eigen::Vector3d>& value) { self.ColorsVertex = value; })
+        .def_property("colors_face",
+            [](const diffCheck::geometry::DFMesh &self) { return self.ColorsFace; },
+            [](diffCheck::geometry::DFMesh &self, const std::vector<Eigen::Vector3d>& value) { self.ColorsFace = value; });
+
+    //#################################################################################################
+    // dfb_transformation namespace
+    //#################################################################################################
+
+    py::module_ submodule_transformation = m.def_submodule("dfb_transformation", "A submodule for the transformation classes.");
+
+    py::class_<diffCheck::transformation::DFTransformation>(submodule_transformation, "DFTransformation")
+        .def(py::init<>())
+        .def(py::init<const Eigen::Matrix4d&>())
+
+        .def_readwrite("transformation_matrix", &diffCheck::transformation::DFTransformation::TransformationMatrix);
+
+    //#################################################################################################
+    // dfb_registrations namespace
+    //#################################################################################################
+
+    py::module_ submodule_registrations = m.def_submodule("dfb_registrations", "A submodule for the registration methods.");
+
+    py::class_<diffCheck::registrations::DFGlobalRegistrations>(submodule_registrations, "DFGlobalRegistrations",
+        "A static class for the global registration methods.")
+        .def_static("O3DFastGlobalRegistrationFeatureMatching", &diffCheck::registrations::DFGlobalRegistrations::O3DFastGlobalRegistrationFeatureMatching,
+            py::arg("source"),
+            py::arg("target"),
+            py::arg("voxelize") = false,
+            py::arg("voxel_size") = 0.005,
+            py::arg("radius_kd_tree_search") = 0.8,
+            py::arg("max_neighbor_kd_tree_search") = 50,
+            py::arg("max_correspondence_distance") = 0.05,
+            py::arg("iteration_number") = 128,
+            py::arg("max_tuple_count") = 1000)
+        .def_static("O3DRansacOnFeatureMatching", &diffCheck::registrations::DFGlobalRegistrations::O3DRansacOnFeatureMatching,
+            py::arg("source"),
+            py::arg("target"),
+            py::arg("voxelize") = false,
+            py::arg("voxel_size") = 0.005,
+            py::arg("radius_kd_tree_search") = 1.0,
+            py::arg("max_neighbor_kd_tree_search") = 50,
+            py::arg("max_correspondence_distance") = 0.5,
+            py::arg("is_t_estimate_pt2pt") = false,
+            py::arg("ransac_n") = 3,
+            py::arg("correspondence_checker_distance") = 0.05,
+            py::arg("similarity_threshold") = 1.5,
+            py::arg("ransac_max_iteration") = 5000,
+            py::arg("ransac_confidence_threshold") = 0.999);
+
+    py::class_<diffCheck::registrations::DFRefinedRegistration>(submodule_registrations, "DFRefinedRegistration",
+        "A static class for the refined registration methods.")
+        .def_static("O3DICP", &diffCheck::registrations::DFRefinedRegistration::O3DICP,
+            py::arg("source"),
+            py::arg("target"),
+            py::arg("max_correspondence_distance") = 0.1,
+            py::arg("is_t_estimate_pt2pt") = false,
+            py::arg("relative_fitness") = 1e-6,
+            py::arg("relative_rmse") = 1e-6,
+            py::arg("max_iteration") = 30,
+            py::arg("use_point_to_plane") = false)
+        .def_static("O3DGeneralizedICP", &diffCheck::registrations::DFRefinedRegistration::O3DGeneralizedICP,
+            py::arg("source"),
+            py::arg("target"),
+            py::arg("max_correspondence_distance") = 0.1,
+            py::arg("max_iteration") = 30,
+            py::arg("relative_fitness") = 1e-6,
+            py::arg("relative_rmse") = 1e-6);
+
+    //#################################################################################################
+    // dfb_segmentation namespace
+    //#################################################################################################
+
+    py::module_ submodule_segmentation = m.def_submodule("dfb_segmentation", "A submodule for the `semantic` segmentation methods.");
+
+    py::class_<diffCheck::segmentation::DFSegmentation>(submodule_segmentation, "DFSegmentation",
+        "A static class for the segmentation methods.")
+        .def_static("segment_by_normal", &diffCheck::segmentation::DFSegmentation::NormalBasedSegmentation,
+            py::arg("point_cloud"),
+            py::arg("normal_threshold_degree") = 20.0,
+            py::arg("min_cluster_size") = 10,
+            py::arg("use_knn_neighborhood") = true,
+            py::arg("knn_neighborhood_size") = 10,
+            py::arg("radius_neighborhood_size") = 0.1,
+            py::arg("color_clusters") = false)
+
+        .def_static("associate_clusters", &diffCheck::segmentation::DFSegmentation::AssociateClustersToMeshes,
+            py::arg("reference_mesh"),
+            py::arg("unassociated_clusters"),
+            py::arg("angle_threshold") = 0.1,
+            py::arg("association_threshold") = 0.1)
+
+        .def_static("clean_unassociated_clusters", &diffCheck::segmentation::DFSegmentation::CleanUnassociatedClusters,
+            py::arg("unassociated_clusters"),
+            py::arg("associated_clusters"),
+            py::arg("reference_mesh"),
+            py::arg("angle_threshold") = 0.1,
+            py::arg("association_threshold") = 0.1);
+}

_build/_sources/assembly_intro.md

@@ -0,0 +1,4 @@
+(assembly_intro)=
+# DfAssembly
+
+/// introductio nand example on how to build an assembly with diffCheck (showing also deconstructing and a general scheme of the assembly architecture)

_build/_sources/change_log.md

@@ -0,0 +1,4 @@
+(change_log)=
+# Change log
+
+/// find a way to automatize the change log

_build/_sources/compute_error_intro.md

@@ -0,0 +1,5 @@
+(compute_error_intro)=
+# Compute cloud-CAD error
+
+/// tutorial on how to compute the error between a point cloud and a CAD model with diffCheck component. It can be slit in two parts: single element - full structure
+

_build/_sources/contribute.md

@@ -0,0 +1,52 @@
+(contrib_guide)=
+# Contribute
+
+We welcome pull requests from everyone. Please have a look at the [issue](https://github.com/diffCheckOrg/diffCheck/issues) list to see if there is something you can help with. If you have a new feature in mind, please open an issue to discuss it first.
+
+## Code quality
+
+We run [mypy](https://mypy.readthedocs.io/en/stable/index.html) and [Ruff](https://docs.astral.sh/ruff/) for e.g. python on pre-commit hooks to ensure code quality. 
+Please make sure to:
+1. (when you `git clone` the repo) to install the *pre-commit hooks*:
+
+   ```console
+    pre-commit install
+    ```
+2.  to run the following commands before submitting a pull request:
+
+    ```console
+    pre-commit run --all-files
+    ```
+
+## How to contribute
+
+Follow these steps to contribute to the project:
+
+1. Fork the diffCheck repository by clicking the **Fork** button on the [diffCheck repository](https://github.com/diffCheckOrg/diffCheck). Clone the repository to your local machine:
+
+    ```console
+    git clone https://github.com/YOUR_USERNAME/diffCheck.git
+    cd diffCheck
+    ```
+
+2. Create a new branch for your feature:
+
+    ```console
+    git checkout -b my-feature
+    ```
+
+3. Add the diffCheck repository as a remote for convinience:
+
+    ```console
+    git remote add upstream https://github.com/diffCheckOrg/diffCheck
+    ```
+
+4. Next you will need to set up your development environment. You can find the instructions in the [development installation guide](dev_env).
+
+5. Work on your feature (follow [c++](cpp_conv) or [py](py_conv) style guide) and commit your changes by following the [commit message guidelines](git_commit_system):
+
+    ```console
+    git add .
+    git commit -m "WIP: Add my feature"
+    git push origin my-feature
+    ```

_build/_sources/dev_documentation.rst

@@ -0,0 +1,16 @@
+.. _dev_df_doc:
+
+Developer documentation
+=======================
+
+Here you will find all the necessary as a developer to contribute to the project.
+
+.. toctree::
+    :maxdepth: 1
+    :caption: Developer documentation
+
+    contribute
+    development_env
+    style
+    testing
+    documentation