Merge branch 'feature/export_pose_csv' of https://github.com/diffCheckOrg/diffCheck into feature/export_pose_csv

Author: DamienGilliard

src/diffCheck/geometry/DFMesh.cc

@@ -141,7 +141,6 @@ namespace diffCheck::geometry
             double v = (dot00 * dot12 - dot01 * dot02) * invDenom;
 
             // Check if point is in triangle
-            double scale = std::max({v0v1.norm(), v0v2.norm()});
             double epsilon = 1e-6;
 
             if ((u >= -epsilon) && (v >= -epsilon) && (u + v <= 1 + epsilon))

src/gh/components/DF_CAD_segmentator/code.py

@@ -89,11 +89,11 @@ def RunScript(self,
 
         df_asssociated_cluster_faces_per_beam = []
         for i, df_b in enumerate(df_beams):
-            beam_initial_pose = df_b.plane
-            if beam_initial_pose.Transform(transforms[i]):
-                beam_detected_pose = beam_initial_pose
+            beam_detected_pose = Rhino.Geometry.Plane(df_b.plane)
+            if beam_detected_pose.Transform(transforms[i]):
                 o_poses_from_icp.append(beam_detected_pose)
-
+            else:
+                o_poses_from_icp.append(None)
             rh_b_mesh_faces = [df_b_f.to_mesh() for df_b_f in df_b.side_faces]
             rh_test_mesh = Rhino.Geometry.Mesh()
             for j in range(len(rh_b_mesh_faces)):

src/gh/components/DF_CAD_segmentator/metadata.json

@@ -130,7 +130,7 @@
             {
                 "name": "o_poses_from_icp",
                 "nickname": "o_poses_from_icp",
-                "description": "The list of poses resulting from the ICP registration. If i_make_registration is False, this output will be empty.",
+                "description": "The list of poses resulting from the ICP registration. If i_make_registration is False, this output will contain the original assembly beam planes (no ICP applied).", 
                 "optional": false,
                 "sourceCount": 0,
                 "graft": false

src/gh/components/DF_csv_exporter/code.py

@@ -198,7 +198,7 @@ def RunScript(self,
                     dist_err_list = []
                     rot_err_list = []
                     for data in assembly_dist_err_hist[i]:
-                        if data :
+                        if data is not None:
                             dist_err_list.append(float(data))
                         else:
                             dist_err_list.append("nan")

src/gh/components/DF_pose_comparison/code.py

@@ -7,8 +7,8 @@
 import ghpythonlib.treehelpers as th
 
 import diffCheck.df_geometries
+import diffCheck.df_poses
 import diffCheck.df_error_estimation
-
 import numpy
 
 def compute_comparison(measured_pose, cad_pose):

src/gh/components/DF_pose_estimation/code.py

@@ -36,7 +36,7 @@ def RunScript(self,
         all_poses_this_time = []
         for i, face_clouds in enumerate(clusters_per_beam):
             try:
-                if len(i_poses_from_icp) > i and i_poses_from_icp[i] is not None:
+                if i_poses_from_icp and len(i_poses_from_icp) > i and i_poses_from_icp[i] is not None:
                     # if there is a pose from ICP for this beam, use it directly without processing the cloud
                     planes.append(i_poses_from_icp[i])
                     all_poses_this_time.append(df_poses.DFPose.from_rh_plane(i_poses_from_icp[i]))

src/gh/diffCheck/diffCheck/df_error_estimation.py

@@ -285,7 +285,8 @@ def add_history(self, pose_history : dict[str, DFPosesBeam]):
         """
         self.pose_history = pose_history
         for element in pose_history:
-            self.last_poses[element] = pose_history[element].poses_dictionary[list(pose_history[element].poses_dictionary.keys())[-1]]
+            poses_dict = pose_history[element].poses_dictionary
+            self.last_poses[element] = poses_dict[next(reversed(poses_dict))] if poses_dict else None
 
     def add_last_poses(self, last_poses : dict[str, DFPose]):
         """