Feature/export pose csv - #186
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DamienGilliard
marked this pull request as draft
March 18, 2026 21:32
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fix/plane_detection_and_joint_detection
March 18, 2026 21:34
…_history_pose_errors()
…d CAD segmentation step
DamienGilliard
marked this pull request as ready for review
September 7, 2026 15:12
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ok this seems in order, a dry-run will be done at release branch level |
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🟡 Changes recommended
There are confirmed runtime/behavioral bugs (missing import, potential None handling crash, output list misalignment, and incorrect CSV “nan” emission for valid 0.0 values) that should be fixed before merge.
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Pull request overview
This PR extends the Grasshopper-based pose pipeline to (a) propagate optional ICP-derived poses through segmentation → pose estimation, and (b) expose richer pose-comparison results that can be exported as CSV (including per-step pose error histories). It also includes a handful of geometry/segmentation robustness tweaks in the C++ core.
Changes:
- Add pose conversion/comparison helpers and assembly pose-history loading utilities, plus a new
DFPoseResultscontainer for pose error histories. - Wire new GH inputs/outputs to pass ICP-detected poses into pose estimation and return a
DFPoseResultsobject from pose comparison. - Update CSV exporter to emit pose error history CSV; adjust C++ segmentation/mesh routines for safer behavior.
File summaries
| File | Description |
|---|---|
| src/gh/diffCheck/diffCheck/df_poses.py | Adds plane→pose conversion, pose comparison, and GH tree → pose-history loading. |
| src/gh/diffCheck/diffCheck/df_geometries.py | Compacts meshes after building (memory/layout change). |
| src/gh/diffCheck/diffCheck/df_error_estimation.py | Introduces DFPoseResults to compute per-element pose error histories. |
| src/gh/components/DF_pose_estimation/metadata.json | Adds optional i_poses_from_icp input metadata. |
| src/gh/components/DF_pose_estimation/code.py | Uses optional ICP poses to bypass per-cloud pose recomputation. |
| src/gh/components/DF_pose_comparison/metadata.json | Adds o_result output for detailed pose comparison results. |
| src/gh/components/DF_pose_comparison/code.py | Constructs and returns DFPoseResults alongside existing outputs. |
| src/gh/components/DF_csv_exporter/code.py | Adds support for exporting DFPoseResults into a pose CSV. |
| src/gh/components/DF_CAD_segmentator/metadata.json | Adds o_poses_from_icp output metadata. |
| src/gh/components/DF_CAD_segmentator/code.py | Outputs ICP-derived beam poses alongside segmentation outputs. |
| src/gh/components/DF_build_assembly/metadata.json | Fixes output description wording. |
| src/diffCheck/segmentation/DFSegmentation.cc | Refactors point removal logic and changes association computations. |
| src/diffCheck/geometry/DFPointCloud.hh | Updates tight bounding box documentation. |
| src/diffCheck/geometry/DFPointCloud.cc | Adjusts normal-flip thresholds and returns 8-corner OBB points. |
| src/diffCheck/geometry/DFMesh.cc | Adds degenerate-triangle handling and revises point-in-face tolerance checks. |
Review details
Suppressed comments (1)
src/gh/components/DF_csv_exporter/code.py:209
- Same issue for rotation history:
if data:will convert a valid0.0to "nan". Useis not Noneinstead.
for data in assembly_rot_err_hist[i]:
if data:
rot_err_list.append(float(data))
else:
rot_err_list.append("nan")
- Files reviewed: 15/15 changed files
- Comments generated: 8
- Review effort level: Lite
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| for (auto normal : segment->Normals){segmentNormal += normal;} | ||
| segmentNormal.normalize(); | ||
| double currentDistance = (faceCenter - segmentCenter).norm(); | ||
| double currentDitanceOrthogonalToFace = std::abs((faceCenter - segmentCenter).dot(faceNormal)); | ||
| double currentAngle = std::abs(sin(acos(faceNormal.dot(faceCenter - segmentCenter)))); | ||
| if (std::abs(sin(acos(faceNormal.dot(segmentNormal)))) < angleThreshold |
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…kOrg/diffCheck into feature/export_pose_csv
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as in title...
We now get a csv like this;