Djalim Simaila
16f43c2126
✨ feat(MainWindow.py): add functionality to export advanced data to a text file 🚀 feat(MainWindow.py): add button to export advanced data to a text file 🚀 feat(MainWindow.ui): update labels for Volume and Surface to include units The keys in the dict returned by the get_advanced_data function were updated to be more descriptive. The export_advanced_data function was added to the MainWindow class to allow the user to export the advanced data to a text file. A button was added to the GUI to allow the user to export the advanced data. The labels for Volume and Surface were updated to include the units of measurement. 🎨 style(UI_MainWindow.py): rename tab_5 to parameters and tab_6 to values for better semantics The names of the tabs have been changed to better reflect their contents. The tab previously named tab_5 is now named parameters, and the tab previously named tab_6 is now named values. This improves the readability and maintainability of the code. 🎨 style(UI_MainWindow.py): rename tab_6 to values and tab to graph_pane_1, tab_2 to graph_pane_2, tab_3 to graph_pane_3, and tab_4 to graph_pane_4 for better semantics This commit only renames the tabs in the UI_MainWindow.py file to improve the semantics of the code. The tab_6 is renamed to values, and tab, tab_2, tab_3, and tab_4 are renamed to graph_pane_1, graph_pane_2, graph_pane_3, and graph_pane_4, respectively. 🔨 refactor(UI_MainWindow.py): update labels for volume and surface to include units The labels for volume and surface have been updated to include the units of measurement in millimeters. The tab names for the settings and graph panes have also been updated to improve readability and consistency with the naming conventions. 🔨 refactor(AdvancedDataWorker.py): update keys in the dict returned by the function to be more explicit 🔨 refactor(position_manipulation.py): remove unnecessary computation of the center of gravity in the verticalise function The keys in the dict returned by the AdvancedDataWorker function have been updated to be more explicit. The keys 'Volume' and 'Surface' have been updated to 'Volume en mm3' and 'Surface en mm2' respectively to indicate the units of measurement. In the position_manipulation.py file, the computation of the center of gravity in the verticalise function was unnecessary and has been removed to improve performance.
105 lines
3.7 KiB
Python
105 lines
3.7 KiB
Python
"""
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Created on Fri Apr 21 2023
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@name: position_manipulation.py
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@desc: This module contains some utility functions for position manipulation.
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@auth: Djalim Simaila
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@e-mail: djalim.simaila@inrae.fr
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"""
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import numpy as np
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from utils.files.input import ScannedObject
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from utils.math.data_extraction import get_mean
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def get_mass_properties(obj:ScannedObject)->tuple:
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'''
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Evaluate and return a tuple with the following elements:
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- the volume
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- the position of the center of gravity (COG)
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- the inertia matrix expressed at the COG
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:param obj: Object to analyse
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:return: tuple(float, numpy.array, numpy.array)
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From numpy-stl:(https://pypi.org/project/numpy-stl/)
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Documentation can be found here:
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http://www.geometrictools.com/Documentation/PolyhedralMassProperties.pdf
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'''
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verts = np.asarray(obj.get_vertices())
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faces = np.asarray(obj.get_faces())
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faces = verts[faces]
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x = np.asarray([[point[0] for point in faces] for faces in faces])
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y = np.asarray([[point[1] for point in faces] for faces in faces])
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z = np.asarray([[point[2] for point in faces] for faces in faces])
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def subexpression(x):
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w0, w1, w2 = x[:, 0], x[:, 1], x[:, 2]
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temp0 = w0 + w1
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f1 = temp0 + w2
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temp1 = w0 * w0
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temp2 = temp1 + w1 * temp0
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f2 = temp2 + w2 * f1
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f3 = w0 * temp1 + w1 * temp2 + w2 * f2
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g0 = f2 + w0 * (f1 + w0)
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g1 = f2 + w1 * (f1 + w1)
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g2 = f2 + w2 * (f1 + w2)
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return f1, f2, f3, g0, g1, g2
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x0, x1, x2 = x[:, 0], x[:, 1], x[:, 2]
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y0, y1, y2 = y[:, 0], y[:, 1], y[:, 2]
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z0, z1, z2 = z[:, 0], z[:, 1], z[:, 2]
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a1, b1, c1 = x1 - x0, y1 - y0, z1 - z0
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a2, b2, c2 = x2 - x0, y2 - y0, z2 - z0
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d0, d1, d2 = b1 * c2 - b2 * c1, a2 * c1 - a1 * c2, a1 * b2 - a2 * b1
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f1x, f2x, f3x, g0x, g1x, g2x = subexpression(x)
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f1y, f2y, f3y, g0y, g1y, g2y = subexpression(y)
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f1z, f2z, f3z, g0z, g1z, g2z = subexpression(z)
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intg = np.zeros((10))
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intg[0] = sum(d0 * f1x)
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intg[1:4] = sum(d0 * f2x), sum(d1 * f2y), sum(d2 * f2z)
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intg[4:7] = sum(d0 * f3x), sum(d1 * f3y), sum(d2 * f3z)
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intg[7] = sum(d0 * (y0 * g0x + y1 * g1x + y2 * g2x))
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intg[8] = sum(d1 * (z0 * g0y + z1 * g1y + z2 * g2y))
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intg[9] = sum(d2 * (x0 * g0z + x1 * g1z + x2 * g2z))
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intg /= np.array([6, 24, 24, 24, 60, 60, 60, 120, 120, 120])
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volume = intg[0]
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cog = intg[1:4] / volume
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cogsq = cog ** 2
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inertia = np.zeros((3, 3))
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inertia[0, 0] = intg[5] + intg[6] - volume * (cogsq[1] + cogsq[2])
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inertia[1, 1] = intg[4] + intg[6] - volume * (cogsq[2] + cogsq[0])
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inertia[2, 2] = intg[4] + intg[5] - volume * (cogsq[0] + cogsq[1])
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inertia[0, 1] = inertia[1, 0] = -(intg[7] - volume * cog[0] * cog[1])
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inertia[1, 2] = inertia[2, 1] = -(intg[8] - volume * cog[1] * cog[2])
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inertia[0, 2] = inertia[2, 0] = -(intg[9] - volume * cog[2] * cog[0])
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return volume, cog, inertia
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def verticalise(obj:ScannedObject):
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"""
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Rotate the object so that the principal axis of inertia is vertical
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:param obj: Object to analyse
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"""
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cog, inertia = get_mass_properties(obj)[1:]
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[val,vect] = np.linalg.eig(inertia)
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if np.linalg.det(vect) < 0:
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vect[:,2] = - vect[:,2]
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rot = vect.T
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faces = obj.get_faces(True)
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theta = -np.pi/2
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R_y = np.array([[np.cos(theta), 0, np.sin(theta)],
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[0, 1, 0],
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[-np.sin(theta), 0, np.cos(theta)]])
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for face,_ in enumerate(faces):
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for vertex in range(3):
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faces[face][vertex] = rot@(faces[face][vertex] - cog)
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faces[face][vertex] = R_y@(faces[face][vertex])
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obj.update_from_faces(faces)
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