Release/2.0.0

.gitmodules

@@ -19,4 +19,4 @@
 	url = https://github.com/diffCheckOrg/submodule-cilantro.git
 [submodule "deps/eigen"]
 	path = deps/eigen
-	url = https://gitlab.com/libeigen/eigen.git
+	url = https://github.com/diffCheckOrg/submodule-eigen.git

.pre-commit-config.yaml

@@ -25,7 +25,7 @@ repos:
     files: \.py$
 
 - repo: https://github.com/pre-commit/mirrors-mypy
-  rev: 'v1.11.1'
+  rev: 'v1.19.1'
   hooks:
   - id: mypy
     files: (src/gh|tests|invokes\.py)
@@ -34,6 +34,7 @@ repos:
       types-requests==2.31.0,
       numpy==2.0.1,
       pytest==8.3.1,
+      websockets>=10.4,
       types-setuptools>=71.1.0.20240818
       ]
     args: [--config=pyproject.toml]

CMakeLists.txt

@@ -10,6 +10,9 @@ include(options)
 # disabling warnings
 if (MSVC)
     add_compile_options(/wd4003)
+    # Disable _SECURE_SCL to avoid issues with stdext::checked_array_iterator
+    # in newer MSVC versions with Open3D's bundled fmt library
+    add_compile_definitions(_SECURE_SCL=0 _HAS_STDEXT_CHECKED_ARRAY_ITERATOR=0)
 endif()
 
 # check that the -DCMAKE_BUILD_TYPE is set

README.md

@@ -14,15 +14,15 @@
 </p>
 
 
-![demo](https://github.com/user-attachments/assets/3c9f353d-7707-4630-aa6d-fe59cbdeae2f)
+![demo](./assets/img/intro_illustration_with_final_distances_and_pose_estimation.png)
 
 # DiffCheck: CAD-Scan comparison
 
 With `diffCheck`, you can easily compare your scans and 3D models of timber structures or joinery to measure precision and see the differences at a glance, [here](https://diffcheckorg.github.io/diffCheck/quickstart.html)!
 
 `diffCheck` can also function as a general purpose  point cloud processing toolset and we hope that the digital community will use it, see the interest, and contribute to this open-source project we starting!
 
-`diffCheck` is originally developed and now maintained by Andrea Settimi (PhD), Damien Gilliard (PhD) from the [Laboratory of Timber Construction (IBOIS, lab head: Prof. Yves Weinand)](https://www.epfl.ch/labs/ibois/), Eleni Skevaki (PhD) and Dr. Marirena Kladeftira (Post-Doc) from the [Laboratory for Creative Computation (CRCL, lab head: Prof. Stefana Parascho)](https://www.epfl.ch/labs/crcl/) here at [Ecole Polytechnique Fédérale de Lausanne (EPFL)](https://www.epfl.ch/en/).
+`diffCheck` 1 was originally developed by Dr. Andrea Settimi, Damien Gilliard (PhD candidate) from the [Laboratory of Timber Construction (IBOIS, lab head: Prof. Yves Weinand)](https://www.epfl.ch/labs/ibois/), Eleni Skevaki (PhD candidate) and Dr. Marirena Kladeftira (Post-Doc) from the [Laboratory for Creative Computation (CRCL, lab head: Prof. Stefana Parascho)](https://www.epfl.ch/labs/crcl/) here at [Ecole Polytechnique Fédérale de Lausanne (EPFL)](https://www.epfl.ch/en/). Development for the version 2 was done by Damien Gilliard (still PhD candidate) from the [Laboratory of Timber Construction (IBOIS, lab head: Prof. Yves Weinand)](https://www.epfl.ch/labs/ibois/) and Eleni Skevaki (PhD candidate) from the [Laboratory for Creative Computation (CRCL, lab head: Prof. Stefana Parascho)](https://www.epfl.ch/labs/crcl/).
 
 `diffCheck` is designed to be user-friendly and can be used either via a Grasshopper plug-in, we provide tutorials and online documentation for each component and its Python API.
 
@@ -38,50 +38,27 @@ Open your Grasshopper canvas and search for the `DF` components!
 
 ## Functionalities
 
-`diffCheck` is a toolset that allows you to compare a 3D model of a structure to evaluate its assembly or joint's quality and accuracy.
+`diffCheck` is a toolset that allows you to compare a 3D model of a structure to evaluate its assembly or joint's quality and accuracy. It can be used on finished assemblies to evaluate their quality, but also to detect poses during fabrication, to allow fabricator to react to pose discrepancies on-the-fly.
 
 <div align="center">
     <img src="./assets/img/placeholder_additive.png" width="600">
-    <p>Example of several structures assembled with different digital technologies.</p>
+    <p>Example of several finished structures assembled with different digital technologies.</p>
 </div>
 <div align="center">
     <img src="./assets/img/placeholder_subtractive.png" width="600">
     <p>Example of joinery evaluation.</p>
 </div>
-
+<div align="center">
+    <img src="./assets/img/pose_detection.png" width="400">
+    <p>Example of pose estimation.</p>
+</div>
 
 ## Documentation
 
 The full documentation, with tutorials, automatic documentation for GHComponents and PythonAPI is available [here](https://diffcheckorg.github.io/diffCheck/).
 
 
-
-## Roadmap
-
-```mermaid
-gantt
-    dateFormat  YYYY-MM-DD
-    title       diffCheck - general overview
-    excludes    weekends
-
-    section Publication
-    Abstract edition                    :active, absed, 2024-03-01, 2024-03-15
-    Submission abstract ICSA            :milestone, icsaabs, 2024-03-15, 0d
-    Paper edition                       :paperd, 2024-10-01, 2024-10-30
-    Submission paper ICSA               :milestone, icsapap, 2024-10-30, 0d
-
-    section Code development
-    Backend development                 :backenddev, after icsaabs, 6w
-    Rhino/Grasshopper integration       :rhghinteg, after backenddev, 6w
-    Documentation & Interface           :docuint, after fabar, 3w
-
-    section Prototype testing
-    Fabrication of AR Prototype         :crit, fabar, 2024-07-01, 2024-08-30
-    Fabrication of CNC Prototype        :crit, fabcnc, 2024-07-01, 2024-08-30
-    Fabrication of Robot Prototype      :crit, fabrob, 2024-07-01, 2024-08-30
-    Data collection and evaluation      :dataeval, after fabrob, 4w
-```
-
 ## How to contribute
 
 If you want to contribute to the project, please refer to the [contribution guidelines]([./CONTRIBUTING.md](https://diffcheckorg.github.io/diffCheck/contribute.html)).
+

cmake/copy_dlls_script.cmake

@@ -0,0 +1,18 @@
+# This script is executed at build time to copy DLLs
+# It uses variables passed from the main CMake configuration
+
+# Remove old DLLs from the destination directory
+file(GLOB old_dlls "${DIR_TO_CLEAN}/*.dll")
+if(old_dlls)
+    file(REMOVE ${old_dlls})
+endif()
+
+# Get all DLLs from the source directory (evaluated at build time)
+file(GLOB dll_files "${SRC_DIR}/*.dll")
+
+# Copy each DLL to the destination directory
+foreach(dll_file ${dll_files})
+    get_filename_component(dll_name ${dll_file} NAME)
+    message(STATUS "Copying ${dll_name} to ${DST_DIR}")
+    file(COPY ${dll_file} DESTINATION ${DST_DIR})
+endforeach()

cmake/external_tools.cmake

@@ -232,19 +232,19 @@ endfunction()
 
 # ------------------------------------------------------------------------------
 function (copy_dlls directory_to_copy_dlls post_build_target)
-  message (STATUS "Erasing old DLLs and copy new ones to ${directory_to_copy_dlls}")
-  file(GLOB files ${directory_to_copy_dlls}/*.dll)
-  foreach(file ${files})
-      message(STATUS "Removing ${file}")
-      file(REMOVE ${file})
-  endforeach()
-  file(GLOB files ${CMAKE_BINARY_DIR}/bin/${CMAKE_BUILD_TYPE}/*.dll)
-  foreach(file ${files})
-      message(STATUS "Copying ${file} to ${directory_to_copy_dlls}")
-      add_custom_command(TARGET ${post_build_target} POST_BUILD
-          COMMAND ${CMAKE_COMMAND} -E copy
-          ${file}
-          ${directory_to_copy_dlls}
-          )
-  endforeach()
+  message (STATUS "Configuring DLL copy to ${directory_to_copy_dlls} at build time")
+
+  # Get the path to the script relative to the project source dir
+  set(COPY_DLLS_SCRIPT ${PROJECT_SOURCE_DIR}/cmake/copy_dlls_script.cmake)
+
+  # Add a post-build command that will copy DLLs at build time
+  # This ensures the file list is evaluated at build time, not configure time
+  add_custom_command(TARGET ${post_build_target} POST_BUILD
+      COMMAND ${CMAKE_COMMAND}
+      -DDIR_TO_CLEAN="${directory_to_copy_dlls}"
+      -DSRC_DIR="${CMAKE_BINARY_DIR}/bin/${CMAKE_BUILD_TYPE}"
+      -DDST_DIR="${directory_to_copy_dlls}"
+      -P "${COPY_DLLS_SCRIPT}"
+      COMMENT "Copying DLLs to ${directory_to_copy_dlls}"
+      )
 endfunction()

manifest.yml

@@ -1,6 +1,6 @@
 ---
 name: diffCheck
-version: 1.3.1
+version: 2.0.0
 authors:
 - Andrea Settimi
 - Damien Gilliard
@@ -13,6 +13,6 @@ keywords:
 - Grasshopper
 - PointCloudProcessing
 - TimberConstruction
-- Benchamark
+- Benchmark
 - Scanning
 icon: logo.png

pyproject.toml

@@ -20,7 +20,8 @@ module = [
     "GH_IO.*",
     "clr.*",
     "diffcheck_bindings",
-    "diffCheck.diffcheck_bindings"
+    "diffCheck.diffcheck_bindings",
+    "ghpythonlib.*"
 ]
 ignore_missing_imports = true
 

src/diffCheck.hh

@@ -6,6 +6,9 @@
 #include <loguru.hpp>
 
 #include <cilantro/cilantro.hpp>
+#include <cilantro/clustering/kmeans.hpp>
+
+#include <Eigen/Dense>
 
 // diffCheck includes
 #include "diffCheck/log.hh"

src/diffCheck/IOManager.cc

@@ -68,4 +68,11 @@ namespace diffCheck::io
         std::filesystem::path pathCloud = pathTestData / "test_pc_for_SOR_101pts_with_1_outlier.ply";
         return pathCloud.string();
     }
+
+    std::string GetTwoConnectedPlanesPlyPath()
+    {
+        std::filesystem::path pathTestData = GetTestDataDir();
+        std::filesystem::path pathCloud = pathTestData / "two_connected_planes_with_normals.ply";
+        return pathCloud.string();
+    }
 } // namespace diffCheck::io

src/diffCheck/IOManager.hh

@@ -42,4 +42,6 @@ namespace diffCheck::io
     std::string GetRoofQuarterPlyPath();
     /// @brief Get the path to the plane point cloud with one outlier
     std::string GetPlanePCWithOneOutliers();
+    /// @brief Get the path to the two connected planes ply test file
+    std::string GetTwoConnectedPlanesPlyPath();
 } // namespace diffCheck::io

src/diffCheck/geometry/DFMesh.cc

@@ -112,10 +112,12 @@ namespace diffCheck::geometry
             Eigen::Vector3d v1 = this->Vertices[triangle[1]];
             Eigen::Vector3d v2 = this->Vertices[triangle[2]];
             Eigen::Vector3d n = (v1 - v0).cross(v2 - v0);
-            n.normalize();
+            double n2 = n.squaredNorm();
 
-            // Project the point onto the plane of the triangle
-            Eigen::Vector3d projectedPoint = point - n * (n.dot(point - v0));
+            // Handle degenerate triangle
+            if (n2 < 1e-20){continue;}// skip this triangle
+
+            Eigen::Vector3d projectedPoint = point - n * (n.dot(point - v0) / n2);
 
             // Compute vectors
             Eigen::Vector3d v0v1 = v1 - v0;
@@ -130,16 +132,21 @@ namespace diffCheck::geometry
             double dot12 = v0v1.dot(v0p);
 
             // create u,v isoparametric mapping to the triangle where (u,v) = (1,0) if projectedPoint = v2, (u,v) = (0,1) if projectedPoint = v1 and (u,v) = (0,0) if projectedPoint = v0
-            double invDenom = 1.0 / (dot00 * dot11 - dot01 * dot01);
+            double denom = dot00 * dot11 - dot01 * dot01;
+            if (std::abs(denom) < 1e-20)
+                continue;
+
+            double invDenom = 1.0 / denom;
             double u = (dot11 * dot02 - dot01 * dot12) * invDenom;
             double v = (dot00 * dot12 - dot01 * dot02) * invDenom;
 
             // Check if point is in triangle
-            if ((u >= -associationThreshold / 100) && (v >= -associationThreshold / 100) && (u + v <= 1 + associationThreshold / 100))
+            double epsilon = 1e-6;
+
+            if ((u >= -epsilon) && (v >= -epsilon) && (u + v <= 1 + epsilon))
             {
                 // Check if the point is close enough to the face
-                double maxProjectionDistance = associationThreshold * std::min({(v1 - v0).norm(), (v2 - v1).norm(), (v0 - v2).norm()}) ;
-                if ((projectedPoint - point).norm() < maxProjectionDistance)
+                if ((projectedPoint - point).squaredNorm() < associationThreshold * associationThreshold)
                 {
                     return true;
                 }