internal static void RunGeometricReasoning(Dictionary <string, List <TessellatedSolid> > solids)
{
// Generate a good number of directions on the surface of a sphere
//------------------------------------------------------------------------------------------
//SimplifySolids(solids);
Directions = IcosahedronPro.DirectionGeneration(1);
DisassemblyDirections.Directions = new List <double[]>(Directions);
FindingOppositeDirections();
// Creating Bounding Geometries for every solid
//------------------------------------------------------------------------------------------
//Bridge.StatusReporter.ReportStatusMessage("Creating Bounding Geometries ... ", 1);
BoundingGeometry.OrientedBoundingBoxDic = new Dictionary <TessellatedSolid, BoundingBox>();
BoundingGeometry.BoundingCylinderDic = new Dictionary <TessellatedSolid, BoundingCylinder>();
BoundingGeometry.CreateOBB2(solids);
BoundingGeometry.CreateBoundingCylinder(solids);
//Bridge.StatusReporter.PrintMessage("BOUNDING GEOMETRIES ARE SUCCESSFULLY CREATED.", 0.5f);
// Detecting Springs
//SpringDetector.DetectSprings(solids);
// Primitive Classification
//------------------------------------------------------------------------------------------
// what parts to be classified?
var partsForPC = BlockingDetermination.PartsTobeClassifiedIntoPrimitives(solids);
SolidPrimitive = BlockingDetermination.PrimitiveMaker(partsForPC);
}
internal static Dictionary <int, List <Component[]> > NonAdjacentBlocking = new Dictionary <int, List <Component[]> >(); //Component[0] is blocked by Component[1]
internal static List <int> Run(designGraph assemblyGraph, List <TessellatedSolid> solids)
{
Solids = new List <TessellatedSolid>(solids);
Directions = IcosahedronPro.DirectionGeneration();
var globalDirPool = new List <int>();
var solidPrimitive = BlockingDetermination.PrimitiveMaker(solids);
//var gears = BoltAndGearDetection.GearDetector(solidPrimitive);
AddingNodesToGraph(assemblyGraph, solids);//, gears, screwsAndBolts);
/*for (var i = 0; i < solids.Count - 1; i++)
* {
* var solid1 = solids[i];
* var solid1Primitives = solidPrimitive[solid1];
* for (var j = i + 1; j < solids.Count; j++)
* {
* var solid2 = solids[j];
* var solid2Primitives = solidPrimitive[solid2];
* List<int> localDirInd;
* double cert;
* if (BlockingDetermination.DefineBlocking(assemblyGraph, solid1, solid2, solid1Primitives, solid2Primitives,
* globalDirPool, out localDirInd, out cert))
* {
* // I wrote the code in a way that "solid1" is always "Reference" and "solid2" is always "Moving".
* //List<int> finDirs, infDirs;
* //UnconnectedBlockingDetermination.FiniteDirectionsBetweenConnectedParts(solid1, solid2, localDirInd, out finDirs, out infDirs);
* var from = assemblyGraph[solid2.Name]; // Moving
* var to = assemblyGraph[solid1.Name]; // Reference
* assemblyGraph.addArc((Component)from, (Component)to);
* var a = (Connection)assemblyGraph.arcs.Last();
* a.Certainty = cert;
* AddInformationToArc(a, localDirInd);
* }
* }
* }*/
return(globalDirPool);
}
internal static void RunPerecptronLearner(bool regenerateTrainingData)
{
// this functions, finds the training stls, opens them,
// read them and creates the csv file of the training data
// which includes the features of each solid.
// Here is what I need to pay attention:
// 1. if the csv file exists and the user doesnt want to improve(!) the results
// do nothing
// 2. if the csv doesnt exist or the user has new training stls, we can run it and
// improve the classifier.
var path =
#if NOSRC
Program.state.inputDir + "src/Assembly Planner/InitialGraphMaker/BoltAndGearDetector";
#else
"bin/training";
#endif
//Path to write the csv to:
#if NOSRC
var trainingDataPath = path + "/TrainingData.csv";
var weightsAndVotesPath = path + "/WeightsAndVotes.csv";
#else
var trainingDataPath = path + "/ClassifierFiles/TrainingData.csv";
var weightsAndVotesPath = path + "/ClassifierFiles/WeightsAndVotes.csv";
#endif
if (!regenerateTrainingData && File.Exists(weightsAndVotesPath))
{
return;
}
if (!regenerateTrainingData && !File.Exists(weightsAndVotesPath) && File.Exists(trainingDataPath))
{
// CSV of the training data exists, but weights and votes, dont exist, therefore: run the Learner
Learner(); // this will automatically create the csv containing weights and votes
return;
}
if (!regenerateTrainingData && !File.Exists(weightsAndVotesPath) && !File.Exists(trainingDataPath))
{
Console.WriteLine("Sorry!! csv files don't exist. We need to generate the training data");
}
//statusReporter.PrintMessage("BOUNDING GEOMETRIES ARE SUCCESSFULLY CREATED.", 1f);
//Path to read STLs from:
#if NOSRC
var stlFastenerPath = path + "/Fastener";
var stlNotFastenerPath = path + "/notFastener";
#else
var stlFastenerPath = path + "/TrainingSTLs/Fastener";
var stlNotFastenerPath = path + "/TrainingSTLs/notFastener";
#endif
var fastenersTraining = StlToSolid(stlFastenerPath);
var fastenerPrimitive = BlockingDetermination.PrimitiveMaker(fastenersTraining);
var ntFastenersTraining = StlToSolid(stlNotFastenerPath);
var notFastenerPrimitive = BlockingDetermination.PrimitiveMaker(ntFastenersTraining);
if (!File.Exists(trainingDataPath))
{
File.Create(trainingDataPath).Close();
}
// now fill the csv:
TrainingDataCsvFiller(trainingDataPath, fastenerPrimitive, notFastenerPrimitive);
Learner();
}
