public static Dictionary <TessellatedSolid, double> PotentialFastener = new Dictionary <TessellatedSolid, double>(); // value is its certainty
internal static HashSet <TessellatedSolid> Run(
Dictionary <TessellatedSolid, List <PrimitiveSurface> > solidPrimitive,
Dictionary <TessellatedSolid, List <TessellatedSolid> > multipleRefs,
int threaded,
bool regenerateTrainingData = false)
{
var s = Stopwatch.StartNew();
s.Start();
Console.WriteLine();
Console.WriteLine("\nDetecting Fasteners ....\n");
Fasteners.Clear();
Nuts.Clear();
Washers.Clear();
PotentialFastener.Clear();
if (threaded != 0) // either all of them or some of them are threaded
{
FastenerPerceptronLearner.RunPerecptronLearner(regenerateTrainingData);
FastenerGaussianNaiveBayes.RunGaussianNaiveBayes();
// after training data is generated (or exists), now I should check and see
// if the csv containing weights and votes exists or not.
// Even if the trainingData csv doesnt exist but the csv of w and votes exist,
// we can run the classifier.
// In TrainingDataGenerator, if user says dont regenerate the training data,
// now check and see if the WeightsAndVotes.csv exists or not.
}
var fastener = new HashSet <TessellatedSolid>();
if (multipleRefs.Count == 1)
{
return(fastener);
}
if (threaded == 0) // non of them are threaded
{
AutoNonthreadedFastenerDetection.Run(solidPrimitive, multipleRefs);
}
else
{
if (threaded == 1) // all of them are threaded
{
AutoThreadedFastenerDetection.Run(solidPrimitive, multipleRefs);
}
else // some are threaded, some not
{
AutoSemiThreadedFastenerDetection.Run(solidPrimitive, multipleRefs);
}
}
RemoveDetectedFastenersFromPotentialFasteners();
return(fastener);
}
private static void AddThreadedOrNonthreadedFastener(TessellatedSolid solid, List <TessellatedSolid> repeated,
List <PrimitiveSurface> prim, Tool tool, double toolSize)
{
var newFastener = FastenerPolynomialTrend.PolynomialTrendDetector(solid);
if (newFastener != null)
{
newFastener.Tool = tool;
newFastener.ToolSize = toolSize;
lock (FastenerDetector.Fasteners)
FastenerDetector.Fasteners.Add(newFastener);
AutoThreadedFastenerDetection.AddRepeatedSolidstoFasteners(newFastener, repeated);
//continue;
return;
}
var lengthAndRadius =
AutoNonthreadedFastenerDetection.FastenerEngagedLengthAndRadiusNoThread(solid, prim);
var fastener = new Fastener
{
Solid = solid,
FastenerType = FastenerTypeEnum.Bolt,
Tool = tool,
ToolSize = toolSize,
RemovalDirection =
FastenerDetector.RemovalDirectionFinderUsingObb(solid,
BoundingGeometry.OrientedBoundingBoxDic[solid]),
OverallLength =
GeometryFunctions.SortedLengthOfObbEdges(BoundingGeometry.OrientedBoundingBoxDic[solid])[2],
EngagedLength = lengthAndRadius[0],
Diameter = lengthAndRadius[1] * 2.0,
Certainty = 1.0
};
lock (FastenerDetector.Fasteners)
FastenerDetector.Fasteners.Add(fastener);
AutoThreadedFastenerDetection.AddRepeatedSolidstoFasteners(fastener, repeated);
}
internal static void Run(
Dictionary <TessellatedSolid, List <PrimitiveSurface> > solidPrimitive,
Dictionary <TessellatedSolid, List <TessellatedSolid> > multipleRefs)
{
var width = 55;
var check = 0;
LoadingBar.start(width, 0);
var smallParts = FastenerDetector.SmallObjectsDetector(DisassemblyDirectionsWithFastener.PartsWithOneGeom);
PreSelectedFastenerToFastenerClass(solidPrimitive, multipleRefs);
foreach (
var preSelected in
FastenerDetector.PreSelectedFasteners.Where(preSelected => !smallParts.Contains(preSelected)))
{
smallParts.Add(preSelected);
}
FastenerDetector.PotentialFastener = new Dictionary <TessellatedSolid, double>();
foreach (var p in smallParts)
{
FastenerDetector.PotentialFastener.Add(p, 0.1);
}
var groupedPotentialFasteners = FastenerDetector.GroupingSmallParts(smallParts);
var uniqueParts = new HashSet <TessellatedSolid>();
foreach (var s in multipleRefs.Keys.Where(FastenerDetector.PotentialFastener.Keys.Contains))
{
uniqueParts.Add(s);
}
foreach (
var preFastener in
FastenerDetector.Fasteners.Where(preFastener => uniqueParts.Contains(preFastener.Solid)))
{
uniqueParts.Remove(preFastener.Solid);
}
var equalPrimitivesForEveryUniqueSolid = FastenerDetector.EqualFlatPrimitiveAreaFinder(uniqueParts,
solidPrimitive);
List <int> learnerVotes;
var learnerWeights = FastenerPerceptronLearner.ReadingLearnerWeightsAndVotesFromCsv(out learnerVotes);
List <string> nameList = new List <string>();
foreach (var part in uniqueParts)
{
nameList.Add(part.Name);
}
int preCutoff = 0;
int postCutoff = 0;
PartNameAnalysis.findCommonPreSuffixes(nameList, ref preCutoff, ref postCutoff);
var refresh = (int)Math.Ceiling((float)uniqueParts.Count / (float)(width * 4));
Parallel.ForEach(uniqueParts, solid =>
//foreach (var solid in uniqueParts)
{
if (check % refresh == 0)
{
LoadingBar.refresh(width, ((float)check) / ((float)uniqueParts.Count));
}
check++;
double toolSize;
var commonHead = AutoThreadedFastenerDetection.CommonHeadCheck(solid, solidPrimitive[solid],
equalPrimitivesForEveryUniqueSolid[solid], out toolSize);
if (commonHead == 1)
{
// can be a threaded hex fastener, threaded hex nut, nonthreaded hex fastener, nonthreaded hex nut
var newFastener = FastenerPolynomialTrend.PolynomialTrendDetector(solid);
if (newFastener != null)
{
// threaded hex fastener
newFastener.Tool = Tool.HexWrench;
newFastener.ToolSize = toolSize;
lock (FastenerDetector.Fasteners)
FastenerDetector.Fasteners.Add(newFastener);
AutoThreadedFastenerDetection.AddRepeatedSolidstoFasteners(newFastener, multipleRefs[solid]);
//continue;
return;
}
var lengthAndRadius =
AutoNonthreadedFastenerDetection.FastenerEngagedLengthAndRadiusNoThread(solid, solidPrimitive[solid]);
if (AutoNonthreadedFastenerDetection.IsItNut(
solidPrimitive[solid].Where(p => p is Cylinder).Cast <Cylinder>().ToList(), solid))
{
var nut = new Nut
{
NutType = NutType.Hex,
Solid = solid,
ToolSize = toolSize,
OverallLength = lengthAndRadius[0],
Diameter = lengthAndRadius[1] * 2.0
};
lock (FastenerDetector.Nuts)
FastenerDetector.Nuts.Add(nut);
AutoThreadedFastenerDetection.AddRepeatedSolidstoNuts(nut, multipleRefs[solid]);
}
// nonthreaded hex fastener
var fas = new Fastener
{
Solid = solid,
FastenerType = FastenerTypeEnum.Bolt,
Tool = Tool.HexWrench,
ToolSize = toolSize,
RemovalDirection = FastenerDetector.RemovalDirectionFinderUsingObb(solid,
BoundingGeometry.OrientedBoundingBoxDic[solid]),
OverallLength =
GeometryFunctions.SortedLengthOfObbEdges(BoundingGeometry.OrientedBoundingBoxDic[solid])
[2],
EngagedLength = lengthAndRadius[0],
Diameter = lengthAndRadius[1] * 2.0,
Certainty = 1.0
};
lock (FastenerDetector.Fasteners)
FastenerDetector.Fasteners.Add(fas);
AutoThreadedFastenerDetection.AddRepeatedSolidstoFasteners(fas, multipleRefs[solid]);
return;
}
if (commonHead == 2)
{
// can be a threaded allen, nonthreaded allen
AddThreadedOrNonthreadedFastener(solid, multipleRefs[solid], solidPrimitive[solid], Tool.Allen,
toolSize);
return;
}
if (commonHead == 3 || commonHead == 5)
{
// can be a threaded philips fastener, nonthreaded philips fastener
AddThreadedOrNonthreadedFastener(solid, multipleRefs[solid], solidPrimitive[solid], Tool.PhillipsBlade,
toolSize);
return;
}
if (commonHead == 4)
{
// can be a threaded flat fastener, nonthreaded flat fastener
AddThreadedOrNonthreadedFastener(solid, multipleRefs[solid], solidPrimitive[solid], Tool.FlatBlade,
toolSize);
return;
}
// if it's not a common head and not threaded, I cannot detect it.
// so the rest will be similar to threaded fastener detector
if (FastenerPerceptronLearner.FastenerPerceptronClassifier(solidPrimitive[solid], solid, learnerWeights, learnerVotes))
{
var newFastener = FastenerPolynomialTrend.PolynomialTrendDetector(solid);
if (newFastener != null)
{
lock (FastenerDetector.Fasteners)
FastenerDetector.Fasteners.Add(newFastener);
AutoThreadedFastenerDetection.AddRepeatedSolidstoFasteners(newFastener, multipleRefs[solid]);
//continue;
return;
}
// can be a nut
// use bounding cylinder to detect nuts.
// Since the nuts are small, the OBB function doesnt work accurately for them.
// So, I cannot really trust this.
var newNut = NutPolynomialTrend.PolynomialTrendDetector(solid);
if (newNut != null)
// It is a nut with certainty == 1
{
lock (FastenerDetector.Nuts)
FastenerDetector.Nuts.Add(newNut);
AutoThreadedFastenerDetection.AddRepeatedSolidstoNuts(newNut, multipleRefs[solid]);
//continue;
return;
}
// still can be a nut since the upper approach is not really accurate
// this 50 percent certainty can go up if the nut is mated with a
// detected fastener
foreach (var repeatedSolid in multipleRefs[solid])
{
lock (FastenerDetector.Nuts)
FastenerDetector.Nuts.Add(new Nut
{
Solid = repeatedSolid,
Diameter = BoundingGeometry.BoundingCylinderDic[solid].Radius * 2.0,
// this is approximate
OverallLength = BoundingGeometry.BoundingCylinderDic[solid].Length,
Certainty = 0.5
});
}
//continue;
return;
}
// if it is not captured by any of the upper methods, give it another chance:
if (AutoThreadedFastenerDetection.ThreadDetector(solid, solidPrimitive[solid]))
{
var newFastener = FastenerPolynomialTrend.PolynomialTrendDetector(solid);
if (newFastener != null)
{
newFastener.FastenerType = FastenerTypeEnum.Bolt;
lock (FastenerDetector.Fasteners)
FastenerDetector.Fasteners.Add(newFastener);
AutoThreadedFastenerDetection.AddRepeatedSolidstoFasteners(newFastener, multipleRefs[solid]);
//continue;
return;
}
//if not, it is a nut:
foreach (var repeatedSolid in multipleRefs[solid])
{
lock (FastenerDetector.Nuts)
FastenerDetector.Nuts.Add(new Nut
{
Solid = repeatedSolid,
Diameter = BoundingGeometry.BoundingCylinderDic[solid].Radius * 2.0,
// this is approximate
OverallLength = BoundingGeometry.BoundingCylinderDic[solid].Length * 2.0,
Certainty = 0.5
});
}
}
}
);
// now use groupped small objects:
AutoNonthreadedFastenerDetection.ConnectFastenersNutsAndWashers(groupedPotentialFasteners);
LoadingBar.refresh(width, 1);
}
