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Best Fit 3D Plane - Output as matrix values
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GitHub issue #269.
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@david-cattermole
david-cattermole committed Nov 3, 2024
1 parent a9d940f commit 8031bcf
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Showing 2 changed files with 135 additions and 23 deletions.
144 changes: 122 additions & 22 deletions src/mmSolver/cmd/MMBestFitPlaneCmd.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -26,9 +26,8 @@
*
* nodes = maya.cmds.ls(sl=True, long=True) or []
*
* points = [maya.cmds.xform(node, query=True, worldSpace=True, translation=True)
for node in nodes]
* print('points: {}'.format(points))
* points = [maya.cmds.xform(node, query=True, worldSpace=True,
* translation=True) for node in nodes] print('points: {}'.format(points))
*
* points_components = []
* for point in points:
Expand All @@ -37,17 +36,37 @@
* points_components.append(point[2])
* print('points_components: {}'.format(points_components))
*
* result = maya.cmds.mmBestFitPlane(pointComponent=points_components)
* if result is not None:
* assert len(result) == 7
* OUTPUT_VALUES_AS_POSITION_AND_DIRECTION = "position_and_direction"
* OUTPUT_VALUES_AS_MATRIX_4X4 = "matrix_4x4"
*
* result = maya.cmds.mmBestFitPlane(
* pointComponent=points_components,
* outputValuesAs=OUTPUT_VALUES_AS_MATRIX_4X4,
* outputRmsError=True)
* print('result: {}'.format(result))
* if result is None:
* print('The plane could not be fit to those input points.')
* elif len(result) in [7, 8]:
* plane_position = (result[0], result[1], result[2])
* plane_normal = (result[3], result[4], result[5])
* plane_fit_error = result[6]
* print('plane_position: {}'.format(plane_position))
* print('plane_normal : {}'.format(plane_normal ))
* print('plane_fit_error : {}'.format(plane_fit_error ))
* else:
* print('The plane could not be fit to those input points.')
* print('plane_normal : {}'.format(plane_normal))
* print('plane_fit_error : {}'.format(plane_fit_error))
* elif len(result) in [16, 17]:
* plane_matrix = (
* result[0], result[1], result[2], result[3],
* result[4], result[5], result[6], result[7],
* result[8], result[9], result[10], result[11],
* result[12], result[13], result[14], result[15],
* )
* plane_fit_error = result[16]
* print('plane_matrix: {}'.format(plane_matrix))
* print('plane_fit_error : {}'.format(plane_fit_error))
*
* # Set value of 'pPlane1' node transform to output.
* maya.cmds.xform('pPlane1', worldSpace=True, matrix=plane_matrix)
*
*
*/

Expand All @@ -66,6 +85,9 @@
#include <maya/MVector.h>

// MM Solver
#include <mmcore/mmdata.h>
#include <mmcore/mmmath.h>

#include "mmSolver/utilities/debug_utils.h"

// MM Scene Graph
Expand All @@ -75,6 +97,16 @@
#define POINT_COMPONENTS_SHORT_FLAG "-pc"
#define POINT_COMPONENTS_LONG_FLAG "-pointComponent"

#define OUTPUT_VALUES_AS_SHORT_FLAG "-ova"
#define OUTPUT_VALUES_AS_LONG_FLAG "-outputValuesAs"

#define OUTPUT_RMS_ERROR_SHORT_FLAG "-ore"
#define OUTPUT_RMS_ERROR_LONG_FLAG "-outputRmsError"

// Value strings.
#define OUTPUT_VALUES_AS_POSITION_AND_DIRECTION "position_and_direction"
#define OUTPUT_VALUES_AS_MATRIX_4X4 "matrix_4x4"

namespace mmsg = mmscenegraph;

namespace mmsolver {
Expand All @@ -99,19 +131,22 @@ MSyntax MMBestFitPlaneCmd::newSyntax() {
syntax.enableQuery(false);
syntax.enableEdit(false);

// Add point flag that takes 3 doubles (x, y, z).
syntax.addFlag(POINT_COMPONENTS_SHORT_FLAG, POINT_COMPONENTS_LONG_FLAG,
MSyntax::kDouble);

// Allow multiple uses of the point flag
syntax.makeFlagMultiUse(POINT_COMPONENTS_SHORT_FLAG);

syntax.addFlag(OUTPUT_VALUES_AS_SHORT_FLAG, OUTPUT_VALUES_AS_LONG_FLAG,
MSyntax::kString);

syntax.addFlag(OUTPUT_RMS_ERROR_SHORT_FLAG, OUTPUT_RMS_ERROR_LONG_FLAG,
MSyntax::kBoolean);

return syntax;
}

MStatus MMBestFitPlaneCmd::parseArgs(const MArgList &args) {
MStatus status = MStatus::kSuccess;
const bool verbose = true;
const bool verbose = false;

MArgDatabase argData(syntax(), args, &status);
CHECK_MSTATUS_AND_RETURN_IT(status);
Expand Down Expand Up @@ -149,6 +184,42 @@ MStatus MMBestFitPlaneCmd::parseArgs(const MArgList &args) {
m_points_xyz.push_back(value);
}

m_output_values_as = OutputValuesAs::kPositionAndDirection;
const bool output_as_values_flag =
argData.isFlagSet(OUTPUT_VALUES_AS_SHORT_FLAG, &status);
CHECK_MSTATUS_AND_RETURN_IT(status);
MMSOLVER_MAYA_VRB(
"mmBestFitPlane: output_as_values_flag=" << output_as_values_flag);
if (output_as_values_flag) {
MString flag_value;
status =
argData.getFlagArgument(OUTPUT_VALUES_AS_SHORT_FLAG, 0, flag_value);
CHECK_MSTATUS_AND_RETURN_IT(status);
const char *string = flag_value.asChar();
MMSOLVER_MAYA_VRB("mmBestFitPlane: output_as_values=" << string);
if (std::strcmp(string, OUTPUT_VALUES_AS_POSITION_AND_DIRECTION) == 0) {
m_output_values_as = OutputValuesAs::kPositionAndDirection;
} else if (std::strcmp(string, OUTPUT_VALUES_AS_MATRIX_4X4) == 0) {
m_output_values_as = OutputValuesAs::kMatrix4x4;
}
}
MMSOLVER_MAYA_VRB("mmBestFitPlane: m_output_values_as="
<< static_cast<size_t>(m_output_values_as));

m_output_rms_error = true;
const bool output_rms_error_flag =
argData.isFlagSet(OUTPUT_RMS_ERROR_SHORT_FLAG, &status);
CHECK_MSTATUS_AND_RETURN_IT(status);
MMSOLVER_MAYA_VRB(
"mmBestFitPlane: output_rms_error_flag=" << output_rms_error_flag);
if (output_rms_error_flag) {
status = argData.getFlagArgument(OUTPUT_RMS_ERROR_SHORT_FLAG, 0,
m_output_rms_error);
CHECK_MSTATUS_AND_RETURN_IT(status);
MMSOLVER_MAYA_VRB(
"mmBestFitPlane: m_output_rms_error=" << m_output_rms_error);
}

return MStatus::kSuccess;
}

Expand Down Expand Up @@ -177,15 +248,44 @@ MStatus MMBestFitPlaneCmd::doIt(const MArgList &args) {
}

// Return results as array of double floats:
// [pos_x, pos_y, pos_z, norm_x, norm_y, norm_z, rms_error]
MDoubleArray result;
result.append(plane_position_x);
result.append(plane_position_y);
result.append(plane_position_z);
result.append(plane_normal_x);
result.append(plane_normal_y);
result.append(plane_normal_z);
result.append(rms_error);
if (m_output_values_as == OutputValuesAs::kPositionAndDirection) {
result.append(plane_position_x);
result.append(plane_position_y);
result.append(plane_position_z);
result.append(plane_normal_x);
result.append(plane_normal_y);
result.append(plane_normal_z);
} else if (m_output_values_as == OutputValuesAs::kMatrix4x4) {
mmdata::Matrix4x4 matrix;
const mmdata::Vector3D dir(plane_normal_x, plane_normal_y,
plane_normal_z);
mmmath::createLookAtMatrix(dir, matrix);
matrix.m30_ = plane_position_x;
matrix.m31_ = plane_position_y;
matrix.m32_ = plane_position_z;

result.append(matrix.m00_);
result.append(matrix.m01_);
result.append(matrix.m02_);
result.append(matrix.m03_);
result.append(matrix.m10_);
result.append(matrix.m11_);
result.append(matrix.m12_);
result.append(matrix.m13_);
result.append(matrix.m20_);
result.append(matrix.m21_);
result.append(matrix.m22_);
result.append(matrix.m23_);
result.append(matrix.m30_);
result.append(matrix.m31_);
result.append(matrix.m32_);
result.append(matrix.m33_);
}

if (m_output_rms_error) {
result.append(rms_error);
}

MPxCommand::setResult(result);
return status;
Expand Down
14 changes: 13 additions & 1 deletion src/mmSolver/cmd/MMBestFitPlaneCmd.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -35,9 +35,19 @@

namespace mmsolver {

enum class OutputValuesAs : uint8_t {
kPositionAndDirection = 0,
kMatrix4x4 = 1,

kUnknown = 255
};

class MMBestFitPlaneCmd : public MPxCommand {
public:
MMBestFitPlaneCmd(){};
MMBestFitPlaneCmd()
: m_output_values_as(OutputValuesAs::kPositionAndDirection)
, m_output_rms_error(true)
, {};
virtual ~MMBestFitPlaneCmd();

virtual bool hasSyntax() const;
Expand All @@ -53,6 +63,8 @@ class MMBestFitPlaneCmd : public MPxCommand {
MStatus parseArgs(const MArgList &args);

rust::Vec<mmscenegraph::Real> m_points_xyz;
OutputValuesAs m_output_values_as;
bool m_output_rms_error;
};

} // namespace mmsolver
Expand Down

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