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CAD segmentator should output proposals for plane origin #184
Description
to fix the pose estimation's slightly undefined behaviour for computing origin of pose when "complex" joints are present, we can compute the transformed plane origin of the DFBeam, using the small ICP transformation computed in the CAD segmentator.
# lines 91 to 96 of the CADSegmentator
for i, df_b in enumerate(df_beams):
rh_b_mesh_faces = [df_b_f.to_mesh() for df_b_f in df_b.side_faces]
rh_test_mesh = Rhino.Geometry.Mesh()
plane_origin = df_b.plane.Origin # This is new
plane_origin.Transform(transforms[i]) # This is new
o_centroids.append(plane_origin) # This is new
for j in range(len(rh_b_mesh_faces)):
sucess = rh_b_mesh_faces[j].Transform(transforms[i])
if sucess:
rh_test_mesh.Append(rh_b_mesh_faces[j])
rh_meshes.append(rh_test_mesh)That way we seemingly get more reliable pose origins
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