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checkRingOrderWithOriginalPerTarget.m
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checkRingOrderWithOriginalPerTarget.m
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%{
* Copyright (C) 2013-2025, The Regents of The University of Michigan.
* All rights reserved.
* This software was developed in the Biped Lab (https://www.biped.solutions/)
* under the direction of Jessy Grizzle, grizzle@umich.edu. This software may
* be available under alternative licensing terms; contact the address above.
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
* 1. Redistributions of source code must retain the above copyright notice, this
* list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
* The views and conclusions contained in the software and documentation are those
* of the authors and should not be interpreted as representing official policies,
* either expressed or implied, of the Regents of The University of Michigan.
*
* AUTHOR: Bruce JK Huang (bjhuang[at]umich.edu)
* WEBSITE: https://www.brucerobot.com/
%}
function [ring_ordered, ring_misorder_list] = checkRingOrderWithOriginalPerTarget(data_split_with_ring_original, data_split_with_ring, target_num, num_ring, num_scan, display)
if ~exist('display', 'var')
display = 0;
end
ring_order(num_ring) = struct();
ring_order_original(num_ring) = struct();
% centroid = mean([data_split_with_ring_original(target_num).scan(1).ring(:).points]');
if checkDisplay(display)
if ishandle(target_num)
clf(target_num)
else
figure(target_num)
end
if ishandle(target_num+100)
clf(target_num+100)
else
figure(target_num+100)
end
end
for ring = 1:num_ring
ring_points = [];
ring_points_org = [];
for scan = 1:num_scan
if (isempty(data_split_with_ring_original(target_num).scan(scan).ring(ring).points))
continue;
else
ring_points_org = [ring_points_org, data_split_with_ring_original(target_num).scan(scan).ring(ring).points];
end
if (isempty(data_split_with_ring(target_num).scan(scan).ring(ring).points))
continue;
else
ring_points = [ring_points, data_split_with_ring(target_num).scan(scan).ring(ring).points];
end
end
ring_order(ring).ring = ring;
if size(ring_points, 2) >= 4
ring_order(ring).ring_mean = mean(ring_points(1:3, :), 2)';
ring_order(ring).z_axis = ring_order(ring).ring_mean(3);
if checkDisplay(display)
figure(target_num)
view(79, 12)
axis equal
hold on
scatter3(ring_points(1, :), ring_points(2, :), ring_points(3, :), 'r.')
text(ring_order(ring).ring_mean(1), ring_order(ring).ring_mean(2), ring_order(ring).ring_mean(3), ...
num2str(ring))
xlabel('X','FontSize',20,'Color','k')
ylabel('Y','FontSize',20,'Color','k')
zlabel('Z','FontSize',20,'Color','k')
end
else
ring_order(ring).ring_mean = [0 0 0];
ring_order(ring).z_axis = 0;
end
ring_order_original(ring).ring = ring;
if size(ring_points_org, 2) >= 4
ring_order_original(ring).ring_mean = mean(ring_points_org(1:3, :), 2)';
ring_order_original(ring).z_axis = ring_order_original(ring).ring_mean(3);
if checkDisplay(display)
figure(target_num+100)
view(79, 12)
axis equal
hold on
scatter3(ring_points_org(1, :), ring_points_org(2, :), ring_points_org(3, :), 'r.')
text(ring_order_original(ring).ring_mean(1), ring_order_original(ring).ring_mean(2), ring_order_original(ring).ring_mean(3), ...
num2str(ring))
xlabel('X','FontSize',20,'Color','k')
ylabel('Y','FontSize',20,'Color','k')
zlabel('Z','FontSize',20,'Color','k')
end
else
ring_order_original(ring).ring_mean = [0 0 0];
ring_order_original(ring).z_axis = 0;
end
% ring_order(ring).ring = ring;
% if size(ring_points, 2) >= 4
% pc = ring_points(1:3, :);
% ring_line = fit3DLine(pc, 'not display');
% t = centroid(1)/ring_line.m(1);
% line_point = t*ring_line.m + ring_line.X0;
% ring_order(ring).z_axis = line_point(3);
% ring_order(ring).ring_mean = mean(ring_points(1:3, :), 2)';
%
% if checkDisplay(display)
% figure(target_num)
% view(79, 12)
% axis equal
% hold on
% scatter3(ring_points(1, :), ring_points(2, :), ring_points(3, :), 'r.')
% text(ring_order(ring).ring_mean(1), ring_order(ring).ring_mean(2), ring_order(ring).ring_mean(3), ...
% num2str(ring))
% xlabel('X','FontSize',20,'Color','k')
% ylabel('Y','FontSize',20,'Color','k')
% zlabel('Z','FontSize',20,'Color','k')
% end
% else
% ring_order(ring).ring_mean = [0 0 0];
% ring_order(ring).z_axis = 0;
% end
%
% ring_order_original(ring).ring = ring;
% if size(ring_points_org, 2) >= 4
% pc = ring_points_org(1:3, :);
% ring_line = fit3DLine(pc, 'not display');
% t = centroid(1)/ring_line.m(1);
% line_point = t*ring_line.m + ring_line.X0;
% ring_order_original(ring).z_axis = line_point(3);
% ring_order_original(ring).ring_mean = mean(ring_points_org(1:3, :), 2)';
%
% if checkDisplay(display)
% figure(target_num+100)
% view(79, 12)
% axis equal
% hold on
% scatter3(ring_points_org(1, :), ring_points_org(2, :), ring_points_org(3, :), 'r.')
% text(ring_order_original(ring).ring_mean(1), ring_order_original(ring).ring_mean(2), ring_order_original(ring).ring_mean(3), ...
% num2str(ring))
% xlabel('X','FontSize',20,'Color','k')
% ylabel('Y','FontSize',20,'Color','k')
% zlabel('Z','FontSize',20,'Color','k')
% end
% else
% ring_order_original(ring).ring_mean = [0 0 0];
% ring_order_original(ring).z_axis = 0;
% end
end
non_zeros = find([ring_order(:).z_axis] ~= 0);
ring_order_no_zeros = ring_order(non_zeros);
[~, idx] = sort([ring_order_no_zeros(:).z_axis]);
ordered_ring = ring_order_no_zeros(idx);
non_zeros_org = find([ring_order(:).z_axis] ~= 0);
ring_order_org_no_zeros = ring_order(non_zeros);
[~, idx] = sort([ring_order_org_no_zeros(:).z_axis]);
ordered_ring_original = ring_order_org_no_zeros(idx);
diff_vec = find([ordered_ring_original.ring] ~= [ordered_ring.ring]);
if isempty(diff_vec)
fprintf("Rings on target #%i are ordered!\n", target_num)
ring_misorder_list = ring_order;
else
warning("Rings on target #%i are mis-ordered.....\n", target_num)
[ordered_ring_original.ring; ordered_ring.ring]'
end
end