dev: Первая итерация

Пока только простое преобразование и отрисовка графика. Без передачи информации о преобразованиях

.gitignore

@@ -0,0 +1 @@
+poetry.lock

main.py

@@ -0,0 +1,34 @@
+from pathlib import Path
+
+import numpy
+from matplotlib import pyplot
+
+from transformations import centroid, kabsch_algorithm
+
+expected_points_file_path = Path('expected_points.txt')
+actual_points_file_path = Path('actual_points.txt')
+
+plot_3d = pyplot.figure().add_subplot(projection='3d')
+
+
+def read_points_from_file(points_file_path: Path) -> numpy.ndarray:
+    with points_file_path.open('r') as points_file:
+        return numpy.array([[float(coordinate) for coordinate in point_line.strip().split(' ')]
+                            for point_line in points_file])
+
+
+if __name__ == '__main__':
+    expected_points = read_points_from_file(expected_points_file_path)
+    actual_points = read_points_from_file(actual_points_file_path)
+
+    expected_points -= centroid(expected_points)
+    actual_points -= centroid(actual_points)
+
+    actual_points = numpy.dot(actual_points, kabsch_algorithm(actual_points, expected_points))
+
+    plot_3d.plot(actual_points[:, 0], actual_points[:, 1], actual_points[:, 2], 'o-', markersize=12, linewidth=3)
+    plot_3d.plot(expected_points[:, 0], expected_points[:, 1], expected_points[:, 2], 'o-', markersize=12, linewidth=3)
+    plot_3d.grid(True)
+    plot_3d.tick_params(labelsize=15)
+
+    pyplot.show()

pyproject.toml

@@ -0,0 +1,16 @@
+[tool.poetry]
+name = "reinmetal"
+version = "0.1.0"
+description = ""
+authors = ["Pavel Naboka <naboka@diakont.com>"]
+
+[tool.poetry.dependencies]
+python = "^3.10"
+numpy = "^1.25.2"
+
+[tool.poetry.dev-dependencies]
+matplotlib = "^3.7.2"
+
+[build-system]
+requires = ["poetry-core>=1.0.0"]
+build-backend = "poetry.core.masonry.api"

transformations.py

@@ -0,0 +1,17 @@
+import numpy
+
+
+def centroid(points: numpy.ndarray) -> numpy.ndarray:
+    return points.mean(axis=0)
+
+
+def kabsch_algorithm(actual_points: numpy.ndarray, expected_points: numpy.ndarray) -> numpy.ndarray:
+    # TODO Заменить безликие C, V, S, W на что-то более внятное
+    C = numpy.dot(numpy.transpose(actual_points), expected_points)
+    V, S, W = numpy.linalg.svd(C)
+
+    if (numpy.linalg.det(V) * numpy.linalg.det(W)) < 0.0:
+        S[-1] = -S[-1]
+        V[:, -1] = -V[:, -1]
+
+    return numpy.dot(V, W)