From 23c094bb71eb415aa49dbc15d51fd46832746222 Mon Sep 17 00:00:00 2001
From: Pavel Naboka <35613006+Zanzibarra@users.noreply.github.com>
Date: Tue, 5 Sep 2023 15:54:19 +0300
Subject: [PATCH] =?UTF-8?q?dev:=20=D0=9F=D0=B5=D1=80=D0=B2=D0=B0=D1=8F=20?=
 =?UTF-8?q?=D0=B8=D1=82=D0=B5=D1=80=D0=B0=D1=86=D0=B8=D1=8F?=
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Пока только простое преобразование и отрисовка графика. Без передачи информации о преобразованиях
---
 .gitignore         |  1 +
 main.py            | 34 ++++++++++++++++++++++++++++++++++
 pyproject.toml     | 16 ++++++++++++++++
 transformations.py | 17 +++++++++++++++++
 4 files changed, 68 insertions(+)
 create mode 100644 .gitignore
 create mode 100644 main.py
 create mode 100644 pyproject.toml
 create mode 100644 transformations.py

diff --git a/.gitignore b/.gitignore
new file mode 100644
index 0000000..c04bc49
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1 @@
+poetry.lock
diff --git a/main.py b/main.py
new file mode 100644
index 0000000..51253f2
--- /dev/null
+++ b/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()
diff --git a/pyproject.toml b/pyproject.toml
new file mode 100644
index 0000000..4c16523
--- /dev/null
+++ b/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"
diff --git a/transformations.py b/transformations.py
new file mode 100644
index 0000000..0dec312
--- /dev/null
+++ b/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)