Add files via upload

Author: mooshifrew

ImportFiles.m

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+function [Mesh1, n1, Mesh2] = ImportFiles(f1, f2, f2Transformation)
+% Inputs:
+%     f1 = file 1 string (must end with .stl)
+%     f2 = file 2 string (must end with .stl)
+%     f2Transformation = 4x4 transformation matrix that will be applied to
+%     Mesh2 so it is aligned with Mesh1
+% 
+% Outputs:
+%     Mesh1 = stl model stored in f1 (triangulation object)
+%     n1    = normal vectors for each triangle in Mesh1
+%     Mesh2 = stl model stored in f2 (triangulation object)
+%
+% STL_Import() is used so that normal vectors can be imported easily
+[p1, t1, n1] = STL_Import(f1,1);
+[p2, t2, n2] = STL_Import(f2,1);
+
+% points in p2 must be transformed before mesh is created
+p2 = [p2 ones(1,size(p2, 1))']';
+p2 = f2Transformation*p2;
+p2 = p2';
+p2(:,4) = [];
+
+% Mesh 1 and 2 can now be created
+Mesh1 = triangulation(t1, p1);
+Mesh2 = triangulation(t2, p2);                              
+end 

RMSE.m

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+function rmse = RMSE(residuals)
+rmse = sqrt(mean(residuals.^2));
+end 

SCRIPT.m

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+clc; clear;
+%
+% This script requires the user to manually input file1, file2, and
+% f2Transformation
+% NOTE: scanTransformation is applied to file2
+
+file1 = '<INSERT FILENAME 1>.stl';
+file2 = '<INSERT FILENAME 2>.stl';
+f2Transformation = [  1 0 0 0
+                      0 1 0 0 
+                      0 0 1 0
+                      0 0 0 1 ];
+
+                    
+% Mesh1 = stl model stored in file1 (triangulation object)
+% n1    = normal vectors for each triangle in Mesh1
+% Mesh2 = stl model stored in file2 (triangulation object)
+[Mesh1, n1, Mesh2] = ImportFiles(file1, file2, f2Transformation);
+
+% residuals1 = residual values per triangle in Mesh1 
+% residuals2 = residual values per traingle in Mesh2 
+% distances1 = minimum distances from triangle centers in Mesh1 to surface
+%              of Mesh2
+% distances2 = minimum distances from triangle centers in Mesh2 to surface
+%              of Mesh1
+[residuals1, residuals2] = rDistances(Mesh1, n1, Mesh2);
+[distances1] = -point2trimesh('Faces', Mesh2.ConnectivityList, 'Vertices', Mesh2.Points, 'QueryPoints', incenter(Mesh1), 'Algorithm', 'parallel');
+[distances2] =  point2trimesh('Faces', Mesh1.ConnectivityList, 'Vertices', Mesh1.Points, 'QueryPoints', incenter(Mesh2), 'Algorithm', 'parallel'); 
+
+
+disp('RMSE of:')
+rmse = RMSE(residuals1);
+disp("   Residuals Mesh1:  " + rmse + " ")
+rmse = RMSE(residuals2);
+disp("   Residuals Mesh2:  " + rmse + " ")
+rmse = RMSE(distances1);
+disp("   Distances 1:      " + rmse + " ")
+rmse = RMSE(distances2);
+disp("   Distances 2:      " + rmse + " ")
+
+
+figure('name', 'Residuals Mesh1')
+trisurf(Mesh1, residuals1,'linestyle', 'none')
+axis equal
+title('Residuals Mesh1')
+colorbar
+
+figure('name','Residuals Mesh2')
+trisurf(Mesh2, residuals2,'linestyle', 'none')
+axis equal
+title('Residuals Mesh2')
+colorbar
+
+figure('name', 'Distances 1')
+trisurf(Mesh1, distances1, 'linestyle', 'none')
+axis equal
+title('Distances 1')
+colorbar
+
+figure('name', 'Distances 2') 
+trisurf(Mesh2, distances2,'linestyle', 'none');
+axis equal
+title('Distances 2')
+colorbar
+

STL_Import.m

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+function varargout=STL_Import(filename,mode)
+% STL_Import is a tool designed to import into MATLAB both binary and ASCII STL files.
+% 
+% This scprit is mainly a collage betwwen file axchange fileid 22409 and 3642, plus
+% some other features that can be considered new on FEX.
+% 
+% SYNOPSIS:
+% 
+% 
+% %mode 1 (default)
+% [p,t,tnorm]=STL_Import(filename,mode)
+% 
+% %mode 2
+% [v,tnorm])=STL_Import(filename,mode)
+% 
+% 
+% INPUT:
+% 
+% filename: string representing the name fo the file
+% 
+% mode:
+% 
+% 
+%  mode=1 (if omitted is automatically set to one)
+%     
+%   set the the output to:
+%     
+%     output=[p,t,tnorm]
+%     
+%     where        
+%     
+%     p=points (unique) of the model nx3 array
+
+%     t=triangles indexes of the model
+
+%     tnorm= normals of triangles
+%     
+
+%  mode=2
+%       
+%   set the the output to:
+%     
+%     output=[v,tnorm]
+%     
+%     where        
+%     
+%     v=  vertex of the model(not unique points) of the model nx3 array. Each
+%         trhee points we have a triagnle in consecutive order.
+
+%     tnorm= normals of triangles
+% 
+% EXAMPLES:    
+%    
+%    [p,t,tnorm]=STL_Import('link1.stl',1); 
+%    [pv,tnorm]=STL_Import('link1.stl',2);
+% 
+%
+% Visit:
+% 
+%  http://giaccariluigi.altervista.org/blog/
+%  
+% Author: Giaccari Luigi  ([email protected])
+
+
+
+if nargin<2
+    mode=1;%default value
+end
+
+
+if ~(mode==1 || mode==2)
+    error('invalid mode')
+end
+
+if nargout<3 && mode==1
+    error('invalid input number /mode setting')
+end
+if nargout>2 && mode==2
+    error('invalid input number /mode setting')
+end
+
+
+%open file
+fid=fopen(filename, 'r'); %Open the file, assumes STL ASCII format.
+if fid == -1
+    error('File could not be opened, check name or path.')
+end
+
+
+ M = fread(fid,inf,'uint8=>uint8');
+    fclose(fid);    
+    
+if( isbinary(M) )
+     [v,tnorm]=ImportSTL_binary(M);
+    
+else
+    clear M;    
+    [v,tnorm]=ImportSTL_ASCII(filename);
+   
+end
+
+clear M
+
+varargout = cell(1,nargout);
+switch mode
+    case 1
+        [p,t]=fv2pt(v,length(v)/3);%gets points and triangles
+        
+        varargout{1} = p;
+        varargout{2} = t;
+        varargout{3} = tnorm;
+    case 2
+        varargout{1} = v;
+        varargout{2} = tnorm;
+end
+end
+
+
+
+function [v,tnorm]=ImportSTL_ASCII(filename)
+
+%counting the number of vertex
+vnum=0;
+fid=fopen(filename, 'r'); %Open the file, assumes STL ASCII format.
+while feof(fid) == 0                    % test for end of file, if not then do stuff
+    tline = fgetl(fid);                 % reads a line of data from file.
+    fword = sscanf(tline, '%s ');       % make the line a character string
+    if strncmpi(fword, 'v',1) ;    % Checking if a "V"ertex line, as "V" is 1st char.
+        vnum = vnum + 1;                % If a V we count the # of V's
+    end
+end
+numt=ceil(vnum/3);%triangles number equals vertex number/3
+
+tnorm=zeros(numt,3);%preallocate for normals
+v=zeros(vnum,3);%not unique vertex
+
+c=0;%vertex counter
+fnum=0;
+fid=fopen(filename, 'r'); %REOpen the file
+while feof(fid) == 0                    % test for end of file, if not then do stuff
+    tline = fgetl(fid);                 % reads a line of data from file.
+    fword = sscanf(tline, '%s ');       % make the line a character string
+    
+    %% Check vertex
+    if strncmpi(fword, 'v',1) ;    % Checking if a "V"ertex line, as "V" is 1st char.
+        c = c + 1;                % If a V we count the # of V's
+        v(c,:) = sscanf(tline, '%*s %f %f %f'); % & if a V, get the XYZ data of it.
+        
+        %% Check facet normal
+    elseif strncmpi(fword, 'f',1) ;    % Checking if a "V"ertex line, as "V" is 1st char.
+        fnum =fnum + 1;                % If a V we count the # of V's
+        tnorm(fnum,:) = sscanf(tline, '%*s %*s %f %f %f'); % & if a V, get the XYZ data of it.
+        
+        % %% Check for color
+        %     elseif strncmpi(fword, 'c',1) ;    % Checking if a "C"olor line, as "C" is 1st char.
+        %         VColor = sscanf(tline, '%*s %f %f %f'); % & if a C, get the RGB color data of the face.
+        %    % Keep this color, until the next color is used.
+        
+    end
+    
+end
+end
+
+
+function [p,t]=fv2pt(v,fnum)
+
+%gets points and triangle indexes given vertex and facet number
+
+c=size(v,1);
+
+%triangles with vertex id data
+t=zeros(3,fnum);
+t(:)=1:c;
+
+
+%now we have to keep unique points fro vertex
+[p,i,j]=unique(v,'rows'); %now v=p(j) p(i)=v;
+t(:)=j(t(:));
+t=t';
+
+end
+
+% 
+
+
+function tf = isbinary(A)
+% ISBINARY determines if an STL file is binary or ASCII.
+
+    % Look for the string 'endsolid' near the end of the file
+    if isempty(A) || length(A) < 16
+        error('MATLAB:stlread:incorrectFormat', ...
+              'File does not appear to be an ASCII or binary STL file.');
+    end
+    
+    % Read final 16 characters of M
+    i2  = length(A);
+    i1  = i2 - 100;%100 empirical value
+    str = char( A(i1:i2)' );
+    
+    k = strfind(lower(str), 'endsolid');
+    if ~isempty(k)
+        tf = false; % ASCII
+    else
+        tf = true;  % Binary
+    end
+end
+
+
+function [V,N]=ImportSTL_binary(M)
+
+ 
+    
+    if length(M) < 84
+        error('MATLAB:stlread:incorrectFormat', ...
+              'Incomplete header information in binary STL file.');
+    end
+    
+    % Bytes 81-84 are an unsigned 32-bit integer specifying the number of faces
+    % that follow.
+    numFaces = typecast(M(81:84),'uint32');
+    %numFaces = double(numFaces);
+    if numFaces == 0
+        warning('MATLAB:stlread:nodata','No data in STL file.');
+        return
+    end
+    
+    T = M(85:end);
+
+    V = NaN(3*numFaces,3);
+    N = NaN(numFaces,3);
+    
+    numRead = 0;
+    while numRead < numFaces
+        % Each facet is 50 bytes
+        %  - Three single precision values specifying the face normal vector
+        %  - Three single precision values specifying the first vertex (XYZ)
+        %  - Three single precision values specifying the second vertex (XYZ)
+        %  - Three single precision values specifying the third vertex (XYZ)
+        %  - Two unused bytes
+        i1    = 50 * numRead + 1;
+        i2    = i1 + 50 - 1;
+        facet = T(i1:i2)';
+        
+        n  = typecast(facet(1:12),'single');
+        v1 = typecast(facet(13:24),'single');
+        v2 = typecast(facet(25:36),'single');
+        v3 = typecast(facet(37:48),'single');
+        
+        n = double(n);
+        v = double([v1; v2; v3]);
+        
+        % Figure out where to fit these new vertices, and the face, in the
+        % larger F and V collections.        
+        fInd  = numRead + 1;        
+        vInd1 = 3 * (fInd - 1) + 1;
+        vInd2 = vInd1 + 3 - 1;
+        
+        V(vInd1:vInd2,:) = v;
+        N(fInd,:)        = n;
+        
+        numRead = numRead + 1;
+    end
+    
+end