From 105b67c9a79c630fdc8125d3b2d3a698447722f9 Mon Sep 17 00:00:00 2001 From: PavelMikus Date: Tue, 1 Mar 2022 15:39:02 +0100 Subject: [PATCH] presorting seams before alignemnt mesh decimation for speed up --- src/libslic3r/GCode/SeamPlacerNG.cpp | 225 +++++++++++++++------------ src/libslic3r/GCode/SeamPlacerNG.hpp | 15 +- 2 files changed, 130 insertions(+), 110 deletions(-) diff --git a/src/libslic3r/GCode/SeamPlacerNG.cpp b/src/libslic3r/GCode/SeamPlacerNG.cpp index f7fd80cf1..5b2a743e3 100644 --- a/src/libslic3r/GCode/SeamPlacerNG.cpp +++ b/src/libslic3r/GCode/SeamPlacerNG.cpp @@ -18,6 +18,7 @@ #include "libslic3r/ClipperUtils.hpp" #include "libslic3r/SVG.hpp" #include "libslic3r/Layer.hpp" +#include "libslic3r/QuadricEdgeCollapse.hpp" #define DEBUG_FILES @@ -79,26 +80,6 @@ Vec3f get_fitted_point(const std::vector &coefficients, float z) { return Vec3f { fitted_x, fitted_y, z }; } -// simple linear interpolation between two points -void lerp(Vec3f &dest, const Vec3f &a, const Vec3f &b, const float t) - { - dest.x() = a.x() + (b.x() - a.x()) * t; - dest.y() = a.y() + (b.y() - a.y()) * t; -} - -// evaluate a point on a bezier-curve. t goes from 0 to 1.0 -Vec3f bezier(const Vec3f &a, const Vec3f &b, const Vec3f &c, const Vec3f &d, const float t) - { - Vec3f ab, bc, cd, abbc, bccd, dest; - lerp(ab, a, b, t); // point between a and b (green) - lerp(bc, b, c, t); // point between b and c (green) - lerp(cd, c, d, t); // point between c and d (green) - lerp(abbc, ab, bc, t); // point between ab and bc (blue) - lerp(bccd, bc, cd, t); // point between bc and cd (blue) - lerp(dest, abbc, bccd, t); // point on the bezier-curve (black) - return dest; -} - /// Coordinate frame class Frame { public: @@ -188,7 +169,6 @@ std::vector raycast_visibility(const AABBTreeIndirect::Tree<3, float> & generate(begin(global_dir_random_samples), end(global_dir_random_samples), gen); std::vector local_dir_random_samples(ray_count); generate(begin(local_dir_random_samples), end(local_dir_random_samples), gen); - BOOST_LOG_TRIVIAL(debug) << "SeamPlacer: generate random samples: end"; @@ -339,12 +319,13 @@ struct GlobalModelInfo { float visibility = 0; for (const auto &hit_point_index : nearby_points) { - // The further away from the perimeter point, - // the less representative ray hit is - float distance = - (position - geometry_raycast_hits[hit_point_index].position).norm(); - visibility += (SeamPlacer::considered_area_radius - distance) * - std::max(0.0f, local_normal.dot(geometry_raycast_hits[hit_point_index].surface_normal)); + if (local_normal.dot(geometry_raycast_hits[hit_point_index].surface_normal) > 0) { + // The further away from the perimeter point, + // the less representative ray hit is + float distance = + (position - geometry_raycast_hits[hit_point_index].position).norm(); + visibility += (SeamPlacer::considered_area_radius - distance); + } } return visibility; @@ -373,7 +354,7 @@ struct GlobalModelInfo { for (size_t i = 0; i < divided_mesh.vertices.size(); ++i) { float visibility = calculate_point_visibility(divided_mesh.vertices[i]); float normalized = visibility - / (SeamPlacer::expected_hits_per_area * SeamPlacer::considered_area_radius); + / (SeamPlacer::expected_hits_per_area * PI * SeamPlacer::considered_area_radius); Vec3f color = vis_to_rgb(normalized); fprintf(fp, "v %f %f %f %f %f %f\n", divided_mesh.vertices[i](0), divided_mesh.vertices[i](1), divided_mesh.vertices[i](2), @@ -531,8 +512,20 @@ template void pick_seam_point(std::vector &perimeter_points, size_t start_index, const Comparator &comparator) { size_t end_index = perimeter_points[start_index].perimeter->end_index; - size_t seam_index = start_index; - for (size_t index = start_index + 1; index <= end_index; ++index) { + + std::vector indices(end_index + 1 - start_index); + for (size_t index = start_index; index <= end_index; ++index) { + indices[index - start_index] = index; + } + + std::sort(indices.begin(), indices.end(), + [&](size_t left, size_t right) { + return std::abs(perimeter_points[left].local_ccw_angle - 0.1 * PI) + > std::abs(perimeter_points[right].local_ccw_angle - 0.1 * PI); + }); + + size_t seam_index = indices[0]; + for (size_t index : indices) { if (comparator.is_first_better(perimeter_points[index], perimeter_points[seam_index])) { seam_index = index; } @@ -548,6 +541,8 @@ void gather_global_model_info(GlobalModelInfo &result, const PrintObject *po) { auto obj_transform = po->trafo_centered(); auto triangle_set = po->model_object()->raw_indexed_triangle_set(); its_transform(triangle_set, obj_transform); + float target_error = SeamPlacer::raycasting_decimation_target_error; + its_quadric_edge_collapse(triangle_set, 0, &target_error, nullptr, nullptr); auto raycasting_tree = AABBTreeIndirect::build_aabb_tree_over_indexed_triangle_set(triangle_set.vertices, triangle_set.indices); @@ -585,7 +580,7 @@ void gather_global_model_info(GlobalModelInfo &result, const PrintObject *po) { } struct DefaultSeamComparator { - static constexpr float angle_clusters[] { -1.0, 0.6 * PI, 0.9 * PI }; + static constexpr float angle_clusters[] { -1.0, 0.4 * PI, 0.65 * PI, 0.9 * PI }; const float get_angle_category(float ccw_angle) const { float concave_bonus = ccw_angle < 0 ? 0.1 * PI : 0; @@ -625,6 +620,7 @@ struct DefaultSeamComparator { } return a.visibility < b.visibility; + } bool is_first_not_much_worse(const SeamCandidate &a, const SeamCandidate &b) const { @@ -645,12 +641,16 @@ struct DefaultSeamComparator { float a_local_category = get_angle_category(a.local_ccw_angle); float b_local_category = get_angle_category(b.local_ccw_angle); + if (a_local_category > b_local_category) { + return true; + } if (a_local_category < b_local_category) { return false; } } - return a.visibility <= b.visibility*1.5; + return (a.visibility <= b.visibility + || (std::abs(a.visibility - b.visibility) < SeamPlacer::expected_hits_per_area / 17.0f)); } } ; @@ -798,72 +798,94 @@ void SeamPlacer::align_seam_points(const PrintObject *po, const Comparator &comp } #endif + //gahter vector of all seams - pair of layer_index and seam__index within that layer + std::vector> seams; for (size_t layer_idx = 0; layer_idx < m_perimeter_points_per_object[po].size(); ++layer_idx) { std::vector &layer_perimeter_points = m_perimeter_points_per_object[po][layer_idx]; size_t current_point_index = 0; while (current_point_index < layer_perimeter_points.size()) { - if (layer_perimeter_points[current_point_index].perimeter->aligned) { - //skip - } else { - int skips = SeamPlacer::seam_align_tolerable_skips; - int next_layer = layer_idx + 1; - Vec3f last_point_pos = layer_perimeter_points[current_point_index].position; + seams.emplace_back(layer_idx, layer_perimeter_points[current_point_index].perimeter->seam_index); + current_point_index = layer_perimeter_points[current_point_index].perimeter->end_index + 1; + } + } - std::vector> seam_string; - std::vector> potential_string_seams; + //sort them by visiblity, before aligning + std::sort(seams.begin(), seams.end(), + [&](const std::pair &left, const std::pair &right) { + return m_perimeter_points_per_object[po][left.first][left.second].visibility + < m_perimeter_points_per_object[po][right.first][right.second].visibility; + } + ); - //find close by points and outliers; there is a budget of skips allowed - while (skips >= 0 && next_layer < int(m_perimeter_points_per_object[po].size())) { - if (find_next_seam_in_string(po, last_point_pos, next_layer, comparator, seam_string, + //align them + for (const std::pair &seam : seams) { + size_t layer_idx = seam.first; + size_t seam_index = seam.second; + std::vector &layer_perimeter_points = + m_perimeter_points_per_object[po][layer_idx]; + if (layer_perimeter_points[seam_index].perimeter->aligned) { + // This perimeter is already aligned, skip seam + continue; + } else { + int skips = SeamPlacer::seam_align_tolerable_skips; + int next_layer = layer_idx + 1; + Vec3f last_point_pos = layer_perimeter_points[seam_index].position; + + std::vector> seam_string; + std::vector> potential_string_seams; + + //find close by points and outliers; there is a budget of skips allowed + while (skips >= 0 && next_layer < int(m_perimeter_points_per_object[po].size())) { + if (find_next_seam_in_string(po, last_point_pos, next_layer, comparator, seam_string, + potential_string_seams)) { + //String added, last_point_pos updated, nothing to be done + } else { + // Layer skipped, reduce number of available skips + skips--; + } + next_layer++; + } + + if (seam_string.size() + potential_string_seams.size() >= seam_align_minimum_string_seams) { //string long enough to be worth aligning + //do additional check in back direction + next_layer = layer_idx - 1; + skips = SeamPlacer::seam_align_tolerable_skips; + while (skips >= 0 && next_layer >= 0) { + if (find_next_seam_in_string(po, last_point_pos, next_layer, comparator, + seam_string, potential_string_seams)) { //String added, last_point_pos updated, nothing to be done } else { // Layer skipped, reduce number of available skips skips--; } - next_layer++; + next_layer--; } - if (seam_string.size() + potential_string_seams.size() >= seam_align_minimum_string_seams) { //string long enough to be worth aligning - //do additional check in back direction - next_layer = layer_idx - 1; - skips = SeamPlacer::seam_align_tolerable_skips; - while (skips >= 0 && next_layer >= 0) { - if (find_next_seam_in_string(po, last_point_pos, next_layer, comparator, - seam_string, - potential_string_seams)) { - //String added, last_point_pos updated, nothing to be done - } else { - // Layer skipped, reduce number of available skips - skips--; - } - next_layer--; - } + // all string seams and potential string seams gathered, now do the alignment + seam_string.insert(seam_string.end(), potential_string_seams.begin(), potential_string_seams.end()); + std::sort(seam_string.begin(), seam_string.end(), + [](const std::pair &left, const std::pair &right) { + return left.first < right.first; + }); - // all string seams and potential string seams gathered, now do the alignment - seam_string.insert(seam_string.end(), potential_string_seams.begin(), potential_string_seams.end()); - std::sort(seam_string.begin(), seam_string.end(), - [](const std::pair &left, const std::pair &right) { - return left.first < right.first; - }); + std::vector points(seam_string.size()); + for (size_t index = 0; index < seam_string.size(); ++index) { + points[index] = + m_perimeter_points_per_object[po][seam_string[index].first][seam_string[index].second].position; + } - std::vector points(seam_string.size()); - for (size_t index = 0; index < seam_string.size(); ++index) { - points[index] = - m_perimeter_points_per_object[po][seam_string[index].first][seam_string[index].second].position; - } + std::vector coefficients = polyfit(points, 4); + for (const auto &pair : seam_string) { + float current_height = m_perimeter_points_per_object[po][pair.first][pair.second].position.z(); + Vec3f seam_pos = get_fitted_point(coefficients, current_height); - std::vector coefficients = polyfit(points, 3); - for (const auto &pair : seam_string) { - float current_height = m_perimeter_points_per_object[po][pair.first][pair.second].position.z(); - Vec3f seam_pos = get_fitted_point(coefficients, current_height); - - Perimeter *perimeter = - m_perimeter_points_per_object[po][pair.first][pair.second].perimeter.get(); - perimeter->final_seam_position = seam_pos; - perimeter->aligned = true; - } + Perimeter *perimeter = + m_perimeter_points_per_object[po][pair.first][pair.second].perimeter.get(); + perimeter->final_seam_position = seam_pos; + perimeter->aligned = true; + } // //https://en.wikipedia.org/wiki/Exponential_smoothing // //inititalization @@ -885,32 +907,29 @@ void SeamPlacer::align_seam_points(const PrintObject *po, const Comparator &comp // } #ifdef DEBUG_FILES - auto randf = []() { - return float(rand()) / float(RAND_MAX); - }; - Vec3f color { randf(), randf(), randf() }; - for (size_t i = 0; i < seam_string.size(); ++i) { - auto orig_seam = m_perimeter_points_per_object[po][seam_string[i].first][seam_string[i].second]; - fprintf(clusters, "v %f %f %f %f %f %f \n", orig_seam.position[0], - orig_seam.position[1], - orig_seam.position[2], color[0], color[1], - color[2]); - } + auto randf = []() { + return float(rand()) / float(RAND_MAX); + }; + Vec3f color { randf(), randf(), randf() }; + for (size_t i = 0; i < seam_string.size(); ++i) { + auto orig_seam = m_perimeter_points_per_object[po][seam_string[i].first][seam_string[i].second]; + fprintf(clusters, "v %f %f %f %f %f %f \n", orig_seam.position[0], + orig_seam.position[1], + orig_seam.position[2], color[0], color[1], + color[2]); + } - color = Vec3f { randf(), randf(), randf() }; - for (size_t i = 0; i < seam_string.size(); ++i) { - Perimeter *perimeter = - m_perimeter_points_per_object[po][seam_string[i].first][seam_string[i].second].perimeter.get(); - fprintf(aligns, "v %f %f %f %f %f %f \n", perimeter->final_seam_position[0], - perimeter->final_seam_position[1], - perimeter->final_seam_position[2], color[0], color[1], - color[2]); - } + color = Vec3f { randf(), randf(), randf() }; + for (size_t i = 0; i < seam_string.size(); ++i) { + Perimeter *perimeter = + m_perimeter_points_per_object[po][seam_string[i].first][seam_string[i].second].perimeter.get(); + fprintf(aligns, "v %f %f %f %f %f %f \n", perimeter->final_seam_position[0], + perimeter->final_seam_position[1], + perimeter->final_seam_position[2], color[0], color[1], + color[2]); + } #endif - - } // else string is not long enough, so dont do anything } - current_point_index = layer_perimeter_points[current_point_index].perimeter->end_index + 1; } } diff --git a/src/libslic3r/GCode/SeamPlacerNG.hpp b/src/libslic3r/GCode/SeamPlacerNG.hpp index c72b9bf88..2f8bba728 100644 --- a/src/libslic3r/GCode/SeamPlacerNG.hpp +++ b/src/libslic3r/GCode/SeamPlacerNG.hpp @@ -36,7 +36,7 @@ enum class EnforcedBlockedSeamPoint { struct Perimeter { size_t start_index; - size_t end_index; + size_t end_index; //inclusive! size_t seam_index; bool aligned = false; @@ -90,18 +90,19 @@ class SeamPlacer { public: using SeamCandidatesTree = KDTreeIndirect<3, float, SeamPlacerImpl::SeamCandidateCoordinateFunctor>; - static constexpr float expected_hits_per_area = 400.0f; - static constexpr float considered_area_radius = 1.6f; + static constexpr float expected_hits_per_area = 600.0f; + static constexpr float considered_area_radius = 3.0f; + static constexpr float raycasting_decimation_target_error = 0.6f; - static constexpr float cosine_hemisphere_sampling_power = 8.0f; + static constexpr float cosine_hemisphere_sampling_power = 4.0f; static constexpr float polygon_local_angles_arm_distance = 0.6f; static constexpr float enforcer_blocker_sqr_distance_tolerance = 0.2f; - static constexpr float seam_align_tolerable_dist = 2.0f; - static constexpr size_t seam_align_tolerable_skips = 10; - static constexpr size_t seam_align_minimum_string_seams = 4; + static constexpr float seam_align_tolerable_dist = 1.0f; + static constexpr size_t seam_align_tolerable_skips = 6; + static constexpr size_t seam_align_minimum_string_seams = 5; //perimeter points per object per layer idx, and their corresponding KD trees std::unordered_map>> m_perimeter_points_per_object;