3DPrinting/PrusaSlicer-NonPlainar
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Added class TransformationSVD to detect transformation matrix components using singular value decomposition

Browse Source
This commit is contained in:
enricoturri1966 2023-02-02 09:07:03 +01:00
parent 23aa139dbd
commit 22ccb56578
2 changed files with 63 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

44
src/libslic3r/Geometry.cpp
View File

@ -838,6 +838,50 @@ Transformation Transformation::volume_to_bed_transformation(const Transformation
}
#endif // !ENABLE_WORLD_COORDINATE
#if ENABLE_WORLD_COORDINATE
TransformationSVD::TransformationSVD(const Transform3d& trafo)
{
const Matrix3d m = trafo.matrix().block<3, 3>(0, 0);
const Eigen::JacobiSVD<Matrix3d> svd(m, Eigen::ComputeFullU | Eigen::ComputeFullV);
u = svd.matrixU();
v = svd.matrixV();
s = svd.singularValues().asDiagonal();
mirror = m.determinant() < 0.0;
scale = !s.isApprox(Matrix3d::Identity());
anisotropic_scale = std::abs(s(0, 0) - s(1, 1)) > EPSILON || std::abs(s(1, 1) - s(2, 2)) > EPSILON;
rotation = v.isApprox(u.transpose());
rotation_90_degrees = true;
if (rotation) {
for (int i = 0; i < 3; ++i) {
const Vec3d row = u.row(i).cwiseAbs();
if ((std::abs(row[0] - 1.0) > EPSILON && row[1] > EPSILON && row[2] > EPSILON) ||
(row[0] > EPSILON && std::abs(row[1] - 1.0) > EPSILON && row[2] > EPSILON) ||
(row[0] > EPSILON && row[1] > EPSILON && std::abs(row[2] - 1.0) > EPSILON)) {
rotation_90_degrees = false;
break;
}
}
}
else
rotation_90_degrees = true;
skew = false;
if (anisotropic_scale) {
for (int i = 0; i < 3; ++i) {
const Vec3d row = v.row(i).cwiseAbs();
if ((std::abs(row[0] - 1.0) > EPSILON && row[1] > EPSILON && row[2] > EPSILON) ||
(row[0] > EPSILON && std::abs(row[1] - 1.0) > EPSILON && row[2] > EPSILON) ||
(row[0] > EPSILON && row[1] > EPSILON && std::abs(row[2] - 1.0) > EPSILON)) {
skew = true;
break;
}
}
}
}
#endif // ENABLE_WORLD_COORDINATE
// For parsing a transformation matrix from 3MF / AMF.
Transform3d transform3d_from_string(const std::string& transform_str)
{

19
src/libslic3r/Geometry.hpp
View File

@ -538,6 +538,25 @@ private:
#endif // ENABLE_WORLD_COORDINATE
};
#if ENABLE_WORLD_COORDINATE
struct TransformationSVD
{
Matrix3d u = Matrix3d::Identity();
Matrix3d s = Matrix3d::Identity();
Matrix3d v = Matrix3d::Identity();
bool mirror{ false };
bool scale{ false };
bool anisotropic_scale{ false };
bool rotation{ false };
bool rotation_90_degrees{ false };
bool skew{ false };
explicit TransformationSVD(const Transformation& trafo) : TransformationSVD(trafo.get_matrix()) {}
explicit TransformationSVD(const Transform3d& trafo);
};
#endif // ENABLE_WORLD_COORDINATE
// For parsing a transformation matrix from 3MF / AMF.
extern Transform3d transform3d_from_string(const std::string& transform_str);