Small refactoring of post-processing of the projected painted lines in multi-material segmentation.
This commit is contained in:
Lukáš Hejl
parent
e04c934253
commit
3eb4ae309a
@ -149,18 +149,6 @@ struct PaintedLineVisitor
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static inline const double append_threshold2 = Slic3r::sqr(append_threshold);
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};
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static std::vector<ColoredLine> to_colored_lines(const EdgeGrid::Contour &contour, int color)
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{
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std::vector<ColoredLine> lines;
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if (contour.num_segments() > 2) {
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lines.reserve(contour.num_segments());
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for (auto it = contour.begin(); it != contour.end() - 1; ++it)
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lines.push_back({Line(*it, *(it + 1)), color});
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lines.push_back({Line(contour.back(), contour.front()), color});
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}
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return lines;
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}
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static Polygon colored_points_to_polygon(const std::vector<ColoredLine> &lines)
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{
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Polygon out;
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@ -244,25 +232,18 @@ static std::vector<std::vector<std::pair<size_t, size_t>>> get_all_segments(cons
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return all_segments;
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}
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static std::vector<ColoredLine> colorize_line(const Line & line_to_process,
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const size_t start_idx,
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const size_t end_idx,
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std::vector<PaintedLine> &painted_lines)
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static std::vector<PaintedLine> filter_painted_lines(const Line &line_to_process, const size_t start_idx, const size_t end_idx, const std::vector<PaintedLine> &painted_lines)
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{
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std::vector<PaintedLine> internal_painted;
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for (size_t line_idx = start_idx; line_idx <= end_idx; ++line_idx)
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internal_painted.emplace_back(painted_lines[line_idx]);
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const int filter_eps_value = scale_(0.1f);
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std::vector<PaintedLine> filtered_lines;
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filtered_lines.emplace_back(internal_painted.front());
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for (size_t line_idx = 1; line_idx < internal_painted.size(); ++line_idx) {
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filtered_lines.emplace_back(painted_lines[start_idx]);
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for (size_t line_idx = start_idx + 1; line_idx <= end_idx; ++line_idx) {
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// line_to_process is already all colored. Skip another possible duplicate coloring.
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if(filtered_lines.back().projected_line.b == line_to_process.b)
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break;
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PaintedLine &prev = filtered_lines.back();
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PaintedLine &curr = internal_painted[line_idx];
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const PaintedLine &curr = painted_lines[line_idx];
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double prev_length = prev.projected_line.length();
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double curr_dist_start = (curr.projected_line.a - prev.projected_line.a).cast<double>().norm();
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@ -280,31 +261,84 @@ static std::vector<ColoredLine> colorize_line(const Line & line_to_
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}
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} else {
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double curr_dist_end = (curr.projected_line.b - prev.projected_line.a).cast<double>().norm();
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if (curr_dist_end <= prev_length) {
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} else {
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if (prev.color == curr.color) {
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if (curr_dist_end > prev_length) {
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if (prev.color == curr.color)
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prev.projected_line.b = curr.projected_line.b;
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} else {
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curr.projected_line.a = prev.projected_line.b;
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filtered_lines.emplace_back(curr);
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}
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else
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filtered_lines.push_back({curr.contour_idx, curr.line_idx, Line{prev.projected_line.b, curr.projected_line.b}, curr.color});
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}
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}
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}
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std::vector<ColoredLine> final_lines;
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double dist_to_start = (filtered_lines.front().projected_line.a - line_to_process.a).cast<double>().norm();
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if (dist_to_start <= filter_eps_value) {
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if (double dist_to_start = (filtered_lines.front().projected_line.a - line_to_process.a).cast<double>().norm(); dist_to_start <= filter_eps_value)
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filtered_lines.front().projected_line.a = line_to_process.a;
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final_lines.push_back({filtered_lines.front().projected_line, filtered_lines.front().color});
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} else {
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final_lines.push_back({Line(line_to_process.a, filtered_lines.front().projected_line.a), 0});
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final_lines.push_back({filtered_lines.front().projected_line, filtered_lines.front().color});
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if (double dist_to_end = (filtered_lines.back().projected_line.b - line_to_process.b).cast<double>().norm(); dist_to_end <= filter_eps_value)
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filtered_lines.back().projected_line.b = line_to_process.b;
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return filtered_lines;
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}
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static std::vector<std::vector<PaintedLine>> post_process_painted_lines(const std::vector<EdgeGrid::Contour> &contours, std::vector<PaintedLine> &&painted_lines)
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{
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if (painted_lines.empty())
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return {};
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auto comp = [&contours](const PaintedLine &first, const PaintedLine &second) {
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Point first_start_p = contours[first.contour_idx].segment_start(first.line_idx);
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return first.contour_idx < second.contour_idx ||
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(first.contour_idx == second.contour_idx &&
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(first.line_idx < second.line_idx ||
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(first.line_idx == second.line_idx &&
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((first.projected_line.a - first_start_p).cast<double>().squaredNorm() < (second.projected_line.a - first_start_p).cast<double>().squaredNorm() ||
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((first.projected_line.a - first_start_p).cast<double>().squaredNorm() == (second.projected_line.a - first_start_p).cast<double>().squaredNorm() &&
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(first.projected_line.b - first.projected_line.a).cast<double>().squaredNorm() < (second.projected_line.b - second.projected_line.a).cast<double>().squaredNorm())))));
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};
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std::sort(painted_lines.begin(), painted_lines.end(), comp);
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std::vector<std::vector<PaintedLine>> filtered_painted_lines(contours.size());
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size_t prev_painted_line_idx = 0;
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for (size_t curr_painted_line_idx = 0; curr_painted_line_idx < painted_lines.size(); ++curr_painted_line_idx) {
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size_t next_painted_line_idx = curr_painted_line_idx + 1;
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if (next_painted_line_idx >= painted_lines.size() || painted_lines[curr_painted_line_idx].contour_idx != painted_lines[next_painted_line_idx].contour_idx || painted_lines[curr_painted_line_idx].line_idx != painted_lines[next_painted_line_idx].line_idx) {
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const PaintedLine &start_line = painted_lines[prev_painted_line_idx];
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const Line &line_to_process = contours[start_line.contour_idx].get_segment(start_line.line_idx);
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Slic3r::append(filtered_painted_lines[painted_lines[curr_painted_line_idx].contour_idx], filter_painted_lines(line_to_process, prev_painted_line_idx, curr_painted_line_idx, painted_lines));
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prev_painted_line_idx = next_painted_line_idx;
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}
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}
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for (size_t line_idx = 1; line_idx < filtered_lines.size(); ++line_idx) {
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return filtered_painted_lines;
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}
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#ifndef NDEBUG
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static bool are_lines_connected(const std::vector<ColoredLine> &colored_lines)
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{
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for (size_t line_idx = 1; line_idx < colored_lines.size(); ++line_idx)
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if (colored_lines[line_idx - 1].line.b != colored_lines[line_idx].line.a)
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return false;
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return true;
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}
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#endif
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static std::vector<ColoredLine> colorize_line(const Line &line_to_process,
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const size_t start_idx,
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const size_t end_idx,
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const std::vector<PaintedLine> &painted_contour)
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{
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assert(start_idx < painted_contour.size() && end_idx < painted_contour.size() && start_idx <= end_idx);
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assert(std::all_of(painted_contour.begin() + start_idx, painted_contour.begin() + end_idx + 1, [&painted_contour, &start_idx](const auto &p_line) { return painted_contour[start_idx].line_idx == p_line.line_idx; }));
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const int filter_eps_value = scale_(0.1f);
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std::vector<ColoredLine> final_lines;
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const PaintedLine &first_line = painted_contour[start_idx];
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if (double dist_to_start = (first_line.projected_line.a - line_to_process.a).cast<double>().norm(); dist_to_start > filter_eps_value)
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final_lines.push_back({Line(line_to_process.a, first_line.projected_line.a), 0});
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final_lines.push_back({first_line.projected_line, first_line.color});
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for (size_t line_idx = start_idx + 1; line_idx <= end_idx; ++line_idx) {
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ColoredLine &prev = final_lines.back();
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PaintedLine &curr = filtered_lines[line_idx];
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const PaintedLine &curr = painted_contour[line_idx];
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double line_dist = (curr.projected_line.a - prev.line.b).cast<double>().norm();
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if (line_dist <= filter_eps_value) {
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@ -320,18 +354,16 @@ static std::vector<ColoredLine> colorize_line(const Line & line_to_
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}
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}
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double dist_to_end = (final_lines.back().line.b - line_to_process.b).cast<double>().norm();
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if (dist_to_end <= filter_eps_value)
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final_lines.back().line.b = line_to_process.b;
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else
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// If there is non-painted space, then inserts line painted by a default color.
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if (double dist_to_end = (final_lines.back().line.b - line_to_process.b).cast<double>().norm(); dist_to_end > filter_eps_value)
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final_lines.push_back({Line(final_lines.back().line.b, line_to_process.b), 0});
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for (size_t line_idx = 1; line_idx < final_lines.size(); ++line_idx)
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assert(final_lines[line_idx - 1].line.b == final_lines[line_idx].line.a);
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// Make sure all the lines are connected.
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assert(are_lines_connected(final_lines));
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for (size_t line_idx = 2; line_idx < final_lines.size(); ++line_idx) {
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const ColoredLine &line_0 = final_lines[line_idx - 2];
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ColoredLine & line_1 = final_lines[line_idx - 1];
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ColoredLine &line_1 = final_lines[line_idx - 1];
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const ColoredLine &line_2 = final_lines[line_idx - 0];
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if (line_0.color == line_2.color && line_0.color != line_1.color)
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@ -351,52 +383,25 @@ static std::vector<ColoredLine> colorize_line(const Line & line_to_
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final_lines = colored_lines_simple;
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if (final_lines.size() > 1) {
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if (final_lines.size() > 1)
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if (final_lines.front().color != final_lines[1].color && final_lines.front().line.length() <= scale_(0.2)) {
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final_lines[1].line.a = final_lines.front().line.a;
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final_lines.erase(final_lines.begin());
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}
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}
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if (final_lines.size() > 1) {
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if (final_lines.size() > 1)
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if (final_lines.back().color != final_lines[final_lines.size() - 2].color && final_lines.back().line.length() <= scale_(0.2)) {
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final_lines[final_lines.size() - 2].line.b = final_lines.back().line.b;
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final_lines.pop_back();
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}
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}
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return final_lines;
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}
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static std::vector<ColoredLine> colorize_polygon(const EdgeGrid::Contour &contour, const size_t start_idx, const size_t end_idx, std::vector<PaintedLine> &painted_lines)
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{
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std::vector<ColoredLine> new_lines;
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new_lines.reserve(end_idx - start_idx + 1);
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for (size_t idx = 0; idx < painted_lines[start_idx].line_idx; ++idx)
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new_lines.emplace_back(ColoredLine{contour.get_segment(idx), 0});
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for (size_t first_idx = start_idx; first_idx <= end_idx; ++first_idx) {
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size_t second_idx = first_idx;
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while (second_idx <= end_idx && painted_lines[first_idx].line_idx == painted_lines[second_idx].line_idx) ++second_idx;
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--second_idx;
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assert(painted_lines[first_idx].line_idx == painted_lines[second_idx].line_idx);
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std::vector<ColoredLine> lines_c_line = colorize_line(contour.get_segment(painted_lines[first_idx].line_idx), first_idx, second_idx, painted_lines);
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new_lines.insert(new_lines.end(), lines_c_line.begin(), lines_c_line.end());
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if (second_idx + 1 <= end_idx)
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for (size_t idx = painted_lines[second_idx].line_idx + 1; idx < painted_lines[second_idx + 1].line_idx; ++idx)
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new_lines.emplace_back(ColoredLine{contour.get_segment(idx), 0});
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first_idx = second_idx;
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}
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for (size_t idx = painted_lines[end_idx].line_idx + 1; idx < contour.num_segments(); ++idx)
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new_lines.emplace_back(ColoredLine{contour.get_segment(idx), 0});
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static std::vector<ColoredLine> filter_colorized_polygon(std::vector<ColoredLine> &&new_lines) {
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for (size_t line_idx = 2; line_idx < new_lines.size(); ++line_idx) {
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const ColoredLine &line_0 = new_lines[line_idx - 2];
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ColoredLine & line_1 = new_lines[line_idx - 1];
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ColoredLine &line_1 = new_lines[line_idx - 1];
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const ColoredLine &line_2 = new_lines[line_idx - 0];
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if (line_0.color == line_2.color && line_0.color != line_1.color && line_0.color >= 1) {
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@ -406,8 +411,8 @@ static std::vector<ColoredLine> colorize_polygon(const EdgeGrid::Contour &contou
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for (size_t line_idx = 3; line_idx < new_lines.size(); ++line_idx) {
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const ColoredLine &line_0 = new_lines[line_idx - 3];
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ColoredLine & line_1 = new_lines[line_idx - 2];
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ColoredLine & line_2 = new_lines[line_idx - 1];
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ColoredLine &line_1 = new_lines[line_idx - 2];
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ColoredLine &line_2 = new_lines[line_idx - 1];
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const ColoredLine &line_3 = new_lines[line_idx - 0];
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if (line_0.color == line_3.color && (line_0.color != line_1.color || line_0.color != line_2.color) && line_0.color >= 1 && line_3.color >= 1) {
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@ -466,40 +471,58 @@ static std::vector<ColoredLine> colorize_polygon(const EdgeGrid::Contour &contou
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}
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}
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return new_lines;
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return std::move(new_lines);
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}
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static std::vector<std::vector<ColoredLine>> colorize_polygons(const std::vector<EdgeGrid::Contour> &contours, std::vector<PaintedLine> &painted_lines)
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{
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const size_t start_idx = 0;
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const size_t end_idx = painted_lines.size() - 1;
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static std::vector<ColoredLine> colorize_contour(const EdgeGrid::Contour &contour, const std::vector<PaintedLine> &painted_contour) {
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assert(painted_contour.empty() || std::all_of(painted_contour.begin(), painted_contour.end(), [&painted_contour](const auto &p_line) { return painted_contour.front().contour_idx == p_line.contour_idx; }));
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std::vector<std::vector<ColoredLine>> new_polygons;
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new_polygons.reserve(contours.size());
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for (size_t idx = 0; idx < painted_lines[start_idx].contour_idx; ++idx)
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new_polygons.emplace_back(to_colored_lines(contours[idx], 0));
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for (size_t first_idx = start_idx; first_idx <= end_idx; ++first_idx) {
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size_t second_idx = first_idx;
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while (second_idx <= end_idx && painted_lines[first_idx].contour_idx == painted_lines[second_idx].contour_idx)
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++second_idx;
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--second_idx;
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assert(painted_lines[first_idx].contour_idx == painted_lines[second_idx].contour_idx);
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new_polygons.emplace_back(colorize_polygon(contours[painted_lines[first_idx].contour_idx], first_idx, second_idx, painted_lines));
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if (second_idx + 1 <= end_idx)
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for (size_t idx = painted_lines[second_idx].contour_idx + 1; idx < painted_lines[second_idx + 1].contour_idx; ++idx)
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new_polygons.emplace_back(to_colored_lines(contours[idx], 0));
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first_idx = second_idx;
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std::vector<ColoredLine> colorized_contour;
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if (painted_contour.empty()) {
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// Appends contour with default color for lines before the first PaintedLine.
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colorized_contour.reserve(contour.num_segments());
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for (const Line &line : contour.get_segments())
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colorized_contour.emplace_back(ColoredLine{line, 0});
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return colorized_contour;
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}
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for (size_t idx = painted_lines[end_idx].contour_idx + 1; idx < contours.size(); ++idx)
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new_polygons.emplace_back(to_colored_lines(contours[idx], 0));
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colorized_contour.reserve(contour.num_segments() + painted_contour.size());
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for (size_t idx = 0; idx < painted_contour.front().line_idx; ++idx)
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colorized_contour.emplace_back(ColoredLine{contour.get_segment(idx), 0});
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return new_polygons;
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size_t prev_painted_line_idx = 0;
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for (size_t curr_painted_line_idx = 0; curr_painted_line_idx < painted_contour.size(); ++curr_painted_line_idx) {
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size_t next_painted_line_idx = curr_painted_line_idx + 1;
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if (next_painted_line_idx >= painted_contour.size() || painted_contour[curr_painted_line_idx].line_idx != painted_contour[next_painted_line_idx].line_idx) {
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const std::vector<PaintedLine> &painted_contour_copy = painted_contour;
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Slic3r::append(colorized_contour, colorize_line(contour.get_segment(painted_contour[prev_painted_line_idx].line_idx), prev_painted_line_idx, curr_painted_line_idx, painted_contour_copy));
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// Appends contour with default color for lines between the current and the next PaintedLine.
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if (next_painted_line_idx < painted_contour.size())
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for (size_t idx = painted_contour[curr_painted_line_idx].line_idx + 1; idx < painted_contour[next_painted_line_idx].line_idx; ++idx)
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colorized_contour.emplace_back(ColoredLine{contour.get_segment(idx), 0});
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prev_painted_line_idx = next_painted_line_idx;
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}
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}
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// Appends contour with default color for lines after the last PaintedLine.
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for (size_t idx = painted_contour.back().line_idx + 1; idx < contour.num_segments(); ++idx)
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colorized_contour.emplace_back(ColoredLine{contour.get_segment(idx), 0});
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assert(!colorized_contour.empty());
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return filter_colorized_polygon(std::move(colorized_contour));
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}
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static std::vector<std::vector<ColoredLine>> colorize_contours(const std::vector<EdgeGrid::Contour> &contours, const std::vector<std::vector<PaintedLine>> &painted_contours)
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{
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assert(contours.size() == painted_contours.size());
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std::vector<std::vector<ColoredLine>> colorized_contours(contours.size());
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for (const std::vector<PaintedLine> &painted_contour : painted_contours) {
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size_t contour_idx = &painted_contour - &painted_contours.front();
|
||||
colorized_contours[contour_idx] = colorize_contour(contours[contour_idx], painted_contours[contour_idx]);
|
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}
|
||||
return colorized_contours;
|
||||
}
|
||||
|
||||
using boost::polygon::voronoi_diagram;
|
||||
@ -1585,7 +1608,7 @@ void export_processed_input_expolygons_to_svg(const std::string &path, const Lay
|
||||
#endif // MMU_SEGMENTATION_DEBUG_INPUT
|
||||
|
||||
#ifdef MMU_SEGMENTATION_DEBUG_PAINTED_LINES
|
||||
static void export_painted_lines_to_svg(const std::string &path, const std::vector<PaintedLine> &painted_lines, const ExPolygons &lslices)
|
||||
static void export_painted_lines_to_svg(const std::string &path, const std::vector<std::vector<PaintedLine>> &all_painted_lines, const ExPolygons &lslices)
|
||||
{
|
||||
const std::vector<std::string> colors = {"blue", "cyan", "red", "orange", "magenta", "pink", "purple", "yellow"};
|
||||
coordf_t stroke_width = scale_(0.05);
|
||||
@ -1596,6 +1619,7 @@ static void export_painted_lines_to_svg(const std::string &path, const std::vect
|
||||
for (const Line &line : to_lines(lslices))
|
||||
svg.draw(line, "green", stroke_width);
|
||||
|
||||
for (const std::vector<PaintedLine> &painted_lines : all_painted_lines)
|
||||
for (const PaintedLine &painted_line : painted_lines)
|
||||
svg.draw(painted_line.projected_line, painted_line.color < int(colors.size()) ? colors[painted_line.color] : "black", stroke_width);
|
||||
}
|
||||
@ -1765,29 +1789,24 @@ std::vector<std::vector<std::pair<ExPolygon, size_t>>> multi_material_segmentati
|
||||
tbb::parallel_for(tbb::blocked_range<size_t>(0, print_object.layers().size()), [&edge_grids, &input_expolygons, &painted_lines, &segmented_regions, &throw_on_cancel_callback](const tbb::blocked_range<size_t> &range) {
|
||||
for (size_t layer_idx = range.begin(); layer_idx < range.end(); ++layer_idx) {
|
||||
throw_on_cancel_callback();
|
||||
auto comp = [&edge_grids, layer_idx](const PaintedLine &first, const PaintedLine &second) {
|
||||
Point first_start_p = edge_grids[layer_idx].contours()[first.contour_idx].segment_start(first.line_idx);
|
||||
return first.contour_idx < second.contour_idx ||
|
||||
(first.contour_idx == second.contour_idx &&
|
||||
(first.line_idx < second.line_idx ||
|
||||
(first.line_idx == second.line_idx &&
|
||||
((first.projected_line.a - first_start_p).cast<double>().squaredNorm() < (second.projected_line.a - first_start_p).cast<double>().squaredNorm() ||
|
||||
((first.projected_line.a - first_start_p).cast<double>().squaredNorm() == (second.projected_line.a - first_start_p).cast<double>().squaredNorm() &&
|
||||
(first.projected_line.b - first.projected_line.a).cast<double>().squaredNorm() < (second.projected_line.b - second.projected_line.a).cast<double>().squaredNorm())))));
|
||||
};
|
||||
|
||||
std::sort(painted_lines[layer_idx].begin(), painted_lines[layer_idx].end(), comp);
|
||||
std::vector<PaintedLine> &painted_lines_single = painted_lines[layer_idx];
|
||||
|
||||
if (!painted_lines_single.empty()) {
|
||||
if (!painted_lines[layer_idx].empty()) {
|
||||
#ifdef MMU_SEGMENTATION_DEBUG_PAINTED_LINES
|
||||
{
|
||||
static int iRun = 0;
|
||||
export_painted_lines_to_svg(debug_out_path("mm-painted-lines-%d-%d.svg", layer_idx, iRun++), painted_lines_single, input_expolygons[layer_idx]);
|
||||
export_painted_lines_to_svg(debug_out_path("mm-painted-lines-%d-%d.svg", layer_idx, iRun++), {painted_lines[layer_idx]}, input_expolygons[layer_idx]);
|
||||
}
|
||||
#endif // MMU_SEGMENTATION_DEBUG_PAINTED_LINES
|
||||
|
||||
std::vector<std::vector<ColoredLine>> color_poly = colorize_polygons(edge_grids[layer_idx].contours(), painted_lines_single);
|
||||
std::vector<std::vector<PaintedLine>> post_processed_painted_lines = post_process_painted_lines(edge_grids[layer_idx].contours(), std::move(painted_lines[layer_idx]));
|
||||
|
||||
#ifdef MMU_SEGMENTATION_DEBUG_PAINTED_LINES
|
||||
{
|
||||
static int iRun = 0;
|
||||
export_painted_lines_to_svg(debug_out_path("mm-painted-lines-post-processed-%d-%d.svg", layer_idx, iRun++), post_processed_painted_lines, input_expolygons[layer_idx]);
|
||||
}
|
||||
#endif // MMU_SEGMENTATION_DEBUG_PAINTED_LINES
|
||||
|
||||
std::vector<std::vector<ColoredLine>> color_poly = colorize_contours(edge_grids[layer_idx].contours(), post_processed_painted_lines);
|
||||
|
||||
#ifdef MMU_SEGMENTATION_DEBUG_COLORIZED_POLYGONS
|
||||
{
|
||||
|
||||
Loading…
Reference in New Issue
Block a user