initial demo
fixed KD tree neighbour search, finished refactoring of raycasts, substantially improved performance of seam placement - seams are now precomputed and their indexes stored such that place_seam does almost nothing.
This commit is contained in:
PavelMikus
parent
55e0f2dd83
commit
45b49ad545
@ -82,23 +82,6 @@ Vec3d sample_power_cosine_hemisphere(const Vec2f &samples, float power) {
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return Vec3d(cos(term1) * term3, sin(term1) * term3, term2);
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}
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void resolve_geometry_hit(const igl::Hit &hitpoint,
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const indexed_triangle_set &triangles,
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const KDTreeIndirect<3, coordf_t, KDTreeCoordinateFunctor> &perimeter_points_tree,
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const std::vector<SeamCandidate> &perimeter_points,
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std::vector<std::atomic<size_t>> &visibility_counters) {
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auto face = triangles.indices[hitpoint.id];
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auto edge1 = triangles.vertices[face[1]] - triangles.vertices[face[0]];
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auto edge2 = triangles.vertices[face[2]] - triangles.vertices[face[0]];
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Vec3d hit_pos = (triangles.vertices[face[0]] + edge1 * hitpoint.u + edge2 * hitpoint.v).cast<double>();
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auto perimeter_point_index = find_closest_point(perimeter_points_tree, hit_pos);
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auto perimeter_point_pos = perimeter_points[perimeter_point_index].position;
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auto dist_squared = (perimeter_point_pos - hit_pos).squaredNorm();
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visibility_counters[perimeter_point_index].fetch_add(1.0 / dist_squared, std::memory_order_relaxed);
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}
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std::vector<HitInfo> raycast_visibility(size_t ray_count,
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const AABBTreeIndirect::Tree<3, float> &raycasting_tree,
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const indexed_triangle_set &triangles) {
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@ -135,7 +118,7 @@ std::vector<HitInfo> raycast_visibility(size_t ray_count,
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for (size_t index = r.begin(); index < r.end(); ++index) {
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Vec3d global_ray_dir = sample_sphere_uniform(global_dir_random_samples[index]);
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Vec3d ray_origin = (vision_sphere_center - global_ray_dir * vision_sphere_raidus);
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Vec3d local_dir = sample_power_cosine_hemisphere(local_dir_random_samples[index], 1.5);
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Vec3d local_dir = sample_power_cosine_hemisphere(local_dir_random_samples[index], 2.0);
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Frame f;
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f.set_from_z(global_ray_dir);
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@ -153,14 +136,14 @@ std::vector<HitInfo> raycast_visibility(size_t ray_count,
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auto edge2 = triangles.vertices[face[2]] - triangles.vertices[face[0]];
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Vec3d hit_pos = (triangles.vertices[face[0]] + edge1 * hitpoint.u + edge2 * hitpoint.v).cast<double>();
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Vec3d surface_normal = edge1.cross(edge2).cast<double>();
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Vec3d surface_normal = edge1.cross(edge2).cast<double>().normalized();
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init.push_back(HitInfo { hit_pos, surface_normal });
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}
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}
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return init;
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},
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[](std::vector<HitInfo> left, std::vector<HitInfo> right) {
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[](std::vector<HitInfo> left, const std::vector<HitInfo>& right) {
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left.insert(left.end(), right.begin(), right.end());
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return left;
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}
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@ -174,10 +157,10 @@ std::vector<HitInfo> raycast_visibility(size_t ray_count,
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its_write_obj(triangles, "triangles.obj");
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Slic3r::CNumericLocalesSetter locales_setter;
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FILE *fp = boost::nowide::fopen("perimeter.obj", "w");
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FILE *fp = boost::nowide::fopen("hits.obj", "w");
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if (fp == nullptr) {
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BOOST_LOG_TRIVIAL(error)
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<< "Couldn't open " << "perimeter.obj" << " for writing";
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<< "Couldn't open " << "hits.obj" << " for writing";
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}
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for (size_t i = 0; i < hit_points.size(); ++i)
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@ -189,6 +172,30 @@ std::vector<HitInfo> raycast_visibility(size_t ray_count,
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return hit_points;
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}
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void process_perimeter_polygon(const Polygon &polygon, coordf_t z_coord, std::vector<SeamCandidate> &result_vec) {
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for (size_t index = 0; index < polygon.size(); ++index) {
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Vec2d unscaled_p = unscale(polygon[index]);
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Vec3d unscaled_position = Vec3d { unscaled_p.x(), unscaled_p.y(), z_coord };
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result_vec.emplace_back(unscaled_position, polygon.size() - index - 1);
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}
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}
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void pick_seam_point(std::vector<SeamCandidate> &perimeter_points, size_t start_index, size_t end_index) {
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auto min_visibility = perimeter_points[start_index].m_visibility;
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size_t seam_index = start_index;
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for (size_t index = start_index + 1; index <= end_index; ++index) {
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if (perimeter_points[index].m_visibility < min_visibility) {
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min_visibility = perimeter_points[index].m_visibility;
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seam_index = index;
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}
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}
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for (size_t index = start_index; index <= end_index; ++index) {
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perimeter_points[index].m_seam_index = seam_index;
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}
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}
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} // namespace SeamPlacerImpl
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void SeamPlacer::init(const Print &print) {
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@ -223,45 +230,109 @@ void SeamPlacer::init(const Print &print) {
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const auto layer = po->layers()[index];
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auto unscaled_z = layer->slice_z;
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for (const ExPolygon &expoly : layer->lslices) {
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// Contour - insert first point marked as Polygon
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// start, then insert rest sequentially.
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{
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auto unscaled_p = unscale(expoly.contour[0]);
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init.emplace_back(Vec3d { unscaled_p.x(), unscaled_p.y(), unscaled_z }, true);
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}
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for (size_t index = 1; index < expoly.contour.size(); ++index) {
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auto unscaled_p = unscale(expoly.contour[index]);
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init.emplace_back(Vec3d { unscaled_p.x(), unscaled_p.y(), unscaled_z });
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}
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process_perimeter_polygon(expoly.contour, unscaled_z, init);
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for (const Polygon &hole : expoly.holes) {
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// Perform the same for each hole
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{
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auto unscaled_p = unscale(hole[0]);
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init.emplace_back(Vec3d { unscaled_p.x(), unscaled_p.y(), unscaled_z }, true);
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}
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for (size_t index = 1; index < hole.size(); ++index) {
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auto unscaled_p = unscale(hole[index]);
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init.emplace_back(Vec3d { unscaled_p.x(), unscaled_p.y(), unscaled_z });
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}
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process_perimeter_polygon(hole, unscaled_z, init);
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}
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}
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}
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return init;
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},
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[](std::vector<SeamCandidate> prev, std::vector<SeamCandidate> next) {
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[](std::vector<SeamCandidate> prev, const std::vector<SeamCandidate> &next) {
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prev.insert(prev.end(), next.begin(), next.end());
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return prev;
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});
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auto &perimeter_points = m_perimeter_points_per_object[po];
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BOOST_LOG_TRIVIAL(debug)
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<< "PM: gather and build KD tree with seam candidates: end";
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BOOST_LOG_TRIVIAL(debug)
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<< "PM: gather visibility data into perimeter points : start";
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tbb::parallel_for(tbb::blocked_range<size_t>(0, perimeter_points.size()),
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[&](tbb::blocked_range<size_t> r) {
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for (size_t index = r.begin(); index < r.end(); ++index) {
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SeamCandidate &perimeter_point = perimeter_points[index];
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auto filter = [&](size_t hit_point_index) {
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const HitInfo &hit_point = hit_points[hit_point_index];
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Vec3d tolerance_center = hit_point.m_position - hit_point.m_surface_normal * EPSILON;
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double signed_distance_from_hit_place = (perimeter_point.m_position - tolerance_center).dot(
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hit_point.m_surface_normal);
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return signed_distance_from_hit_place >= 0 && signed_distance_from_hit_place <= 1.0;
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};
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auto nearby_points = find_nearby_points(hit_points_tree, perimeter_point.m_position,
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considered_hits_distance, filter);
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double visibility = 0;
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for (const auto &hit_point_index : nearby_points) {
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double distance =
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(perimeter_point.m_position - hit_points[hit_point_index].m_position).norm();
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visibility += considered_hits_distance - distance; // The further away from the perimeter point,
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// the less representative ray hit is
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}
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perimeter_point.m_visibility = visibility;
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}
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});
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//TODO disable, only debug code
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//#ifdef 0
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Slic3r::CNumericLocalesSetter locales_setter;
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FILE *fp = boost::nowide::fopen("perimeters.obj", "w");
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if (fp == nullptr) {
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BOOST_LOG_TRIVIAL(error)
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<< "Couldn't open " << "perimeters.obj" << " for writing";
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}
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for (size_t i = 0; i < perimeter_points.size(); ++i)
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fprintf(fp, "v %f %f %f %f\n", perimeter_points[i].m_position[0], perimeter_points[i].m_position[1],
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perimeter_points[i].m_position[2], perimeter_points[i].m_visibility);
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fclose(fp);
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//#endif
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// Build KD tree with seam candidates
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auto functor = KDTreeCoordinateFunctor { &perimeter_points };
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m_perimeter_points_trees_per_object.emplace(std::piecewise_construct, std::forward_as_tuple(po),
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std::forward_as_tuple(functor, m_perimeter_points_per_object[po].size()));
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SeamPlacer::PointTree &perimeter_points_tree = m_perimeter_points_trees_per_object.find(po)->second;
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// SeamPlacer::PointTree &perimeter_points_tree = m_perimeter_points_trees_per_object.find(po)->second;
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BOOST_LOG_TRIVIAL(debug)
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<< "PM: gather and build KD tree with seam candidates: end";
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<< "PM: gather visibility data into perimeter points : end";
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BOOST_LOG_TRIVIAL(debug)
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<< "PM: find seam for each perimeter polygon and store its position in each member of the polygon : start";
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assert(perimeter_points.back().m_polygon_index_reverse == 0);
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tbb::parallel_for(tbb::blocked_range<size_t>(0, perimeter_points.size()),
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[&](tbb::blocked_range<size_t> r) {
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//find nearest next perimeter polygon start
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size_t start = r.begin();
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while (perimeter_points[start].m_polygon_index_reverse != 0) {
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start++;
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};
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start++;
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if (start == perimeter_points.size())
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return;
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//find nearest polygon end after range end; The perimeter_points must end with point with index 0
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// start at r.end() -1, because tbb uses exlusive range.
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size_t end = r.end() - 1;
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while (perimeter_points[end].m_polygon_index_reverse != 0) {
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end++;
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};
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while (start <= end) {
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pick_seam_point(perimeter_points, start,
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start + perimeter_points[start].m_polygon_index_reverse);
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start += perimeter_points[start].m_polygon_index_reverse + 1;
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}
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});
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//Above parallel_for does not consider the first perimeter polygon, so do it additionally
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pick_seam_point(perimeter_points, 0, perimeter_points[0].m_polygon_index_reverse);
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BOOST_LOG_TRIVIAL(debug)
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<< "PM: find seam for each perimeter polygon and store its position in each member of the polygon : end";
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}
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}
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@ -273,29 +344,20 @@ void SeamPlacer::place_seam(const PrintObject *po, ExtrusionLoop &loop, coordf_t
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const auto &perimeter_points_tree = m_perimeter_points_trees_per_object.find(po)->second;
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const auto &perimeter_points = m_perimeter_points_per_object.find(po)->second;
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Points loop_points { };
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loop.collect_points(loop_points);
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const Point &fp = loop.first_point();
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// vector of pairs: first-> index into perimeter points, second-> index into loop points
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auto closest_perimeter_point_indices = std::vector<std::pair<size_t, size_t>>(loop_points.size());
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for (size_t p_index = 0; p_index < loop_points.size(); ++p_index) {
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auto unscaled_p = unscale(loop_points[p_index]);
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closest_perimeter_point_indices.emplace_back(find_closest_point(perimeter_points_tree,
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Vec3d { unscaled_p.x(), unscaled_p.y(), unscaled_z }), p_index);
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}
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auto unscaled_p = unscale(fp);
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auto closest_perimeter_point_index = find_closest_point(perimeter_points_tree,
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Vec3d { unscaled_p.x(), unscaled_p.y(), unscaled_z });
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size_t perimeter_seam_index = perimeter_points[closest_perimeter_point_index].m_seam_index;
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Vec3d seam_position = perimeter_points[perimeter_seam_index].m_position;
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std::sort(closest_perimeter_point_indices.begin(), closest_perimeter_point_indices.end(),
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[&](const std::pair<size_t, size_t> left, const std::pair<size_t, size_t> right) {
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return perimeter_points[left.first].visibility < perimeter_points[right.first].visibility;
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});
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Point seam_point = scaled(Vec2d { seam_position.x(), seam_position.y() });
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loop.split_at_vertex(loop_points[closest_perimeter_point_indices[0].second]);
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//
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// Point seam = last_pos;
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// if (!loop.split_at_vertex(seam))
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// // The point is not in the original loop.
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// // Insert it.
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// loop.split_at(seam, true);
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if (!loop.split_at_vertex(seam_point))
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// The point is not in the original loop.
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// Insert it.
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loop.split_at(seam_point, true);
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}
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} // namespace Slic3r
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@ -25,15 +25,13 @@ class Grid;
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namespace SeamPlacerImpl {
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struct SeamCandidate {
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explicit SeamCandidate(const Vec3d &pos) :
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position(pos), visibility(0.0), polygon_start(false) {
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SeamCandidate(const Vec3d &pos, size_t polygon_index_reverse) :
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m_position(pos), m_visibility(0.0), m_polygon_index_reverse(polygon_index_reverse), m_seam_index(0) {
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}
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SeamCandidate(const Vec3d &pos, bool polygon_start) :
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position(pos), visibility(0.0), polygon_start(polygon_start) {
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}
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Vec3d position;
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float visibility;
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bool polygon_start;
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Vec3d m_position;
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float m_visibility;
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size_t m_polygon_index_reverse;
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size_t m_seam_index;
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};
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struct HitInfo {
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@ -41,14 +39,13 @@ struct HitInfo {
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Vec3d m_surface_normal;
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};
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struct KDTreeCoordinateFunctor {
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KDTreeCoordinateFunctor(std::vector<SeamCandidate> *seam_candidates) :
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seam_candidates(seam_candidates) {
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}
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std::vector<SeamCandidate> *seam_candidates;
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float operator()(size_t index, size_t dim) const {
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return seam_candidates->operator[](index).position[dim];
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return seam_candidates->operator[](index).m_position[dim];
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}
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};
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@ -67,6 +64,7 @@ class SeamPlacer {
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using PointTree =
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KDTreeIndirect<3, coordf_t, SeamPlacerImpl::KDTreeCoordinateFunctor>;
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const size_t ray_count_per_object = 100000;
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const double considered_hits_distance = 4.0;
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public:
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std::unordered_map<const PrintObject*, PointTree> m_perimeter_points_trees_per_object;
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@ -231,21 +231,21 @@ size_t find_closest_point(const KDTreeIndirectType& kdtree, const PointType& poi
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return find_closest_point(kdtree, point, [](size_t) { return true; });
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}
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// Find a nearby points (spherical neighbourhood) using Euclidian metrics.
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// Find nearby points (spherical neighbourhood) using Euclidian metrics.
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template<typename KDTreeIndirectType, typename PointType, typename FilterFn>
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std::vector<size_t> find_nearby_points(const KDTreeIndirectType &kdtree, const PointType ¢er,
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typename KDTreeIndirectType::CoordType& max_distance, FilterFn filter)
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const typename KDTreeIndirectType::CoordType& max_distance, FilterFn filter)
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{
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using CoordType = typename KDTreeIndirectType::CoordType;
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struct Visitor {
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const KDTreeIndirectType &kdtree;
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const PointType ¢er;
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const CoordType &max_distance_squared;
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const PointType center;
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const CoordType max_distance_squared;
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const FilterFn filter;
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std::vector<size_t> result;
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Visitor(const KDTreeIndirectType &kdtree, const PointType ¢er, const CoordType &max_distance,
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Visitor(const KDTreeIndirectType &kdtree, const PointType& center, const CoordType &max_distance,
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FilterFn filter) :
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kdtree(kdtree), center(center), max_distance_squared(max_distance*max_distance), filter(filter) {
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}
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@ -270,7 +270,7 @@ std::vector<size_t> find_nearby_points(const KDTreeIndirectType &kdtree, const P
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template<typename KDTreeIndirectType, typename PointType>
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std::vector<size_t> find_nearby_points(const KDTreeIndirectType &kdtree, const PointType ¢er,
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typename KDTreeIndirectType::CoordType& max_distance)
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const typename KDTreeIndirectType::CoordType& max_distance)
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{
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return find_nearby_points(kdtree, center, max_distance, [](size_t) {
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return true;
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