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Merge branch 'lm_optimize_measurement'

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This commit is contained in:
Lukas Matena 2022-12-06 09:58:21 +01:00
commit 4a2acf9a7e
5 changed files with 239 additions and 231 deletions
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4
src/libslic3r/Geometry/Circle.cpp
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@ -108,7 +108,7 @@ Circled circle_taubin_newton(const Vec2ds& input, size_t cycles)
return out;
}
Circled circle_ransac(const Vec2ds& input, size_t iterations)
Circled circle_ransac(const Vec2ds& input, size_t iterations, double* min_error)
{
if (input.size() < 3)
return Circled::make_invalid();
@ -132,6 +132,8 @@ Circled circle_ransac(const Vec2ds& input, size_t iterations)
circle_best = c;
}
}
if (min_error)
*min_error = err_min;
return circle_best;
}

2
src/libslic3r/Geometry/Circle.hpp
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@ -102,7 +102,7 @@ inline Vec2d circle_center_taubin_newton(const Vec2ds& input, size_t cycles = 20
Circled circle_taubin_newton(const Vec2ds& input, size_t cycles = 20);
// Find circle using RANSAC randomized algorithm.
Circled circle_ransac(const Vec2ds& input, size_t iterations = 20);
Circled circle_ransac(const Vec2ds& input, size_t iterations = 20, double* min_error = nullptr);
// Randomized algorithm by Emo Welzl, working with squared radii for efficiency. The returned circle radius is inflated by epsilon.
template<typename Vector, typename Points>

121
src/libslic3r/Measure.cpp
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@ -8,13 +8,15 @@
#include <numeric>
#define DEBUG_EXTRACT_ALL_FEATURES_AT_ONCE 0
namespace Slic3r {
namespace Measure {
constexpr double feature_hover_limit = 0.5; // how close to a feature the mouse must be to highlight it
static std::pair<Vec3d, double> get_center_and_radius(const std::vector<Vec3d>& points, const Transform3d& trafo)
static std::tuple<Vec3d, double, double> get_center_and_radius(const std::vector<Vec3d>& points, const Transform3d& trafo, const Transform3d& trafo_inv)
{
Vec2ds out;
double z = 0.;
@ -24,18 +26,17 @@ static std::pair<Vec3d, double> get_center_and_radius(const std::vector<Vec3d>&
out.emplace_back(pt_transformed.x(), pt_transformed.y());
}
auto circle = Geometry::circle_ransac(out, 20); // FIXME: iterations?
const int iter = points.size() < 10 ? 2 :
points.size() < 100 ? 4 :
6;
return std::make_pair(trafo.inverse() * Vec3d(circle.center.x(), circle.center.y(), z), circle.radius);
double error = std::numeric_limits<double>::max();
auto circle = Geometry::circle_ransac(out, iter, &error);
return std::make_tuple(trafo.inverse() * Vec3d(circle.center.x(), circle.center.y(), z), circle.radius, error);
}
static bool circle_fit_is_ok(const std::vector<Vec3d>& pts, const Vec3d& center, double radius)
{
for (const Vec3d& pt : pts)
if (std::abs((pt - center).norm() - radius) > 0.05)
return false;
return true;
}
static std::array<Vec3d, 3> orthonormal_basis(const Vec3d& v)
{
@ -64,17 +65,18 @@ public:
std::vector<SurfaceFeature> surface_features;
Vec3d normal;
float area;
bool features_extracted = false;
};
std::vector<SurfaceFeature> get_all_features() const;
std::optional<SurfaceFeature> get_feature(size_t face_idx, const Vec3d& point) const;
std::vector<std::vector<int>> get_planes_triangle_indices() const;
const std::vector<SurfaceFeature>& get_plane_features(unsigned int plane_id) const;
std::optional<SurfaceFeature> get_feature(size_t face_idx, const Vec3d& point);
int get_num_of_planes() const;
const std::vector<int>& get_plane_triangle_indices(int idx) const;
const std::vector<SurfaceFeature>& get_plane_features(unsigned int plane_id);
const TriangleMesh& get_mesh() const;
private:
void update_planes();
void extract_features();
void extract_features(int plane_idx);
std::vector<PlaneData> m_planes;
std::vector<size_t> m_face_to_plane;
@ -90,7 +92,13 @@ MeasuringImpl::MeasuringImpl(const indexed_triangle_set& its)
: m_mesh(its)
{
update_planes();
extract_features();
// Extracting features will be done as needed.
// To extract all planes at once, run the following:
#if DEBUG_EXTRACT_ALL_FEATURES_AT_ONCE
for (int i=0; i<int(m_planes.size()); ++i)
extract_features(i);
#endif
}
@ -252,14 +260,11 @@ void MeasuringImpl::update_planes()
void MeasuringImpl::extract_features()
void MeasuringImpl::extract_features(int plane_idx)
{
std::vector<double> angles; // placed in outer scope to prevent reallocations
std::vector<double> lengths;
assert(! m_planes[plane_idx].features_extracted);
for (int i=0; i<(int)m_planes.size(); ++i) {
PlaneData& plane = m_planes[i];
PlaneData& plane = m_planes[plane_idx];
plane.surface_features.clear();
const Vec3d& normal = plane.normal;
@ -267,6 +272,10 @@ void MeasuringImpl::extract_features()
q.setFromTwoVectors(plane.normal, Vec3d::UnitZ());
Transform3d trafo = Transform3d::Identity();
trafo.rotate(q);
const Transform3d trafo_inv = trafo.inverse();
std::vector<double> angles; // placed in outer scope to prevent reallocations
std::vector<double> lengths;
for (const std::vector<Vec3d>& border : plane.borders) {
if (border.size() <= 1)
@ -274,8 +283,10 @@ void MeasuringImpl::extract_features()
bool done = false;
if (const auto& [center, radius] = get_center_and_radius(border, trafo);
(border.size()>4) && circle_fit_is_ok(border, center, radius)) {
if (border.size() > 4) {
const auto& [center, radius, err] = get_center_and_radius(border, trafo, trafo_inv);
if (err < 0.05) {
// The whole border is one circle. Just add it into the list of features
// and we are done.
@ -298,6 +309,7 @@ void MeasuringImpl::extract_features()
done = true;
}
}
}
if (! done) {
// In this case, the border is not a circle and may contain circular
@ -390,11 +402,11 @@ void MeasuringImpl::extract_features()
}
if (accept_circle) {
const auto& [center, radius] = get_center_and_radius(single_circle, trafo);
const auto& [center, radius, err] = get_center_and_radius(single_circle, trafo, trafo_inv);
// Check that the fit went well. The tolerance is high, only to
// reject complete failures.
accept_circle &= circle_fit_is_ok(single_circle, center, radius);
accept_circle &= err < 0.05;
// If the segment subtends less than 90 degrees, throw it away.
accept_circle &= single_circle_length / radius > 0.9*M_PI/2.;
@ -475,23 +487,12 @@ void MeasuringImpl::extract_features()
}
cog /= double(counter);
plane.surface_features.emplace_back(SurfaceFeature(SurfaceFeatureType::Plane,
plane.normal, cog, std::optional<Vec3d>(), i + 0.0001));
plane.normal, cog, std::optional<Vec3d>(), plane_idx + 0.0001));
plane.borders.clear();
plane.borders.shrink_to_fit();
}
}
std::vector<SurfaceFeature> MeasuringImpl::get_all_features() const
{
std::vector<SurfaceFeature> features;
//PlaneData& plane = m_planes[0];
for (const PlaneData& plane : m_planes)
for (const SurfaceFeature& feature : plane.surface_features)
features.emplace_back(feature);
return features;
plane.features_extracted = true;
}
@ -499,13 +500,18 @@ std::vector<SurfaceFeature> MeasuringImpl::get_all_features() const
std::optional<SurfaceFeature> MeasuringImpl::get_feature(size_t face_idx, const Vec3d& point) const
std::optional<SurfaceFeature> MeasuringImpl::get_feature(size_t face_idx, const Vec3d& point)
{
if (face_idx >= m_face_to_plane.size())
return std::optional<SurfaceFeature>();
const PlaneData& plane = m_planes[m_face_to_plane[face_idx]];
if (! plane.features_extracted)
extract_features(m_face_to_plane[face_idx]);
size_t closest_feature_idx = size_t(-1);
double min_dist = std::numeric_limits<double>::max();
@ -554,17 +560,24 @@ std::optional<SurfaceFeature> MeasuringImpl::get_feature(size_t face_idx, const
std::vector<std::vector<int>> MeasuringImpl::get_planes_triangle_indices() const
int MeasuringImpl::get_num_of_planes() const
{
std::vector<std::vector<int>> out;
for (const PlaneData& plane : m_planes)
out.emplace_back(plane.facets);
return out;
return (m_planes.size());
}
const std::vector<SurfaceFeature>& MeasuringImpl::get_plane_features(unsigned int plane_id) const
const std::vector<int>& MeasuringImpl::get_plane_triangle_indices(int idx) const
{
assert(idx >= 0 && idx < int(m_planes.size()));
return m_planes[idx].facets;
}
const std::vector<SurfaceFeature>& MeasuringImpl::get_plane_features(unsigned int plane_id)
{
assert(plane_id < m_planes.size());
if (! m_planes[plane_id].features_extracted)
extract_features(plane_id);
return m_planes[plane_id].surface_features;
}
@ -590,11 +603,6 @@ Measuring::Measuring(const indexed_triangle_set& its)
Measuring::~Measuring() {}
std::vector<SurfaceFeature> Measuring::get_all_features() const
{
return priv->get_all_features();
}
std::optional<SurfaceFeature> Measuring::get_feature(size_t face_idx, const Vec3d& point) const
{
@ -602,10 +610,15 @@ std::optional<SurfaceFeature> Measuring::get_feature(size_t face_idx, const Vec3
}
std::vector<std::vector<int>> Measuring::get_planes_triangle_indices() const
int Measuring::get_num_of_planes() const
{
return priv->get_planes_triangle_indices();
return priv->get_num_of_planes();
}
const std::vector<int>& Measuring::get_plane_triangle_indices(int idx) const
{
return priv->get_plane_triangle_indices(idx);
}
const std::vector<SurfaceFeature>& Measuring::get_plane_features(unsigned int plane_id) const

12
src/libslic3r/Measure.hpp
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@ -94,18 +94,16 @@ public:
explicit Measuring(const indexed_triangle_set& its);
~Measuring();
// Return a reference to a list of all features identified on the its.
// Use only for debugging. Expensive, do not call often.
std::vector<SurfaceFeature> get_all_features() const;
// Given a face_idx where the mouse cursor points, return a feature that
// should be highlighted (if any).
std::optional<SurfaceFeature> get_feature(size_t face_idx, const Vec3d& point) const;
// Returns a list of triangle indices for each identified plane. Each
// Plane object contains an index into this vector. Expensive, do not
// call too often.
std::vector<std::vector<int>> get_planes_triangle_indices() const;
// Return total number of planes.
int get_num_of_planes() const;
// Returns a list of triangle indices for given plane.
const std::vector<int>& get_plane_triangle_indices(int idx) const;
// Returns the surface features of the plane with the given index
const std::vector<SurfaceFeature>& get_plane_features(unsigned int plane_id) const;

15
src/slic3r/GUI/Gizmos/GLGizmoMeasure.cpp
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@ -93,11 +93,8 @@ static std::string center_on_feature_type_as_string(Measure::SurfaceFeatureType
return ret;
}
static GLModel::Geometry init_plane_data(const indexed_triangle_set& its, const std::vector<std::vector<int>>& planes_triangles, int idx)
static GLModel::Geometry init_plane_data(const indexed_triangle_set& its, const std::vector<int>& triangle_indices)
{
assert(0 <= idx && idx < (int)planes_triangles.size());
const std::vector<int>& triangle_indices = planes_triangles[idx];
GLModel::Geometry init_data;
init_data.format = { GUI::GLModel::Geometry::EPrimitiveType::Triangles, GLModel::Geometry::EVertexLayout::P3N3 };
unsigned int i = 0;
@ -653,11 +650,10 @@ void GLGizmoMeasure::on_render()
if (m_last_plane_idx != idx) {
m_last_plane_idx = idx;
const indexed_triangle_set& its = m_measuring->get_mesh().its;
const std::vector<std::vector<int>> planes_triangles = m_measuring->get_planes_triangle_indices();
GLModel::Geometry init_data = init_plane_data(its, planes_triangles, idx);
const std::vector<int>& plane_triangles = m_measuring->get_plane_triangle_indices(idx);
GLModel::Geometry init_data = init_plane_data(its, plane_triangles);
m_plane.reset();
m_plane.mesh_raycaster = std::make_unique<MeshRaycaster>(std::make_shared<const TriangleMesh>(init_data.get_as_indexed_triangle_set()));
m_plane.model.init_from(std::move(init_data));
}
m_raycasters.insert({ PLANE_ID, m_parent.add_raycaster_for_picking(SceneRaycaster::EType::Gizmo, PLANE_ID, *m_plane.mesh_raycaster) });
@ -1041,10 +1037,9 @@ void GLGizmoMeasure::update_if_needed()
{
auto update_plane_models_cache = [this](const indexed_triangle_set& its) {
m_plane_models_cache.clear();
const std::vector<std::vector<int>> planes_triangles = m_measuring->get_planes_triangle_indices();
for (int idx = 0; idx < (int)planes_triangles.size(); ++idx) {
for (int idx = 0; idx < m_measuring->get_num_of_planes(); ++idx) {
m_plane_models_cache.emplace_back(GLModel());
GLModel::Geometry init_data = init_plane_data(its, planes_triangles, idx);
GLModel::Geometry init_data = init_plane_data(its, m_measuring->get_plane_triangle_indices(idx));
m_plane_models_cache.back().init_from(std::move(init_data));
}
};