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Fixed detection of skew in TransformationSVD

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This commit is contained in:
enricoturri1966 2023-02-22 14:50:29 +01:00
parent c9f807f4bb
commit 6ca65cf844
1 changed files with 15 additions and 3 deletions
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18
src/libslic3r/Geometry.cpp
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@ -860,14 +860,26 @@ TransformationSVD::TransformationSVD(const Transform3d& trafo)
rotation_90_degrees = true; rotation_90_degrees = true;
for (int i = 0; i < 3; ++i) { for (int i = 0; i < 3; ++i) {
const Vec3d row = v.row(i).cwiseAbs(); const Vec3d row = v.row(i).cwiseAbs();
size_t num_zeros = is_approx(row[0], 0.) + is_approx(row[1], 0.) + is_approx(row[2], 0.); const size_t num_zeros = is_approx(row[0], 0.) + is_approx(row[1], 0.) + is_approx(row[2], 0.);
size_t num_ones = is_approx(row[0], 1.) + is_approx(row[1], 1.) + is_approx(row[2], 1.); const size_t num_ones = is_approx(row[0], 1.) + is_approx(row[1], 1.) + is_approx(row[2], 1.);
if (num_zeros != 2 || num_ones != 1) { if (num_zeros != 2 || num_ones != 1) {
rotation_90_degrees = false; rotation_90_degrees = false;
break; break;
} }
} }
skew = ! rotation_90_degrees; // Detect skew by brute force: check if the axes are still orthogonal after transformation
const Matrix3d trafo_linear = trafo.linear();
const std::array<Vec3d, 3> axes = { Vec3d::UnitX(), Vec3d::UnitY(), Vec3d::UnitZ() };
std::array<Vec3d, 3> transformed_axes;
for (int i = 0; i < 3; ++i) {
transformed_axes[i] = trafo_linear * axes[i];
}
skew = std::abs(transformed_axes[0].dot(transformed_axes[1])) > EPSILON ||
std::abs(transformed_axes[1].dot(transformed_axes[2])) > EPSILON ||
std::abs(transformed_axes[2].dot(transformed_axes[0])) > EPSILON;
// This following old code does not work under all conditions. The v matrix can become non diagonal (see SPE-1492)
// skew = ! rotation_90_degrees;
} else } else
skew = false; skew = false;
} }