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comments and bugfix

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This commit is contained in:
PavelMikus 2022-03-02 13:24:35 +01:00
parent ad819850f9
commit 87c276b7a4
2 changed files with 119 additions and 71 deletions
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188
src/libslic3r/GCode/SeamPlacerNG.cpp
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@ -394,6 +394,7 @@ struct GlobalModelInfo {
} }
; ;
//Extract perimeter polygons of the given layer
Polygons extract_perimeter_polygons(const Layer *layer) { Polygons extract_perimeter_polygons(const Layer *layer) {
Polygons polygons; Polygons polygons;
for (const LayerRegion *layer_region : layer->regions()) { for (const LayerRegion *layer_region : layer->regions()) {
@ -419,13 +420,17 @@ Polygons extract_perimeter_polygons(const Layer *layer) {
} }
} }
if (polygons.empty()) { if (polygons.empty()) { // If there are no perimeter polygons for whatever reason (disabled perimeters .. ) insert dummy point
// it is easier than checking everywhere if the layer is not emtpy, no seam will be placed to this layer anyway
polygons.emplace_back(std::vector { Point { 0, 0 } }); polygons.emplace_back(std::vector { Point { 0, 0 } });
} }
return polygons; return polygons;
} }
// Insert SeamCandidates created from perimeter polygons in to the result vector.
// Compute its type (Enfrocer,Blocker), angle, and position
//each SeamCandidate also contains pointer to shared Perimeter structure representing the polygon
void process_perimeter_polygon(const Polygon &orig_polygon, float z_coord, std::vector<SeamCandidate> &result_vec, void process_perimeter_polygon(const Polygon &orig_polygon, float z_coord, std::vector<SeamCandidate> &result_vec,
const GlobalModelInfo &global_model_info) { const GlobalModelInfo &global_model_info) {
if (orig_polygon.size() == 0) { if (orig_polygon.size() == 0) {
@ -467,17 +472,22 @@ void process_perimeter_polygon(const Polygon &orig_polygon, float z_coord, std::
} }
} }
// Get index of previous and next perimeter point of the layer. Because SeamCandidates of all polygons of the given layer
// are sequentially stored in the vector, each perimeter contains info about start and end index. These vales are used to
// deduce index of previous and next neigbour in the corresponding perimeter.
std::pair<size_t, size_t> find_previous_and_next_perimeter_point(const std::vector<SeamCandidate> &perimeter_points, std::pair<size_t, size_t> find_previous_and_next_perimeter_point(const std::vector<SeamCandidate> &perimeter_points,
size_t index) { size_t point_index) {
const SeamCandidate &current = perimeter_points[index]; const SeamCandidate &current = perimeter_points[point_index];
int prev = index - 1; int prev = point_index - 1; //for majority of points, it is true that neighbours lie behind and in front of them in the vector
int next = index + 1; int next = point_index + 1;
if (index == current.perimeter->start_index) { if (point_index == current.perimeter->start_index) {
// if point_index is equal to start, it means that the previous neighbour is at the end
prev = current.perimeter->end_index; prev = current.perimeter->end_index;
} }
if (index == current.perimeter->end_index) { if (point_index == current.perimeter->end_index) {
// if point_index is equal to end, than next neighbour is at the start
next = current.perimeter->start_index; next = current.perimeter->start_index;
} }
@ -495,13 +505,16 @@ float calculate_overhang(const SeamCandidate &point, const SeamCandidate &under_
auto b = Vec2d { under_b.position.x(), under_b.position.y() }; auto b = Vec2d { under_b.position.x(), under_b.position.y() };
auto c = Vec2d { under_c.position.x(), under_c.position.y() }; auto c = Vec2d { under_c.position.x(), under_c.position.y() };
auto oriented_line_dist = [](const Vec2d a, const Vec2d b, const Vec2d p) { auto oriented_line_dist = [](const Vec2d a, const Vec2d b, const Vec2d p) { //signed distance from line
return -((b.x() - a.x()) * (a.y() - p.y()) - (a.x() - p.x()) * (b.y() - a.y())) / (a - b).norm(); return -((b.x() - a.x()) * (a.y() - p.y()) - (a.x() - p.x()) * (b.y() - a.y())) / (a - b).norm();
}; };
auto dist_ab = oriented_line_dist(a, b, p); auto dist_ab = oriented_line_dist(a, b, p);
auto dist_bc = oriented_line_dist(b, c, p); auto dist_bc = oriented_line_dist(b, c, p);
// from angle and signed distances from the arms of the points on the previous layer, we
// can deduce if it is overhang and give estimation of the size.
// However, the size of the overhang is rough estimation, the sign is more reliable
if (under_b.local_ccw_angle > 0 && dist_ab > 0 && dist_bc > 0) { //convex shape, p is inside if (under_b.local_ccw_angle > 0 && dist_ab > 0 && dist_bc > 0) { //convex shape, p is inside
return -((p - b).norm() + dist_ab + dist_bc) / 3.0; return -((p - b).norm() + dist_ab + dist_bc) / 3.0;
} }
@ -513,6 +526,7 @@ float calculate_overhang(const SeamCandidate &point, const SeamCandidate &under_
return ((p - b).norm() + dist_ab + dist_bc) / 3.0; return ((p - b).norm() + dist_ab + dist_bc) / 3.0;
} }
// Pick best seam point based on the given comparator
template<typename Comparator> template<typename Comparator>
void pick_seam_point(std::vector<SeamCandidate> &perimeter_points, size_t start_index, void pick_seam_point(std::vector<SeamCandidate> &perimeter_points, size_t start_index,
const Comparator &comparator) { const Comparator &comparator) {
@ -533,6 +547,8 @@ void pick_seam_point(std::vector<SeamCandidate> &perimeter_points, size_t start_
perimeter_points[start_index].perimeter->seam_index = seam_index; perimeter_points[start_index].perimeter->seam_index = seam_index;
} }
// Computes all global model info - transforms object, performs raycasting,
// stores enforces and blockers
void gather_global_model_info(GlobalModelInfo &result, const PrintObject *po) { void gather_global_model_info(GlobalModelInfo &result, const PrintObject *po) {
BOOST_LOG_TRIVIAL(debug) BOOST_LOG_TRIVIAL(debug)
<< "SeamPlacer: build AABB tree for raycasting and gather occlusion info: start"; << "SeamPlacer: build AABB tree for raycasting and gather occlusion info: start";
@ -578,6 +594,7 @@ void gather_global_model_info(GlobalModelInfo &result, const PrintObject *po) {
#endif #endif
} }
//Comparator of seam points. It has two necessary methods: is_first_better and is_first_not_much_worse
struct DefaultSeamComparator { struct DefaultSeamComparator {
float compute_angle_penalty(float ccw_angle) const { float compute_angle_penalty(float ccw_angle) const {
if (ccw_angle >= 0) { if (ccw_angle >= 0) {
@ -588,6 +605,8 @@ struct DefaultSeamComparator {
} }
// Standard comparator, must respect the requirements of comparators (e.g. give same result on same inputs) for sorting usage
// should return if a is better seamCandidate than b
bool is_first_better(const SeamCandidate &a, const SeamCandidate &b) const { bool is_first_better(const SeamCandidate &a, const SeamCandidate &b) const {
// Blockers/Enforcers discrimination, top priority // Blockers/Enforcers discrimination, top priority
if (a.type > b.type) { if (a.type > b.type) {
@ -606,6 +625,8 @@ struct DefaultSeamComparator {
(b.visibility + SeamPlacer::expected_hits_per_area) * compute_angle_penalty(b.local_ccw_angle); (b.visibility + SeamPlacer::expected_hits_per_area) * compute_angle_penalty(b.local_ccw_angle);
} }
// Comparator used during alignment. If there is close potential aligned point, it is comapred to the current
// sema point of the perimeter, to find out if the aligned point is not much worse than the current seam
bool is_first_not_much_worse(const SeamCandidate &a, const SeamCandidate &b) const { bool is_first_not_much_worse(const SeamCandidate &a, const SeamCandidate &b) const {
// Blockers/Enforcers discrimination, top priority // Blockers/Enforcers discrimination, top priority
if (a.type > b.type) { if (a.type > b.type) {
@ -628,6 +649,9 @@ struct DefaultSeamComparator {
} // namespace SeamPlacerImpl } // namespace SeamPlacerImpl
// Parallel process and extract each perimeter polygon of the given print object.
// Gather SeamCandidates of each layer into vector and build KDtree over them
// Store results in the SeamPlacer varaibles m_perimeter_points_per_object and m_perimeter_points_trees_per_object
void SeamPlacer::gather_seam_candidates(const PrintObject *po, void SeamPlacer::gather_seam_candidates(const PrintObject *po,
const SeamPlacerImpl::GlobalModelInfo &global_model_info) { const SeamPlacerImpl::GlobalModelInfo &global_model_info) {
using namespace SeamPlacerImpl; using namespace SeamPlacerImpl;
@ -701,6 +725,12 @@ tbb::parallel_for(tbb::blocked_range<size_t>(0, m_perimeter_points_per_object[po
}); });
} }
// Estimates, if there is good seam point in the layer_idx which is close to last_point_pos
// uses comparator.is_first_not_much_worse method to compare current seam with the closest point
// (if current seam is too far away )
// If the current chosen stream is close enough, it is stored in seam_string. returns true and updates last_point_pos
// If the closest point is good enough to replace current chosen seam, it is stored in potential_string_seams, returns true and updates last_point_pos
// Otherwise does nothing, returns false
// sadly cannot be const because map access operator[] is not const, since it can create new object // sadly cannot be const because map access operator[] is not const, since it can create new object
template<typename Comparator> template<typename Comparator>
bool SeamPlacer::find_next_seam_in_string(const PrintObject *po, Vec3f &last_point_pos, bool SeamPlacer::find_next_seam_in_string(const PrintObject *po, Vec3f &last_point_pos,
@ -743,11 +773,16 @@ bool SeamPlacer::find_next_seam_in_string(const PrintObject *po, Vec3f &last_poi
} }
//https://towardsdatascience.com/least-square-polynomial-fitting-using-c-eigen-package-c0673728bd01 // clusters already chosen seam points into strings across multiple layers, and then
// aligns the strings via polynomial fit
// Does not change the positions of the SeamCandidates themselves, instead stores
// the new aligned position into the shared Perimeter structure of each perimeter
// Note that this position does not necesarilly lay on the perimeter.
template<typename Comparator> template<typename Comparator>
void SeamPlacer::align_seam_points(const PrintObject *po, const Comparator &comparator) { void SeamPlacer::align_seam_points(const PrintObject *po, const Comparator &comparator) {
using namespace SeamPlacerImpl; using namespace SeamPlacerImpl;
// Prepares Debug files for writing.
#ifdef DEBUG_FILES #ifdef DEBUG_FILES
Slic3r::CNumericLocalesSetter locales_setter; Slic3r::CNumericLocalesSetter locales_setter;
auto clusters_f = "seam_clusters_of_" + std::to_string(po->id().id) + ".obj"; auto clusters_f = "seam_clusters_of_" + std::to_string(po->id().id) + ".obj";
@ -766,7 +801,7 @@ void SeamPlacer::align_seam_points(const PrintObject *po, const Comparator &comp
} }
#endif #endif
//gahter vector of all seams - pair of layer_index and seam__index within that layer //gahter vector of all seams on the print_object - pair of layer_index and seam__index within that layer
std::vector<std::pair<size_t, size_t>> seams; std::vector<std::pair<size_t, size_t>> seams;
for (size_t layer_idx = 0; layer_idx < m_perimeter_points_per_object[po].size(); ++layer_idx) { for (size_t layer_idx = 0; layer_idx < m_perimeter_points_per_object[po].size(); ++layer_idx) {
std::vector<SeamCandidate> &layer_perimeter_points = std::vector<SeamCandidate> &layer_perimeter_points =
@ -778,7 +813,7 @@ void SeamPlacer::align_seam_points(const PrintObject *po, const Comparator &comp
} }
} }
//sort them and then align starting with the best candidates //sort them before alignment. Alignment is sensitive to intitializaion, this gives it better chance to choose something nice
std::sort(seams.begin(), seams.end(), std::sort(seams.begin(), seams.end(),
[&](const std::pair<size_t, size_t> &left, const std::pair<size_t, size_t> &right) { [&](const std::pair<size_t, size_t> &left, const std::pair<size_t, size_t> &right) {
return comparator.is_first_better(m_perimeter_points_per_object[po][left.first][left.second], return comparator.is_first_better(m_perimeter_points_per_object[po][left.first][left.second],
@ -786,7 +821,7 @@ void SeamPlacer::align_seam_points(const PrintObject *po, const Comparator &comp
} }
); );
//align them //align the sema points - start with the best, and check if they are aligned, if yes, skip, else start alignment
for (const std::pair<size_t, size_t> &seam : seams) { for (const std::pair<size_t, size_t> &seam : seams) {
size_t layer_idx = seam.first; size_t layer_idx = seam.first;
size_t seam_index = seam.second; size_t seam_index = seam.second;
@ -796,14 +831,16 @@ void SeamPlacer::align_seam_points(const PrintObject *po, const Comparator &comp
// This perimeter is already aligned, skip seam // This perimeter is already aligned, skip seam
continue; continue;
} else { } else {
int skips = SeamPlacer::seam_align_tolerable_skips;
//initialize searching for seam string - cluster of nearby seams on previous and next layers
int skips = SeamPlacer::seam_align_tolerable_skips / 2;
int next_layer = layer_idx + 1; int next_layer = layer_idx + 1;
Vec3f last_point_pos = layer_perimeter_points[seam_index].position; Vec3f last_point_pos = layer_perimeter_points[seam_index].position;
std::vector<std::pair<size_t, size_t>> seam_string; std::vector<std::pair<size_t, size_t>> seam_string;
std::vector<std::pair<size_t, size_t>> potential_string_seams; std::vector<std::pair<size_t, size_t>> potential_string_seams;
//find close by points and outliers; there is a budget of skips allowed //find seams or potential seams in forward direction; there is a budget of skips allowed
while (skips >= 0 && next_layer < int(m_perimeter_points_per_object[po].size())) { while (skips >= 0 && next_layer < int(m_perimeter_points_per_object[po].size())) {
if (find_next_seam_in_string(po, last_point_pos, next_layer, comparator, seam_string, if (find_next_seam_in_string(po, last_point_pos, next_layer, comparator, seam_string,
potential_string_seams)) { potential_string_seams)) {
@ -815,45 +852,57 @@ void SeamPlacer::align_seam_points(const PrintObject *po, const Comparator &comp
next_layer++; next_layer++;
} }
if (seam_string.size() + potential_string_seams.size() >= seam_align_minimum_string_seams) { //string long enough to be worth aligning //do additional check in back direction
//do additional check in back direction next_layer = layer_idx - 1;
next_layer = layer_idx - 1; skips = SeamPlacer::seam_align_tolerable_skips / 2;
skips = SeamPlacer::seam_align_tolerable_skips; last_point_pos = layer_perimeter_points[seam_index].position;
while (skips >= 0 && next_layer >= 0) { while (skips >= 0 && next_layer >= 0) {
if (find_next_seam_in_string(po, last_point_pos, next_layer, comparator, if (find_next_seam_in_string(po, last_point_pos, next_layer, comparator,
seam_string, seam_string,
potential_string_seams)) { potential_string_seams)) {
//String added, last_point_pos updated, nothing to be done //String added, last_point_pos updated, nothing to be done
} else { } else {
// Layer skipped, reduce number of available skips // Layer skipped, reduce number of available skips
skips--; skips--;
}
next_layer--;
} }
next_layer--;
}
// all string seams and potential string seams gathered, now do the alignment if (seam_string.size() + potential_string_seams.size() < seam_align_minimum_string_seams) {
seam_string.insert(seam_string.end(), potential_string_seams.begin(), potential_string_seams.end()); //string long enough to be worth aligning, skip
std::sort(seam_string.begin(), seam_string.end(), continue;
[](const std::pair<size_t, size_t> &left, const std::pair<size_t, size_t> &right) { }
return left.first < right.first;
});
std::vector<Vec3f> points(seam_string.size()); // String is long engouh, all string seams and potential string seams gathered, now do the alignment
for (size_t index = 0; index < seam_string.size(); ++index) { // first merge potential_string_seams and seam_string; from now on, they all will be aligned
points[index] = seam_string.insert(seam_string.end(), potential_string_seams.begin(), potential_string_seams.end());
m_perimeter_points_per_object[po][seam_string[index].first][seam_string[index].second].position; //sort by layer index
} std::sort(seam_string.begin(), seam_string.end(),
[](const std::pair<size_t, size_t> &left, const std::pair<size_t, size_t> &right) {
return left.first < right.first;
});
std::vector<Vec2f> coefficients = polyfit(points, 3); // gather all positions of seams
for (const auto &pair : seam_string) { std::vector<Vec3f> points(seam_string.size());
float current_height = m_perimeter_points_per_object[po][pair.first][pair.second].position.z(); for (size_t index = 0; index < seam_string.size(); ++index) {
Vec3f seam_pos = get_fitted_point(coefficients, current_height); points[index] =
m_perimeter_points_per_object[po][seam_string[index].first][seam_string[index].second].position;
}
Perimeter *perimeter = // find coefficients of polynomial fit. Z coord is treated as parameter along which to fit both X and Y coords.
m_perimeter_points_per_object[po][pair.first][pair.second].perimeter.get(); std::vector<Vec2f> coefficients = polyfit(points, 3);
perimeter->final_seam_position = seam_pos;
perimeter->aligned = true; // Do alignment - compute fitted point for each point in the string from its Z coord, and store the position into
} // Perimeter structure of the point; also set flag aligned to true
for (const auto &pair : seam_string) {
float current_height = m_perimeter_points_per_object[po][pair.first][pair.second].position.z();
Vec3f seam_pos = get_fitted_point(coefficients, current_height);
Perimeter *perimeter =
m_perimeter_points_per_object[po][pair.first][pair.second].perimeter.get();
perimeter->final_seam_position = seam_pos;
perimeter->aligned = true;
}
// //https://en.wikipedia.org/wiki/Exponential_smoothing // //https://en.wikipedia.org/wiki/Exponential_smoothing
// //inititalization // //inititalization
@ -875,29 +924,28 @@ void SeamPlacer::align_seam_points(const PrintObject *po, const Comparator &comp
// } // }
#ifdef DEBUG_FILES #ifdef DEBUG_FILES
auto randf = []() { auto randf = []() {
return float(rand()) / float(RAND_MAX); return float(rand()) / float(RAND_MAX);
}; };
Vec3f color { randf(), randf(), randf() }; Vec3f color { randf(), randf(), randf() };
for (size_t i = 0; i < seam_string.size(); ++i) { for (size_t i = 0; i < seam_string.size(); ++i) {
auto orig_seam = m_perimeter_points_per_object[po][seam_string[i].first][seam_string[i].second]; auto orig_seam = m_perimeter_points_per_object[po][seam_string[i].first][seam_string[i].second];
fprintf(clusters, "v %f %f %f %f %f %f \n", orig_seam.position[0], fprintf(clusters, "v %f %f %f %f %f %f \n", orig_seam.position[0],
orig_seam.position[1], orig_seam.position[1],
orig_seam.position[2], color[0], color[1], orig_seam.position[2], color[0], color[1],
color[2]); color[2]);
}
color = Vec3f { randf(), randf(), randf() };
for (size_t i = 0; i < seam_string.size(); ++i) {
Perimeter *perimeter =
m_perimeter_points_per_object[po][seam_string[i].first][seam_string[i].second].perimeter.get();
fprintf(aligns, "v %f %f %f %f %f %f \n", perimeter->final_seam_position[0],
perimeter->final_seam_position[1],
perimeter->final_seam_position[2], color[0], color[1],
color[2]);
}
#endif
} }
color = Vec3f { randf(), randf(), randf() };
for (size_t i = 0; i < seam_string.size(); ++i) {
Perimeter *perimeter =
m_perimeter_points_per_object[po][seam_string[i].first][seam_string[i].second].perimeter.get();
fprintf(aligns, "v %f %f %f %f %f %f \n", perimeter->final_seam_position[0],
perimeter->final_seam_position[1],
perimeter->final_seam_position[2], color[0], color[1],
color[2]);
}
#endif
} }
} }

2
src/libslic3r/GCode/SeamPlacerNG.hpp
View File

@ -121,7 +121,7 @@ public:
// this param limits the number of allowed skips // this param limits the number of allowed skips
static constexpr size_t seam_align_tolerable_skips = 4; static constexpr size_t seam_align_tolerable_skips = 4;
// minimum number of seams needed in cluster to make alignemnt happen // minimum number of seams needed in cluster to make alignemnt happen
static constexpr size_t seam_align_minimum_string_seams = 4; static constexpr size_t seam_align_minimum_string_seams = 6;
//The following data structures hold all perimeter points for all PrintObject. The structure is as follows: //The following data structures hold all perimeter points for all PrintObject. The structure is as follows:
// Map of PrintObjects (PO) -> vector of layers of PO -> vector of perimeter points of the given layer // Map of PrintObjects (PO) -> vector of layers of PO -> vector of perimeter points of the given layer