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unification of curling estimation - first step, but does not compile yet

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PavelMikus 2022-12-07 19:09:24 +01:00 committed by Pavel Mikuš
parent dd7777f648
commit 89f012acb1
1 changed files with 131 additions and 108 deletions
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239
src/libslic3r/GCode/ExtrusionProcessor.hpp
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@ -88,6 +88,126 @@ public:
} }
}; };
struct ExtendedPoint
{
ExtendedPoint(Vec2d position, float distance = 0.0, size_t nearest_prev_layer_line = size_t(-1), float curvature = 0.0, float quality = 1.0)
: position(position), distance(distance), nearest_prev_layer_line(nearest_prev_layer_line), curvature(curvature), quality(quality)
{}
Vec2d position;
float distance;
size_t nearest_prev_layer_line;
float curvature;
float quality;
};
template<bool SCALED_INPUT, bool ADD_INTERSECTIONS, bool PREV_LAYER_BOUNDARY_ONLY, bool CONCAVITY_RESETS_CURVATURE, typename P, typename L>
std::vector<ExtendedPoint> estimate_points_properties(const std::vector<P> &extrusion_points,
const AABBTreeLines::LinesDistancer<L> &unscaled_prev_layer,
float flow_width)
{
if (extrusion_points.empty()) return {};
float boundary_offset = PREV_LAYER_BOUNDARY_ONLY ? 0.5 * flow_width : 0.0f;
CurvatureEstimator cestim;
float min_malformation_dist = 0.2 * flow_width;
float peak_malformation_dist = 0.6 * flow_width;
std::vector<ExtendedPoint> points;
points.reserve(extrusion_points.size() * (ADD_INTERSECTIONS ? 1.5 : 1));
auto maybe_unscale = [](const P &p) { return SCALED_INPUT ? unscaled(p) : p.template cast<double>(); };
{
ExtendedPoint start_point{maybe_unscale(extrusion_points.begin())};
auto [distance, nearest_line, x] = unscaled_prev_layer.signed_distance_from_lines_extra(start_point.position) + boundary_offset;
start_point.distance = distance;
start_point.nearest_prev_layer_line = nearest_line;
points.push_back(start_point);
}
for (size_t i = 1; i < extrusion_points.size(); i++) {
ExtendedPoint next_point{maybe_unscale(extrusion_points[i])};
auto [distance, nearest_line, x] = unscaled_prev_layer.signed_distance_from_lines_extra(next_point.position) + boundary_offset;
next_point.distance = distance;
next_point.nearest_prev_layer_line = nearest_line;
if (ADD_INTERSECTIONS) {
const ExtendedPoint &prev_point = points.back();
if ((prev_point.distance < min_malformation_dist) != (next_point.distance < min_malformation_dist)) { // one in air, one not
auto intersections = unscaled_prev_layer.intersections_with_line<true>(L{prev_point.position, next_point.position});
for (const auto &intersection : intersections) { points.push_back({intersection, boundary_offset, 1.0}); }
}
if (PREV_LAYER_BOUNDARY_ONLY && prev_point.distance > min_malformation_dist &&
next_point.distance > min_malformation_dist) { // both in air
double line_len = (prev_point.position - next_point.position).norm();
if (line_len > 3.0) {
double a0 = std::clamp((boundary_offset + prev_point.distance) / line_len, 0.0, 1.0);
double a1 = std::clamp((boundary_offset + next_point.distance) / line_len, 0.0, 1.0);
double t0 = std::min(a0, a1);
double t1 = std::max(a0, a1);
auto p0 = prev_point.position + t0 * (next_point.position - prev_point.position);
auto [p0_dist, p0_near_l, p0_x] = unscaled_prev_layer.signed_distance_from_lines(p0) + boundary_offset;
points.push_back(ExtendedPoint{p0, p0_dist, p0_near_l});
auto p1 = prev_point.position + t1 * (next_point.position - prev_point.position);
auto [p1_dist, p1_near_l, p1_x] = unscaled_prev_layer.signed_distance_from_lines(p1) + boundary_offset;
points.push_back(ExtendedPoint{p1, p1_dist, p1_near_l});
}
}
}
points.push_back(next_point);
}
for (int point_idx = 0; point_idx < points.size(); ++point_idx) {
ExtendedPoint &a = points[point_idx];
ExtendedPoint &prev = points[point_idx > 0 ? point_idx - 1 : point_idx];
int prev_point_idx = point_idx;
while (prev_point_idx > 0) {
prev_point_idx--;
if ((a.position - points[prev_point_idx].position).squaredNorm() > EPSILON) { break; }
}
int next_point_index = point_idx;
while (next_point_index < int(points.size()) - 1) {
next_point_index++;
if ((a.position - points[next_point_index].position).squaredNorm() > EPSILON) { break; }
}
if (prev_point_idx != point_idx && next_point_index != point_idx) {
float distance = (prev.position - a.position).norm();
float alfa = angle(a.position - points[prev_point_idx].position, points[next_point_index].position - a.position);
if (alfa > 0.95 * 0.5 * PI) {
alfa = 0; // Ignore very sharp corners.. The curling problem happens mostly on rounded surfaces, not sudden sharp turns
}
cestim.add_point(distance, alfa);
if (CONCAVITY_RESETS_CURVATURE && alfa < 0.0) { cestim.reset(); }
}
if (a.distance < min_malformation_dist) {
a.quality = 1.0;
cestim.reset();
} else {
float distance_quality = std::min(1.0f, std::abs(a.distance - peak_malformation_dist) /
(peak_malformation_dist - min_malformation_dist));
distance_quality = distance_quality * distance_quality;
float curvature_penalty = 0.0f;
a.curvature = cestim.get_curvature();
float curvature = std::abs(a.curvature);
if (curvature > 1.0f) {
curvature_penalty = 1.0f;
} else if (curvature > 0.1f) {
curvature_penalty = sqrt(1.0 - distance_quality) * curvature;
}
a.quality = std::clamp(distance_quality - curvature_penalty, 0.0f, 1.0f);
}
}
return points;
}
struct ProcessedPoint struct ProcessedPoint
{ {
Point p; Point p;
@ -98,129 +218,32 @@ class ExtrusionQualityEstimator
{ {
std::unordered_map<const PrintObject *, AABBTreeLines::LinesDistancer<Linef>> prev_layer_boundaries; std::unordered_map<const PrintObject *, AABBTreeLines::LinesDistancer<Linef>> prev_layer_boundaries;
std::unordered_map<const PrintObject *, AABBTreeLines::LinesDistancer<Linef>> next_layer_boundaries; std::unordered_map<const PrintObject *, AABBTreeLines::LinesDistancer<Linef>> next_layer_boundaries;
CurvatureEstimator cestim;
const PrintObject *current_object; const PrintObject *current_object;
public: public:
void reset_for_next_extrusion() { cestim.reset(); }
void set_current_object(const PrintObject *object) { current_object = object; } void set_current_object(const PrintObject *object) { current_object = object; }
void prepare_for_new_layer(const Layer *layer) void prepare_for_new_layer(const Layer *layer)
{ {
if (layer == nullptr) return; if (layer == nullptr) return;
const PrintObject *object = layer->object(); const PrintObject *object = layer->object();
prev_layer_boundaries[object] = next_layer_boundaries[object]; prev_layer_boundaries[object] = next_layer_boundaries[object];
next_layer_boundaries[object] = AABBTreeLines::LinesDistancer<Linef>{to_unscaled_linesf(layer->lslices)}; next_layer_boundaries[object] = AABBTreeLines::LinesDistancer<Linef>{to_unscaled_linesf(layer->lslices)};
} }
std::vector<ProcessedPoint> estimate_extrusion_quality(const ExtrusionPath &path) std::vector<ProcessedPoint> estimate_extrusion_quality(const ExtrusionPath &path)
{ {
struct ExtendedPoint std::vector<ExtendedPoint> extended_points =
{ estimate_points_properties<true, true, true, false>(path.polyline.points, prev_layer_boundaries[current_object], path.width);
ExtendedPoint(const Vec2d &pos, float dist, float quality) : position(pos), distance(dist), quality(quality) {}
std::vector<ProcessedPoint> processed_points;
Vec2d position; processed_points.reserve(extended_points.size());
float distance; for (size_t i = 0; i < extended_points.size(); i++) {
float quality; Point position = scaled(extended_points[i].position);
}; float speed_factor = std::min(extended_points[i].quality, extended_points[i+1].quality);
processed_points.push_back({position, speed_factor});
float flow_width = path.width;
float min_malformation_dist = 0.2 * flow_width;
float peak_malformation_dist = 0.6 * flow_width;
const Points &original_points = path.polyline.points;
std::vector<ExtendedPoint> points;
const auto& prev_layer_boundary = prev_layer_boundaries[current_object];
float distance = prev_layer_boundary.signed_distance_from_lines(unscaled(original_points[0])) + 0.5 * flow_width;
points.push_back({unscaled(original_points[0]), distance, 1.0f});
for (size_t i = 1; i < original_points.size(); i++) {
Vec2d next_point_pos = unscaled(original_points[i]);
float distance_of_next = prev_layer_boundary.signed_distance_from_lines(next_point_pos) + 0.5 * flow_width;
if ((points.back().distance < min_malformation_dist) != (distance_of_next < min_malformation_dist)) { // one in air, one not
auto intersections = prev_layer_boundary.intersections_with_line<true>({points.back().position, next_point_pos});
for (const auto &intersection : intersections) { points.push_back({intersection, 0.5f * flow_width, 1.0}); }
points.push_back({next_point_pos, distance_of_next, 1.0});
}
if (points.back().distance > min_malformation_dist && distance_of_next > min_malformation_dist) { // both in air
double line_len = (points.back().position - next_point_pos).norm();
if (line_len > 3.0) {
double a0 = std::clamp((0.5 * flow_width + points.back().distance) / line_len, 0.0, 1.0);
double a1 = std::clamp((0.5 * flow_width + distance_of_next) / line_len, 0.0, 1.0);
double t0 = std::min(a0, a1);
double t1 = std::max(a0, a1);
auto p0 = points.back().position + t0 * (next_point_pos - points.back().position);
auto p0_dist = prev_layer_boundary.signed_distance_from_lines(p0) + 0.5 * flow_width;
points.push_back({p0, float(p0_dist), 1.0});
auto p1 = points.back().position + t1 * (next_point_pos - points.back().position);
auto p1_dist = prev_layer_boundary.signed_distance_from_lines(p1) + 0.5 * flow_width;
points.push_back({p1, float(p1_dist), 1.0});
}
}
points.push_back({next_point_pos, distance_of_next, 1.0});
} }
return processed_points;
for (int point_idx = 0; point_idx < int(points.size()) - 1; ++point_idx) {
ExtendedPoint &a = points[point_idx];
ExtendedPoint &b = points[point_idx + 1];
float distance = std::min(a.distance, b.distance);
int prev_point_idx = point_idx;
while (prev_point_idx > 0) {
prev_point_idx--;
if ((b.position - points[prev_point_idx].position).squaredNorm() > EPSILON) { break; }
}
int next_point_index = point_idx;
while (next_point_index < int(points.size()) - 1) {
next_point_index++;
if ((b.position - points[next_point_index].position).squaredNorm() > EPSILON) { break; }
}
if (prev_point_idx != point_idx && next_point_index != point_idx) {
float distance = (b.position - a.position).norm();
float alfa = angle(b.position - points[prev_point_idx].position, points[next_point_index].position - b.position);
if (alfa > 0.9 * PI / 2.0) {
alfa = 0; // Ignore very sharp corners.. The curling problem happens mostly on rounded surfaces, not sudden sharp turns
}
cestim.add_point(distance, alfa);
}
if (distance < min_malformation_dist) {
a.quality = 1.0;
cestim.reset();
} else {
float distance_quality = std::min(1.0f, std::abs(distance - peak_malformation_dist) /
(peak_malformation_dist - min_malformation_dist));
distance_quality = distance_quality * distance_quality;
float curvature_penalty = 0.0f;
float curvature = std::abs(cestim.get_curvature());
if (curvature > 1.0f) {
curvature_penalty = 1.0f;
} else if (curvature > 0.1f) {
curvature_penalty = sqrt(1.0 - distance_quality) * curvature;
}
a.quality = std::clamp(distance_quality - curvature_penalty, 0.0f, 1.0f);
}
}
if (points.size() > 3) {
points[points.size() - 2].quality = points[points.size()-3].quality;
}
std::vector<ProcessedPoint> result;
result.reserve(points.size());
for (const ExtendedPoint &p : points) { result.push_back({Point::new_scale(p.position), std::clamp(p.quality, 0.0f, 1.0f)}); }
return result;
} }
}; };