Measuring: Separating frontend and backend
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Lukas Matena
enricoturri1966
parent
4c5fa7a857
commit
9d5e9e8870
5 changed files with 499 additions and 415 deletions
323
src/libslic3r/Measure.cpp
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323
src/libslic3r/Measure.cpp
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#include "Measure.hpp"
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#include "libslic3r/Geometry/Circle.hpp"
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#include "libslic3r/SurfaceMesh.hpp"
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namespace Slic3r {
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namespace Measure {
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static std::pair<Vec3d, double> get_center_and_radius(const std::vector<Vec3d>& border, int start_idx, int end_idx, const Transform3d& trafo)
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{
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Vec2ds pts;
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double z = 0.;
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for (int i=start_idx; i<=end_idx; ++i) {
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Vec3d pt_transformed = trafo * border[i];
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z = pt_transformed.z();
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pts.emplace_back(pt_transformed.x(), pt_transformed.y());
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}
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auto circle = Geometry::circle_ransac(pts, 20); // FIXME: iterations?
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return std::make_pair(trafo.inverse() * Vec3d(circle.center.x(), circle.center.y(), z), circle.radius);
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}
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class MeasuringImpl {
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public:
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explicit MeasuringImpl(const indexed_triangle_set& its);
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struct PlaneData {
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std::vector<int> facets;
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std::vector<std::vector<Vec3d>> borders; // FIXME: should be in fact local in update_planes()
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std::vector<std::unique_ptr<SurfaceFeature>> surface_features;
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Vec3d normal;
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float area;
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};
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const std::vector<SurfaceFeature*>& get_features() const;
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private:
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void update_planes();
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void extract_features(PlaneData& plane);
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void save_features();
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std::vector<PlaneData> m_planes;
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std::vector<SurfaceFeature*> m_features;
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const indexed_triangle_set& m_its;
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};
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MeasuringImpl::MeasuringImpl(const indexed_triangle_set& its)
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: m_its{its}
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{
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update_planes();
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for (PlaneData& plane : m_planes) {
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extract_features(plane);
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plane.borders.clear();
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plane.borders.shrink_to_fit();
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}
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save_features();
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}
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void MeasuringImpl::update_planes()
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{
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m_planes.clear();
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// Now we'll go through all the facets and append Points of facets sharing the same normal.
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// This part is still performed in mesh coordinate system.
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const size_t num_of_facets = m_its.indices.size();
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std::vector<size_t> face_to_plane(num_of_facets, size_t(-1));
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const std::vector<Vec3f> face_normals = its_face_normals(m_its);
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const std::vector<Vec3i> face_neighbors = its_face_neighbors(m_its);
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std::vector<int> facet_queue(num_of_facets, 0);
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int facet_queue_cnt = 0;
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const stl_normal* normal_ptr = nullptr;
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size_t seed_facet_idx = 0;
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auto is_same_normal = [](const stl_normal& a, const stl_normal& b) -> bool {
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return (std::abs(a(0) - b(0)) < 0.001 && std::abs(a(1) - b(1)) < 0.001 && std::abs(a(2) - b(2)) < 0.001);
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};
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while (1) {
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// Find next unvisited triangle:
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for (; seed_facet_idx < num_of_facets; ++ seed_facet_idx)
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if (face_to_plane[seed_facet_idx] == size_t(-1)) {
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facet_queue[facet_queue_cnt ++] = seed_facet_idx;
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normal_ptr = &face_normals[seed_facet_idx];
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face_to_plane[seed_facet_idx] = m_planes.size();
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m_planes.emplace_back();
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break;
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}
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if (seed_facet_idx == num_of_facets)
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break; // Everything was visited already
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while (facet_queue_cnt > 0) {
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int facet_idx = facet_queue[-- facet_queue_cnt];
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const stl_normal& this_normal = face_normals[facet_idx];
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if (is_same_normal(this_normal, *normal_ptr)) {
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const Vec3i& face = m_its.indices[facet_idx];
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face_to_plane[facet_idx] = m_planes.size() - 1;
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m_planes.back().facets.emplace_back(facet_idx);
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for (int j = 0; j < 3; ++ j)
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if (int neighbor_idx = face_neighbors[facet_idx][j]; neighbor_idx >= 0 && face_to_plane[neighbor_idx] == size_t(-1))
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facet_queue[facet_queue_cnt ++] = neighbor_idx;
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}
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}
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m_planes.back().normal = normal_ptr->cast<double>();
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std::sort(m_planes.back().facets.begin(), m_planes.back().facets.end());
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}
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assert(std::none_of(face_to_plane.begin(), face_to_plane.end(), [](size_t val) { return val == size_t(-1); }));
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SurfaceMesh sm(m_its);
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for (int plane_id=0; plane_id < int(m_planes.size()); ++plane_id) {
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//int plane_id = 5; {
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const auto& facets = m_planes[plane_id].facets;
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m_planes[plane_id].borders.clear();
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std::vector<std::array<bool, 3>> visited(facets.size(), {false, false, false});
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for (int face_id=0; face_id<int(facets.size()); ++face_id) {
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assert(face_to_plane[facets[face_id]] == plane_id);
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for (int edge_id=0; edge_id<3; ++edge_id) {
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if (visited[face_id][edge_id] || face_to_plane[face_neighbors[facets[face_id]][edge_id]] == plane_id) {
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visited[face_id][edge_id] = true;
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continue;
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}
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Halfedge_index he = sm.halfedge(Face_index(facets[face_id]));
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while (he.side() != edge_id)
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he = sm.next(he);
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// he is the first halfedge on the border. Now walk around and append the points.
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//const Halfedge_index he_orig = he;
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m_planes[plane_id].borders.emplace_back();
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std::vector<Vec3d>& last_border = m_planes[plane_id].borders.back();
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last_border.emplace_back(sm.point(sm.source(he)).cast<double>());
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//Vertex_index target = sm.target(he);
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const Halfedge_index he_start = he;
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Face_index fi = he.face();
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auto face_it = std::lower_bound(facets.begin(), facets.end(), int(fi));
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assert(face_it != facets.end());
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assert(*face_it == int(fi));
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visited[face_it - facets.begin()][he.side()] = true;
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do {
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const Halfedge_index he_orig = he;
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he = sm.next_around_target(he);
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while ( face_to_plane[sm.face(he)] == plane_id && he != he_orig)
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he = sm.next_around_target(he);
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he = sm.opposite(he);
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Face_index fi = he.face();
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auto face_it = std::lower_bound(facets.begin(), facets.end(), int(fi));
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assert(face_it != facets.end());
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assert(*face_it == int(fi));
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if (visited[face_it - facets.begin()][he.side()] && he != he_start) {
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last_border.resize(1);
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break;
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}
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visited[face_it - facets.begin()][he.side()] = true;
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last_border.emplace_back(sm.point(sm.source(he)).cast<double>());
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} while (he != he_start);
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if (last_border.size() == 1)
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m_planes[plane_id].borders.pop_back();
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}
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}
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}
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m_planes.erase(std::remove_if(m_planes.begin(), m_planes.end(),
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[](const PlaneData& p) { return p.borders.empty(); }),
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m_planes.end());
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}
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void MeasuringImpl::extract_features(PlaneData& plane)
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{
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plane.surface_features.clear();
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const Vec3d& normal = plane.normal;
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const double edge_threshold = 25. * (M_PI/180.);
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std::vector<double> angles;
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Eigen::Quaterniond q;
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q.setFromTwoVectors(plane.normal, Vec3d::UnitZ());
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Transform3d trafo = Transform3d::Identity();
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trafo.rotate(q);
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for (const std::vector<Vec3d>& border : plane.borders) {
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assert(border.size() > 1);
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int start_idx = -1;
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// First calculate angles at all the vertices.
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angles.clear();
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for (int i=0; i<int(border.size()); ++i) {
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const Vec3d& v2 = (i == 0 ? border[0] - border[border.size()-1]
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: border[i] - border[i-1]);
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const Vec3d& v1 = i == border.size()-1 ? border[0] - border.back()
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: border[i+1] - border[i];
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double angle = -atan2(normal.dot(v1.cross(v2)), v1.dot(v2));
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if (angle < -M_PI/2.)
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angle += M_PI;
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angles.push_back(angle);
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}
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assert(border.size() == angles.size());
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bool circle = false;
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std::vector<std::pair<size_t, size_t>> circles;
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for (int i=1; i<angles.size(); ++i) {
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if (angles[i] < edge_threshold && Slic3r::is_approx(angles[i], angles[i-1]) && i != angles.size()-1 ) {
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// circle
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if (! circle) {
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circle = true;
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start_idx = std::max(0, i-2);
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}
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} else {
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if (circle) {
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circles.emplace_back(start_idx, i);
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circle = false;
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}
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}
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}
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// We have the circles. Now go around again and pick edges.
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int cidx = 0; // index of next circle in the way
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for (int i=1; i<int(border.size()); ++i) {
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if (cidx < circles.size() && i > circles[cidx].first)
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i = circles[cidx++].second;
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else plane.surface_features.emplace_back(std::unique_ptr<SurfaceFeature>(
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new Edge(border[i-1], border[i])));
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}
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// FIXME Throw away / do not create edges which are parts of circles.
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// FIXME Check and maybe merge first and last circle.
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for (const auto& [start_idx, end_idx] : circles) {
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std::pair<Vec3d, double> center_and_radius = get_center_and_radius(border, start_idx, end_idx, trafo);
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plane.surface_features.emplace_back(std::unique_ptr<SurfaceFeature>(
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new Circle(center_and_radius.first, center_and_radius.second)
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));
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}
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}
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}
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void MeasuringImpl::save_features()
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{
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m_features.clear();
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for (PlaneData& plane : m_planes)
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//PlaneData& plane = m_planes[0];
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{
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for (std::unique_ptr<SurfaceFeature>& feature : plane.surface_features) {
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m_features.emplace_back(feature.get());
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}
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}
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}
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const std::vector<SurfaceFeature*>& MeasuringImpl::get_features() const
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{
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return m_features;
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}
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Measuring::Measuring(const indexed_triangle_set& its)
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: priv{std::make_unique<MeasuringImpl>(its)}
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{}
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Measuring::~Measuring() {}
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const std::vector<SurfaceFeature*>& Measuring::get_features() const
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{
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return priv->get_features();
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}
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} // namespace Measure
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} // namespace Slic3r
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