Measurement: extract features on the fly, not when the tool is opened
This commit is contained in:
Lukas Matena
parent
a37f09edaa
commit
a47bb5bf1b
@ -8,6 +8,8 @@
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#include <numeric>
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#define DEBUG_EXTRACT_ALL_FEATURES_AT_ONCE 0
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namespace Slic3r {
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namespace Measure {
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@ -63,17 +65,18 @@ public:
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std::vector<SurfaceFeature> surface_features;
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Vec3d normal;
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float area;
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bool features_extracted = false;
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};
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std::optional<SurfaceFeature> get_feature(size_t face_idx, const Vec3d& point) const;
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std::optional<SurfaceFeature> get_feature(size_t face_idx, const Vec3d& point);
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int get_num_of_planes() const;
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const std::vector<int>& get_plane_triangle_indices(int idx) const;
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const std::vector<SurfaceFeature>& get_plane_features(unsigned int plane_id) const;
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const std::vector<SurfaceFeature>& get_plane_features(unsigned int plane_id);
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const TriangleMesh& get_mesh() const;
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private:
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void update_planes();
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void extract_features();
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void extract_features(int plane_idx);
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std::vector<PlaneData> m_planes;
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std::vector<size_t> m_face_to_plane;
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@ -89,7 +92,13 @@ MeasuringImpl::MeasuringImpl(const indexed_triangle_set& its)
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: m_mesh(its)
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{
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update_planes();
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extract_features();
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// Extracting features will be done as needed.
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// To extract all planes at once, run the following:
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#if DEBUG_EXTRACT_ALL_FEATURES_AT_ONCE
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for (int i=0; i<int(m_planes.size()); ++i)
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extract_features(i);
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#endif
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}
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@ -251,238 +260,239 @@ void MeasuringImpl::update_planes()
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void MeasuringImpl::extract_features()
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void MeasuringImpl::extract_features(int plane_idx)
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{
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assert(! m_planes[plane_idx].features_extracted);
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PlaneData& plane = m_planes[plane_idx];
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plane.surface_features.clear();
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const Vec3d& normal = plane.normal;
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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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const Transform3d trafo_inv = trafo.inverse();
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std::vector<double> angles; // placed in outer scope to prevent reallocations
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std::vector<double> lengths;
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for (const std::vector<Vec3d>& border : plane.borders) {
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if (border.size() <= 1)
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continue;
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for (int i=0; i<(int)m_planes.size(); ++i) {
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PlaneData& plane = m_planes[i];
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plane.surface_features.clear();
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const Vec3d& normal = plane.normal;
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bool done = false;
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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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const Transform3d trafo_inv = trafo.inverse();
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if (border.size() > 4) {
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const auto& [center, radius, err] = get_center_and_radius(border, trafo, trafo_inv);
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for (const std::vector<Vec3d>& border : plane.borders) {
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if (border.size() <= 1)
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continue;
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if (err < 0.05) {
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// The whole border is one circle. Just add it into the list of features
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// and we are done.
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bool done = false;
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bool is_polygon = border.size()>4 && border.size()<=8;
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bool lengths_match = std::all_of(border.begin()+2, border.end(), [is_polygon](const Vec3d& pt) {
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return Slic3r::is_approx((pt - *((&pt)-1)).squaredNorm(), (*((&pt)-1) - *((&pt)-2)).squaredNorm(), is_polygon ? 0.01 : 0.01);
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});
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if (border.size() > 4) {
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const auto& [center, radius, err] = get_center_and_radius(border, trafo, trafo_inv);
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if (err < 0.05) {
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// The whole border is one circle. Just add it into the list of features
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// and we are done.
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bool is_polygon = border.size()>4 && border.size()<=8;
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bool lengths_match = std::all_of(border.begin()+2, border.end(), [is_polygon](const Vec3d& pt) {
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return Slic3r::is_approx((pt - *((&pt)-1)).squaredNorm(), (*((&pt)-1) - *((&pt)-2)).squaredNorm(), is_polygon ? 0.01 : 0.01);
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});
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if (lengths_match && (is_polygon || border.size() > 8)) {
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if (is_polygon) {
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// This is a polygon, add the separate edges with the center.
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for (int j=0; j<int(border.size()); ++j)
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plane.surface_features.emplace_back(SurfaceFeature(SurfaceFeatureType::Edge,
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border[j==0 ? border.size()-1 : j-1], border[j],
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std::make_optional(center)));
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} else {
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// The fit went well and it has more than 8 points - let's consider this a circle.
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plane.surface_features.emplace_back(SurfaceFeature(SurfaceFeatureType::Circle, center, plane.normal, std::nullopt, radius));
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}
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done = true;
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if (lengths_match && (is_polygon || border.size() > 8)) {
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if (is_polygon) {
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// This is a polygon, add the separate edges with the center.
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for (int j=0; j<int(border.size()); ++j)
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plane.surface_features.emplace_back(SurfaceFeature(SurfaceFeatureType::Edge,
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border[j==0 ? border.size()-1 : j-1], border[j],
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std::make_optional(center)));
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} else {
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// The fit went well and it has more than 8 points - let's consider this a circle.
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plane.surface_features.emplace_back(SurfaceFeature(SurfaceFeatureType::Circle, center, plane.normal, std::nullopt, radius));
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}
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done = true;
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}
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}
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}
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if (! done) {
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// In this case, the border is not a circle and may contain circular
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// segments. Try to find them and then add all remaining edges as edges.
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if (! done) {
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// In this case, the border is not a circle and may contain circular
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// segments. Try to find them and then add all remaining edges as edges.
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auto are_angles_same = [](double a, double b) { return Slic3r::is_approx(a,b,0.01); };
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auto are_lengths_same = [](double a, double b) { return Slic3r::is_approx(a,b,0.01); };
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auto are_angles_same = [](double a, double b) { return Slic3r::is_approx(a,b,0.01); };
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auto are_lengths_same = [](double a, double b) { return Slic3r::is_approx(a,b,0.01); };
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// Given an idx into border, return the index that is idx+offset position,
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// while taking into account the need for wrap-around and the fact that
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// the first and last point are the same.
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auto offset_to_index = [border_size = int(border.size())](int idx, int offset) -> int {
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assert(std::abs(offset) < border_size);
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int out = idx+offset;
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if (out >= border_size)
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out = out - border_size;
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else if (out < 0)
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out = border_size + out;
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// Given an idx into border, return the index that is idx+offset position,
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// while taking into account the need for wrap-around and the fact that
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// the first and last point are the same.
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auto offset_to_index = [border_size = int(border.size())](int idx, int offset) -> int {
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assert(std::abs(offset) < border_size);
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int out = idx+offset;
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if (out >= border_size)
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out = out - border_size;
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else if (out < 0)
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out = border_size + out;
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return out;
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};
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return out;
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};
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// First calculate angles at all the vertices.
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angles.clear();
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lengths.clear();
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int first_different_angle_idx = 0;
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for (int i=0; i<int(border.size()); ++i) {
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const Vec3d& v2 = border[i] - (i == 0 ? border[border.size()-1] : border[i-1]);
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const Vec3d& v1 = (i == int(border.size()-1) ? border[0] : border[i+1]) - border[i];
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double angle = atan2(-normal.dot(v1.cross(v2)), -v1.dot(v2)) + M_PI;
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if (angle > M_PI)
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angle = 2*M_PI - angle;
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// First calculate angles at all the vertices.
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angles.clear();
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lengths.clear();
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int first_different_angle_idx = 0;
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for (int i=0; i<int(border.size()); ++i) {
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const Vec3d& v2 = border[i] - (i == 0 ? border[border.size()-1] : border[i-1]);
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const Vec3d& v1 = (i == int(border.size()-1) ? border[0] : border[i+1]) - border[i];
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double angle = atan2(-normal.dot(v1.cross(v2)), -v1.dot(v2)) + M_PI;
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if (angle > M_PI)
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angle = 2*M_PI - angle;
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angles.push_back(angle);
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lengths.push_back(v2.norm());
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if (first_different_angle_idx == 0 && angles.size() > 1) {
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if (! are_angles_same(angles.back(), angles[angles.size()-2]))
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first_different_angle_idx = angles.size()-1;
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}
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angles.push_back(angle);
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lengths.push_back(v2.norm());
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if (first_different_angle_idx == 0 && angles.size() > 1) {
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if (! are_angles_same(angles.back(), angles[angles.size()-2]))
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first_different_angle_idx = angles.size()-1;
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}
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assert(border.size() == angles.size());
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assert(border.size() == lengths.size());
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}
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assert(border.size() == angles.size());
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assert(border.size() == lengths.size());
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// First go around the border and pick what might be circular segments.
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// Save pair of indices to where such potential segments start and end.
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// Also remember the length of these segments.
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int start_idx = -1;
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bool circle = false;
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bool first_iter = true;
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std::vector<SurfaceFeature> circles;
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std::vector<SurfaceFeature> edges;
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std::vector<std::pair<int, int>> circles_idxs;
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//std::vector<double> circles_lengths;
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std::vector<Vec3d> single_circle; // could be in loop-scope, but reallocations
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double single_circle_length = 0.;
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int first_pt_idx = offset_to_index(first_different_angle_idx, 1);
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int i = first_pt_idx;
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while (i != first_pt_idx || first_iter) {
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if (are_angles_same(angles[i], angles[offset_to_index(i,-1)])
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&& i != offset_to_index(first_pt_idx, -1) // not the last point
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&& i != start_idx ) {
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// circle
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if (! circle) {
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circle = true;
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single_circle.clear();
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single_circle_length = 0.;
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start_idx = offset_to_index(i, -2);
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single_circle = { border[start_idx], border[offset_to_index(start_idx,1)] };
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single_circle_length += lengths[offset_to_index(i, -1)];
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}
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// First go around the border and pick what might be circular segments.
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// Save pair of indices to where such potential segments start and end.
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// Also remember the length of these segments.
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int start_idx = -1;
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bool circle = false;
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bool first_iter = true;
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std::vector<SurfaceFeature> circles;
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std::vector<SurfaceFeature> edges;
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std::vector<std::pair<int, int>> circles_idxs;
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//std::vector<double> circles_lengths;
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std::vector<Vec3d> single_circle; // could be in loop-scope, but reallocations
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double single_circle_length = 0.;
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int first_pt_idx = offset_to_index(first_different_angle_idx, 1);
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int i = first_pt_idx;
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while (i != first_pt_idx || first_iter) {
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if (are_angles_same(angles[i], angles[offset_to_index(i,-1)])
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&& i != offset_to_index(first_pt_idx, -1) // not the last point
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&& i != start_idx ) {
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// circle
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if (! circle) {
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circle = true;
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single_circle.clear();
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single_circle_length = 0.;
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start_idx = offset_to_index(i, -2);
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single_circle = { border[start_idx], border[offset_to_index(start_idx,1)] };
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single_circle_length += lengths[offset_to_index(i, -1)];
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}
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single_circle.emplace_back(border[i]);
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single_circle_length += lengths[i];
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} else {
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if (circle && single_circle.size() >= 5) { // Less than 5 vertices? Not a circle.
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single_circle.emplace_back(border[i]);
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single_circle_length += lengths[i];
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} else {
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if (circle && single_circle.size() >= 5) { // Less than 5 vertices? Not a circle.
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single_circle.emplace_back(border[i]);
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single_circle_length += lengths[i];
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bool accept_circle = true;
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{
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// Check that lengths of internal (!!!) edges match.
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int j = offset_to_index(start_idx, 3);
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while (j != i) {
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if (! are_lengths_same(lengths[offset_to_index(j,-1)], lengths[j])) {
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accept_circle = false;
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break;
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}
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j = offset_to_index(j, 1);
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bool accept_circle = true;
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{
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// Check that lengths of internal (!!!) edges match.
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int j = offset_to_index(start_idx, 3);
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while (j != i) {
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if (! are_lengths_same(lengths[offset_to_index(j,-1)], lengths[j])) {
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accept_circle = false;
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break;
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}
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j = offset_to_index(j, 1);
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}
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}
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if (accept_circle) {
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const auto& [center, radius, err] = get_center_and_radius(single_circle, trafo, trafo_inv);
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// Check that the fit went well. The tolerance is high, only to
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// reject complete failures.
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accept_circle &= err < 0.05;
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// If the segment subtends less than 90 degrees, throw it away.
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accept_circle &= single_circle_length / radius > 0.9*M_PI/2.;
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if (accept_circle) {
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const auto& [center, radius, err] = get_center_and_radius(single_circle, trafo, trafo_inv);
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// Check that the fit went well. The tolerance is high, only to
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// reject complete failures.
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accept_circle &= err < 0.05;
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// If the segment subtends less than 90 degrees, throw it away.
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accept_circle &= single_circle_length / radius > 0.9*M_PI/2.;
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if (accept_circle) {
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// Add the circle and remember indices into borders.
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circles_idxs.emplace_back(start_idx, i);
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circles.emplace_back(SurfaceFeature(SurfaceFeatureType::Circle, center, plane.normal, std::nullopt, radius));
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}
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// Add the circle and remember indices into borders.
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circles_idxs.emplace_back(start_idx, i);
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circles.emplace_back(SurfaceFeature(SurfaceFeatureType::Circle, center, plane.normal, std::nullopt, radius));
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}
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}
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circle = false;
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}
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// Take care of the wrap around.
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first_iter = false;
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circle = false;
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}
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// Take care of the wrap around.
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first_iter = false;
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i = offset_to_index(i, 1);
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}
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// We have the circles. Now go around again and pick edges, while jumping over circles.
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if (circles_idxs.empty()) {
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// Just add all edges.
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for (int i=1; i<int(border.size()); ++i)
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edges.emplace_back(SurfaceFeature(SurfaceFeatureType::Edge, border[i-1], border[i]));
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edges.emplace_back(SurfaceFeature(SurfaceFeatureType::Edge, border[0], border[border.size()-1]));
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} else if (circles_idxs.size() > 1 || circles_idxs.front().first != circles_idxs.front().second) {
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// There is at least one circular segment. Start at its end and add edges until the start of the next one.
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int i = circles_idxs.front().second;
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int circle_idx = 1;
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while (true) {
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i = offset_to_index(i, 1);
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}
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// We have the circles. Now go around again and pick edges, while jumping over circles.
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if (circles_idxs.empty()) {
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// Just add all edges.
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for (int i=1; i<int(border.size()); ++i)
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edges.emplace_back(SurfaceFeature(SurfaceFeatureType::Edge, border[i-1], border[i]));
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edges.emplace_back(SurfaceFeature(SurfaceFeatureType::Edge, border[0], border[border.size()-1]));
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} else if (circles_idxs.size() > 1 || circles_idxs.front().first != circles_idxs.front().second) {
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// There is at least one circular segment. Start at its end and add edges until the start of the next one.
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int i = circles_idxs.front().second;
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int circle_idx = 1;
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while (true) {
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i = offset_to_index(i, 1);
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edges.emplace_back(SurfaceFeature(SurfaceFeatureType::Edge, border[offset_to_index(i,-1)], border[i]));
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if (circle_idx < int(circles_idxs.size()) && i == circles_idxs[circle_idx].first) {
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i = circles_idxs[circle_idx].second;
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++circle_idx;
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}
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if (i == circles_idxs.front().first)
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break;
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edges.emplace_back(SurfaceFeature(SurfaceFeatureType::Edge, border[offset_to_index(i,-1)], border[i]));
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if (circle_idx < int(circles_idxs.size()) && i == circles_idxs[circle_idx].first) {
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i = circles_idxs[circle_idx].second;
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++circle_idx;
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}
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if (i == circles_idxs.front().first)
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break;
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}
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}
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// Merge adjacent edges where needed.
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assert(std::all_of(edges.begin(), edges.end(),
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[](const SurfaceFeature& f) { return f.get_type() == SurfaceFeatureType::Edge; }));
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for (int i=edges.size()-1; i>=0; --i) {
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const auto& [first_start, first_end] = edges[i==0 ? edges.size()-1 : i-1].get_edge();
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const auto& [second_start, second_end] = edges[i].get_edge();
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// Merge adjacent edges where needed.
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assert(std::all_of(edges.begin(), edges.end(),
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[](const SurfaceFeature& f) { return f.get_type() == SurfaceFeatureType::Edge; }));
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for (int i=edges.size()-1; i>=0; --i) {
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const auto& [first_start, first_end] = edges[i==0 ? edges.size()-1 : i-1].get_edge();
|
||||
const auto& [second_start, second_end] = edges[i].get_edge();
|
||||
|
||||
if (Slic3r::is_approx(first_end, second_start)
|
||||
&& Slic3r::is_approx((first_end-first_start).normalized().dot((second_end-second_start).normalized()), 1.)) {
|
||||
// The edges have the same direction and share a point. Merge them.
|
||||
edges[i==0 ? edges.size()-1 : i-1] = SurfaceFeature(SurfaceFeatureType::Edge, first_start, second_end);
|
||||
edges.erase(edges.begin() + i);
|
||||
}
|
||||
if (Slic3r::is_approx(first_end, second_start)
|
||||
&& Slic3r::is_approx((first_end-first_start).normalized().dot((second_end-second_start).normalized()), 1.)) {
|
||||
// The edges have the same direction and share a point. Merge them.
|
||||
edges[i==0 ? edges.size()-1 : i-1] = SurfaceFeature(SurfaceFeatureType::Edge, first_start, second_end);
|
||||
edges.erase(edges.begin() + i);
|
||||
}
|
||||
|
||||
// Now move the circles and edges into the feature list for the plane.
|
||||
assert(std::all_of(circles.begin(), circles.end(), [](const SurfaceFeature& f) {
|
||||
return f.get_type() == SurfaceFeatureType::Circle;
|
||||
}));
|
||||
assert(std::all_of(edges.begin(), edges.end(), [](const SurfaceFeature& f) {
|
||||
return f.get_type() == SurfaceFeatureType::Edge;
|
||||
}));
|
||||
plane.surface_features.insert(plane.surface_features.end(), std::make_move_iterator(circles.begin()),
|
||||
std::make_move_iterator(circles.end()));
|
||||
plane.surface_features.insert(plane.surface_features.end(), std::make_move_iterator(edges.begin()),
|
||||
std::make_move_iterator(edges.end()));
|
||||
}
|
||||
}
|
||||
|
||||
// The last surface feature is the plane itself.
|
||||
Vec3d cog = Vec3d::Zero();
|
||||
size_t counter = 0;
|
||||
for (const std::vector<Vec3d>& b : plane.borders) {
|
||||
for (size_t i = 1; i < b.size(); ++i) {
|
||||
cog += b[i];
|
||||
++counter;
|
||||
}
|
||||
// Now move the circles and edges into the feature list for the plane.
|
||||
assert(std::all_of(circles.begin(), circles.end(), [](const SurfaceFeature& f) {
|
||||
return f.get_type() == SurfaceFeatureType::Circle;
|
||||
}));
|
||||
assert(std::all_of(edges.begin(), edges.end(), [](const SurfaceFeature& f) {
|
||||
return f.get_type() == SurfaceFeatureType::Edge;
|
||||
}));
|
||||
plane.surface_features.insert(plane.surface_features.end(), std::make_move_iterator(circles.begin()),
|
||||
std::make_move_iterator(circles.end()));
|
||||
plane.surface_features.insert(plane.surface_features.end(), std::make_move_iterator(edges.begin()),
|
||||
std::make_move_iterator(edges.end()));
|
||||
}
|
||||
cog /= double(counter);
|
||||
plane.surface_features.emplace_back(SurfaceFeature(SurfaceFeatureType::Plane,
|
||||
plane.normal, cog, std::optional<Vec3d>(), i + 0.0001));
|
||||
|
||||
plane.borders.clear();
|
||||
plane.borders.shrink_to_fit();
|
||||
}
|
||||
|
||||
// The last surface feature is the plane itself.
|
||||
Vec3d cog = Vec3d::Zero();
|
||||
size_t counter = 0;
|
||||
for (const std::vector<Vec3d>& b : plane.borders) {
|
||||
for (size_t i = 1; i < b.size(); ++i) {
|
||||
cog += b[i];
|
||||
++counter;
|
||||
}
|
||||
}
|
||||
cog /= double(counter);
|
||||
plane.surface_features.emplace_back(SurfaceFeature(SurfaceFeatureType::Plane,
|
||||
plane.normal, cog, std::optional<Vec3d>(), plane_idx + 0.0001));
|
||||
|
||||
plane.borders.clear();
|
||||
plane.borders.shrink_to_fit();
|
||||
|
||||
plane.features_extracted = true;
|
||||
}
|
||||
|
||||
|
||||
@ -492,12 +502,15 @@ void MeasuringImpl::extract_features()
|
||||
|
||||
|
||||
|
||||
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();
|
||||
@ -560,9 +573,11 @@ const std::vector<int>& MeasuringImpl::get_plane_triangle_indices(int idx) const
|
||||
return m_planes[idx].facets;
|
||||
}
|
||||
|
||||
const std::vector<SurfaceFeature>& MeasuringImpl::get_plane_features(unsigned int plane_id) const
|
||||
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;
|
||||
}
|
||||
|
||||
|
||||
Loading…
Reference in New Issue
Block a user