implemented polynomial alignment,
however, initital seam placement is not ideal - hard to balance visual cues and angle information
This commit is contained in:
PavelMikus
parent
ffc7452d9e
commit
f018160e72
@ -7,6 +7,10 @@
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#include <random>
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#include <algorithm>
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//For polynomial fitting
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#include <Eigen/Dense>
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#include <Eigen/QR>
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#include "libslic3r/ExtrusionEntity.hpp"
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#include "libslic3r/Print.hpp"
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#include "libslic3r/BoundingBox.hpp"
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@ -26,6 +30,75 @@ namespace Slic3r {
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namespace SeamPlacerImpl {
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//https://towardsdatascience.com/least-square-polynomial-fitting-using-c-eigen-package-c0673728bd01
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// interpolates points in z (treats z coordinates as time) and returns coefficients for axis x and y
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std::vector<Vec2f> polyfit(const std::vector<Vec3f> &points, size_t order) {
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Eigen::VectorXf V0(points.size());
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Eigen::VectorXf V1(points.size());
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Eigen::VectorXf V2(points.size());
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for (size_t index = 0; index < points.size(); index++) {
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V0(index) = points[index].x();
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V1(index) = points[index].y();
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V2(index) = points[index].z();
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}
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// Create Matrix Placeholder of size n x k, n= number of datapoints, k = order of polynomial, for exame k = 3 for cubic polynomial
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Eigen::MatrixXf T(points.size(), order + 1);
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// check to make sure inputs are correct
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assert(points.size() >= order + 1);
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// Populate the matrix
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for (size_t i = 0; i < points.size(); ++i)
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{
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for (size_t j = 0; j < order + 1; ++j)
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{
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T(i, j) = pow(V2(i), j);
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}
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}
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// Solve for linear least square fit
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const auto QR = T.householderQr();
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Eigen::VectorXf result0 = QR.solve(V0);
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Eigen::VectorXf result1 = QR.solve(V1);
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std::vector<Vec2f> coeff { order + 1 };
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for (size_t k = 0; k < order + 1; k++) {
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coeff[k] = Vec2f { result0[k], result1[k] };
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}
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return coeff;
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}
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Vec3f get_fitted_point(const std::vector<Vec2f> &coefficients, float z) {
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size_t order = coefficients.size() - 1;
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float fitted_x = 0;
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float fitted_y = 0;
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for (size_t index = 0; index < order + 1; ++index) {
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float z_pow = pow(z, index);
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fitted_x += coefficients[index].x() * z_pow;
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fitted_y += coefficients[index].y() * z_pow;
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}
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return Vec3f { fitted_x, fitted_y, z };
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}
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// simple linear interpolation between two points
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void lerp(Vec3f &dest, const Vec3f &a, const Vec3f &b, const float t)
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{
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dest.x() = a.x() + (b.x() - a.x()) * t;
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dest.y() = a.y() + (b.y() - a.y()) * t;
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}
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// evaluate a point on a bezier-curve. t goes from 0 to 1.0
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Vec3f bezier(const Vec3f &a, const Vec3f &b, const Vec3f &c, const Vec3f &d, const float t)
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{
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Vec3f ab, bc, cd, abbc, bccd, dest;
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lerp(ab, a, b, t); // point between a and b (green)
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lerp(bc, b, c, t); // point between b and c (green)
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lerp(cd, c, d, t); // point between c and d (green)
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lerp(abbc, ab, bc, t); // point between ab and bc (blue)
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lerp(bccd, bc, cd, t); // point between bc and cd (blue)
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lerp(dest, abbc, bccd, t); // point on the bezier-curve (black)
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return dest;
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}
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/// Coordinate frame
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class Frame {
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public:
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@ -512,8 +585,7 @@ void gather_global_model_info(GlobalModelInfo &result, const PrintObject *po) {
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}
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struct DefaultSeamComparator {
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static constexpr float angle_clusters[] { -1.0, 0.4 * PI, 0.5 * PI, 0.6
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* PI, 0.7 * PI, 0.8 * PI, 0.9 * PI };
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static constexpr float angle_clusters[] { -1.0, 0.6 * PI, 0.9 * PI };
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const float get_angle_category(float ccw_angle) const {
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float concave_bonus = ccw_angle < 0 ? 0.1 * PI : 0;
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@ -570,18 +642,15 @@ struct DefaultSeamComparator {
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}
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{ //local angles
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float a_local_category = get_angle_category(a.local_ccw_angle) + 0.2 * PI; //give a slight bonus
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float a_local_category = get_angle_category(a.local_ccw_angle);
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float b_local_category = get_angle_category(b.local_ccw_angle);
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if (a_local_category > b_local_category) {
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return true;
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}
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if (a_local_category < b_local_category) {
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return false;
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}
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}
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return a.visibility < b.visibility * 1.5;
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return a.visibility <= b.visibility*1.5;
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}
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}
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;
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@ -590,12 +659,12 @@ struct DefaultSeamComparator {
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void SeamPlacer::gather_seam_candidates(const PrintObject *po,
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const SeamPlacerImpl::GlobalModelInfo &global_model_info) {
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using namespace SeamPlacerImpl;
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using namespace SeamPlacerImpl;
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m_perimeter_points_per_object.emplace(po, po->layer_count());
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m_perimeter_points_trees_per_object.emplace(po, po->layer_count());
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m_perimeter_points_per_object.emplace(po, po->layer_count());
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m_perimeter_points_trees_per_object.emplace(po, po->layer_count());
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tbb::parallel_for(tbb::blocked_range<size_t>(0, po->layers().size()),
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tbb::parallel_for(tbb::blocked_range<size_t>(0, po->layers().size()),
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[&](tbb::blocked_range<size_t> r) {
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for (size_t layer_idx = r.begin(); layer_idx < r.end(); ++layer_idx) {
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std::vector<SeamCandidate> &layer_candidates = m_perimeter_points_per_object[po][layer_idx];
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@ -611,14 +680,14 @@ void SeamPlacer::gather_seam_candidates(const PrintObject *po,
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functor, layer_candidates.size());
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}
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}
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);
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);
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}
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void SeamPlacer::calculate_candidates_visibility(const PrintObject *po,
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const SeamPlacerImpl::GlobalModelInfo &global_model_info) {
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using namespace SeamPlacerImpl;
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using namespace SeamPlacerImpl;
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tbb::parallel_for(tbb::blocked_range<size_t>(0, m_perimeter_points_per_object[po].size()),
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tbb::parallel_for(tbb::blocked_range<size_t>(0, m_perimeter_points_per_object[po].size()),
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[&](tbb::blocked_range<size_t> r) {
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for (size_t layer_idx = r.begin(); layer_idx < r.end(); ++layer_idx) {
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for (auto &perimeter_point : m_perimeter_points_per_object[po][layer_idx]) {
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@ -630,9 +699,9 @@ void SeamPlacer::calculate_candidates_visibility(const PrintObject *po,
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}
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void SeamPlacer::calculate_overhangs(const PrintObject *po) {
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using namespace SeamPlacerImpl;
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using namespace SeamPlacerImpl;
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tbb::parallel_for(tbb::blocked_range<size_t>(0, m_perimeter_points_per_object[po].size()),
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tbb::parallel_for(tbb::blocked_range<size_t>(0, m_perimeter_points_per_object[po].size()),
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[&](tbb::blocked_range<size_t> r) {
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for (size_t layer_idx = r.begin(); layer_idx < r.end(); ++layer_idx) {
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for (SeamCandidate &perimeter_point : m_perimeter_points_per_object[po][layer_idx]) {
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@ -711,6 +780,24 @@ template<typename Comparator>
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void SeamPlacer::align_seam_points(const PrintObject *po, const Comparator &comparator) {
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using namespace SeamPlacerImpl;
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#ifdef DEBUG_FILES
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Slic3r::CNumericLocalesSetter locales_setter;
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auto clusters_f = "seam_clusters_of_" + std::to_string(po->id().id) + ".obj";
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FILE *clusters = boost::nowide::fopen(clusters_f.c_str(), "w");
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if (clusters == nullptr) {
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BOOST_LOG_TRIVIAL(error)
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<< "stl_write_obj: Couldn't open " << clusters_f << " for writing";
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return;
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}
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auto aligned_f = "aligned_clusters_of_" + std::to_string(po->id().id) + ".obj";
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FILE *aligns = boost::nowide::fopen(aligned_f.c_str(), "w");
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if (aligns == nullptr) {
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BOOST_LOG_TRIVIAL(error)
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<< "stl_write_obj: Couldn't open " << clusters_f << " for writing";
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return;
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}
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#endif
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for (size_t layer_idx = 0; layer_idx < m_perimeter_points_per_object[po].size(); ++layer_idx) {
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std::vector<SeamCandidate> &layer_perimeter_points =
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m_perimeter_points_per_object[po][layer_idx];
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@ -738,7 +825,7 @@ void SeamPlacer::align_seam_points(const PrintObject *po, const Comparator &comp
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next_layer++;
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}
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if (seam_string.size() >= seam_align_minimum_string_seams) { //string long enough to be worth aligning
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if (seam_string.size() + potential_string_seams.size() >= seam_align_minimum_string_seams) { //string long enough to be worth aligning
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//do additional check in back direction
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next_layer = layer_idx - 1;
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skips = SeamPlacer::seam_align_tolerable_skips;
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@ -761,31 +848,77 @@ void SeamPlacer::align_seam_points(const PrintObject *po, const Comparator &comp
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return left.first < right.first;
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});
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//https://en.wikipedia.org/wiki/Exponential_smoothing
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//inititalization
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float smoothing_factor = SeamPlacer::seam_align_strength;
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std::pair<size_t, size_t> init = seam_string[0];
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Vec2f prev_pos_xy = m_perimeter_points_per_object[po][init.first][init.second].position.head<2>();
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std::vector<Vec3f> points(seam_string.size());
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for (size_t index = 0; index < seam_string.size(); ++index) {
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points[index] =
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m_perimeter_points_per_object[po][seam_string[index].first][seam_string[index].second].position;
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}
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std::vector<Vec2f> coefficients = polyfit(points, 3);
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for (const auto &pair : seam_string) {
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Vec3f current_pos = m_perimeter_points_per_object[po][pair.first][pair.second].position;
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float current_height = current_pos.z();
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Vec2f current_pos_xy = current_pos.head<2>();
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current_pos_xy = smoothing_factor * prev_pos_xy + (1.0 - smoothing_factor) * current_pos_xy;
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float current_height = m_perimeter_points_per_object[po][pair.first][pair.second].position.z();
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Vec3f seam_pos = get_fitted_point(coefficients, current_height);
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Perimeter *perimeter =
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m_perimeter_points_per_object[po][pair.first][pair.second].perimeter.get();
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perimeter->final_seam_position =
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Vec3f { current_pos_xy.x(), current_pos_xy.y(), current_height };
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perimeter->final_seam_position = seam_pos;
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perimeter->aligned = true;
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prev_pos_xy = current_pos_xy;
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}
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// //https://en.wikipedia.org/wiki/Exponential_smoothing
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// //inititalization
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// float smoothing_factor = SeamPlacer::seam_align_strength;
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// std::pair<size_t, size_t> init = seam_string[0];
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// Vec2f prev_pos_xy = m_perimeter_points_per_object[po][init.first][init.second].position.head<2>();
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// for (const auto &pair : seam_string) {
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// Vec3f current_pos = m_perimeter_points_per_object[po][pair.first][pair.second].position;
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// float current_height = current_pos.z();
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// Vec2f current_pos_xy = current_pos.head<2>();
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// current_pos_xy = smoothing_factor * prev_pos_xy + (1.0 - smoothing_factor) * current_pos_xy;
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//
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// Perimeter *perimeter =
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// m_perimeter_points_per_object[po][pair.first][pair.second].perimeter.get();
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// perimeter->final_seam_position =
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// Vec3f { current_pos_xy.x(), current_pos_xy.y(), current_height };
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// perimeter->aligned = true;
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// prev_pos_xy = current_pos_xy;
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// }
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#ifdef DEBUG_FILES
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auto randf = []() {
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return float(rand()) / float(RAND_MAX);
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};
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Vec3f color { randf(), randf(), randf() };
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for (size_t i = 0; i < seam_string.size(); ++i) {
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auto orig_seam = m_perimeter_points_per_object[po][seam_string[i].first][seam_string[i].second];
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fprintf(clusters, "v %f %f %f %f %f %f \n", orig_seam.position[0],
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orig_seam.position[1],
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orig_seam.position[2], color[0], color[1],
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color[2]);
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}
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color = Vec3f { randf(), randf(), randf() };
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for (size_t i = 0; i < seam_string.size(); ++i) {
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Perimeter *perimeter =
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m_perimeter_points_per_object[po][seam_string[i].first][seam_string[i].second].perimeter.get();
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fprintf(aligns, "v %f %f %f %f %f %f \n", perimeter->final_seam_position[0],
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perimeter->final_seam_position[1],
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perimeter->final_seam_position[2], color[0], color[1],
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color[2]);
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}
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#endif
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} // else string is not long enough, so dont do anything
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}
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current_point_index = layer_perimeter_points[current_point_index].perimeter->end_index + 1;
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}
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}
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#ifdef DEBUG_FILES
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fclose(clusters);
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fclose(aligns);
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#endif
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}
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void SeamPlacer::init(const Print &print) {
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@ -846,7 +979,7 @@ void SeamPlacer::init(const Print &print) {
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void SeamPlacer::place_seam(const Layer *layer, ExtrusionLoop &loop, bool external_first) {
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using namespace SeamPlacerImpl;
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const PrintObject *po = layer->object();
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//NOTE this is necessary, since layer->id() is quite unreliable
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//NOTE this is necessary, since layer->id() is quite unreliable
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size_t layer_index = std::max(0, int(layer->id()) - int(po->slicing_parameters().raft_layers()));
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double unscaled_z = layer->slice_z;
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@ -90,19 +90,18 @@ class SeamPlacer {
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public:
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using SeamCandidatesTree =
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KDTreeIndirect<3, float, SeamPlacerImpl::SeamCandidateCoordinateFunctor>;
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static constexpr float expected_hits_per_area = 800.0f;
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static constexpr float considered_area_radius = 5.0f;
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static constexpr float expected_hits_per_area = 400.0f;
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static constexpr float considered_area_radius = 1.6f;
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static constexpr float cosine_hemisphere_sampling_power = 4.0f;
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static constexpr float cosine_hemisphere_sampling_power = 8.0f;
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static constexpr float polygon_local_angles_arm_distance = 0.6f;
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static constexpr float enforcer_blocker_sqr_distance_tolerance = 0.2f;
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static constexpr float seam_align_strength = 1.0f;
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static constexpr float seam_align_tolerable_dist = 1.0f;
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static constexpr size_t seam_align_tolerable_skips = 4;
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static constexpr size_t seam_align_minimum_string_seams = 2;
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static constexpr float seam_align_tolerable_dist = 2.0f;
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static constexpr size_t seam_align_tolerable_skips = 10;
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static constexpr size_t seam_align_minimum_string_seams = 4;
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//perimeter points per object per layer idx, and their corresponding KD trees
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std::unordered_map<const PrintObject*, std::vector<std::vector<SeamPlacerImpl::SeamCandidate>>> m_perimeter_points_per_object;
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