diff --git a/src/libslic3r/GCode/SeamPlacer.cpp b/src/libslic3r/GCode/SeamPlacer.cpp index 2a716a300..a54e55e00 100644 --- a/src/libslic3r/GCode/SeamPlacer.cpp +++ b/src/libslic3r/GCode/SeamPlacer.cpp @@ -36,7 +36,7 @@ namespace SeamPlacerImpl { // ************ FOR BACKPORT COMPATIBILITY ONLY *************** // Color mapping of a value into RGB false colors. inline Vec3f value_to_rgbf(float minimum, float maximum, float value) -{ + { float ratio = 2.0f * (value - minimum) / (maximum - minimum); float b = std::max(0.0f, (1.0f - ratio)); float r = std::max(0.0f, (ratio - 1.0f)); @@ -46,7 +46,7 @@ inline Vec3f value_to_rgbf(float minimum, float maximum, float value) // Color mapping of a value into RGB false colors. inline Vec3i value_to_rgbi(float minimum, float maximum, float value) -{ + { return (value_to_rgbf(minimum, maximum, value) * 255).cast(); } // *************************** @@ -337,7 +337,7 @@ struct GlobalModelInfo { return 1.0f; } - auto compute_dist_to_plane = [](const Vec3f& position, const Vec3f& plane_origin, const Vec3f& plane_normal) { + auto compute_dist_to_plane = [](const Vec3f &position, const Vec3f &plane_origin, const Vec3f &plane_normal) { Vec3f orig_to_point = position - plane_origin; return std::abs(orig_to_point.dot(plane_normal)); }; @@ -421,9 +421,9 @@ Polygons extract_perimeter_polygons(const Layer *layer, const SeamPosition confi if (ex_entity->is_collection()) { //collection of inner, outer, and overhang perimeters for (const ExtrusionEntity *perimeter : static_cast(ex_entity)->entities) { ExtrusionRole role = perimeter->role(); - if (perimeter->is_loop()){ - for (const ExtrusionPath& path : static_cast(perimeter)->paths){ - if (path.role() == ExtrusionRole::erExternalPerimeter){ + if (perimeter->is_loop()) { + for (const ExtrusionPath &path : static_cast(perimeter)->paths) { + if (path.role() == ExtrusionRole::erExternalPerimeter) { role = ExtrusionRole::erExternalPerimeter; } } @@ -467,7 +467,7 @@ Polygons extract_perimeter_polygons(const Layer *layer, const SeamPosition confi //each SeamCandidate also contains pointer to shared Perimeter structure representing the polygon // if Custom Seam modifiers are present, oversamples the polygon if necessary to better fit user intentions void process_perimeter_polygon(const Polygon &orig_polygon, float z_coord, const LayerRegion *region, - bool arachne_generated, const GlobalModelInfo &global_model_info, PrintObjectSeamData::LayerSeams &result) { + const GlobalModelInfo &global_model_info, PrintObjectSeamData::LayerSeams &result) { if (orig_polygon.size() == 0) { return; } @@ -482,26 +482,6 @@ void process_perimeter_polygon(const Polygon &orig_polygon, float z_coord, const std::vector polygon_angles = calculate_polygon_angles_at_vertices(polygon, lengths, SeamPlacer::polygon_local_angles_arm_distance); - // resample smooth surfaces from arachne, so that alignment finds short path down, and does not create unnecesary curves - if (arachne_generated && std::all_of(polygon_angles.begin(), polygon_angles.end(), [](float angle) { - return compute_angle_penalty(angle) > SeamPlacer::sharp_angle_penalty_snapping_threshold; - })) { - float total_dist = std::accumulate(lengths.begin(), lengths.end(), 0.0f); - float avg_dist = total_dist / float(lengths.size()); - if (avg_dist < SeamPlacer::seam_align_tolerable_dist * 2.0f){ - coord_t sampling_dist = scaled(avg_dist*0.2f); - - polygon.points = polygon.equally_spaced_points(sampling_dist); - lengths.clear(); - for (size_t point_idx = 0; point_idx < polygon.size() - 1; ++point_idx) { - lengths.push_back((unscale(polygon[point_idx]) - unscale(polygon[point_idx + 1])).norm()); - } - lengths.push_back(std::max((unscale(polygon[0]) - unscale(polygon[polygon.size() - 1])).norm(), 0.1)); - polygon_angles = calculate_polygon_angles_at_vertices(polygon, lengths, avg_dist); - } - } - - result.perimeters.push_back( { }); Perimeter &perimeter = result.perimeters.back(); @@ -558,50 +538,72 @@ void process_perimeter_polygon(const Polygon &orig_polygon, float z_coord, const result.points.emplace_back(position, perimeter, local_ccw_angle, type); } - perimeter.end_index = result.points.size() - 1; + perimeter.end_index = result.points.size(); - // We will find first patch of enforced points (patch: continuous section of enforced points) and select the middle - // point, which will have priority during alignment - // If there are multiple enforced patches in the perimeter, others are ignored if (some_point_enforced) { - size_t perimeter_size = perimeter.end_index - perimeter.start_index + 1; + // We will patches of enforced points (patch: continuous section of enforced points), choose + // the longest patch, and select the middle point or sharp point (depending on the angle) + // this point will have high priority on this perimeter + size_t perimeter_size = perimeter.end_index - perimeter.start_index; const auto next_index = [&](size_t idx) { return perimeter.start_index + Slic3r::next_idx_modulo(idx - perimeter.start_index, perimeter_size); }; - size_t first_enforced_idx = perimeter.start_index; - for (size_t _ = 0; _ < perimeter_size; ++_) { - if (result.points[first_enforced_idx].type != EnforcedBlockedSeamPoint::Enforced && - result.points[next_index(first_enforced_idx)].type == EnforcedBlockedSeamPoint::Enforced) { - break; + std::vector patches_starts_ends; + for (size_t i = perimeter.start_index; i < perimeter.end_index; ++i) { + if (result.points[i].type != EnforcedBlockedSeamPoint::Enforced && + result.points[next_index(i)].type == EnforcedBlockedSeamPoint::Enforced) { + patches_starts_ends.push_back(next_index(i)); + } + if (result.points[i].type == EnforcedBlockedSeamPoint::Enforced && + result.points[next_index(i)].type != EnforcedBlockedSeamPoint::Enforced) { + patches_starts_ends.push_back(next_index(i)); } - first_enforced_idx = next_index(first_enforced_idx); } - first_enforced_idx = next_index(first_enforced_idx); - - // Gather also points with large angles (these are points from the original mesh, since oversampled points have zero angle) - // If there are any, the middle point will be picked from those (makes drawing over sharp corners easier) - std::vector orig_large_angle_points_indices { }; - std::vector viable_points_indices { }; - size_t last_enforced_idx = first_enforced_idx; - for (size_t _ = 0; _ < perimeter_size; ++_) { - if (result.points[last_enforced_idx].type != EnforcedBlockedSeamPoint::Enforced) { - break; + //if patches_starts_ends are empty, it means that the whole perimeter is enforced.. don't do anything in that case + if (!patches_starts_ends.empty()) { + //if the first point in the patches is not enforced, it marks a patch end. in that case, put it to the end and start on next + // to simplify the processing + assert(patches_starts_ends.size() % 2 == 0); + bool start_on_second = false; + if (result.points[patches_starts_ends[0]].type != EnforcedBlockedSeamPoint::Enforced) { + start_on_second = true; + patches_starts_ends.push_back(patches_starts_ends[0]); } - viable_points_indices.push_back(last_enforced_idx); - if (compute_angle_penalty(result.points[last_enforced_idx].local_ccw_angle) - < SeamPlacer::sharp_angle_penalty_snapping_threshold) { - orig_large_angle_points_indices.push_back(last_enforced_idx); + //now pick the longest patch + std::pair longest_patch { 0, 0 }; + auto patch_len = [perimeter_size](const std::pair &start_end) { + if (start_end.second < start_end.first) { + return start_end.first + (perimeter_size - start_end.second); + } else { + return start_end.second - start_end.first; + } + }; + for (size_t patch_idx = start_on_second ? 1 : 0; patch_idx < patches_starts_ends.size(); patch_idx += 2) { + std::pair current_patch { patches_starts_ends[patch_idx], patches_starts_ends[patch_idx + + 1] }; + if (patch_len(longest_patch) < patch_len(current_patch)) { + longest_patch = current_patch; + } + } + std::vector viable_points_indices; + std::vector large_angle_points_indices; + for (size_t point_idx = longest_patch.first; point_idx != longest_patch.second; + point_idx = next_index(point_idx)) { + viable_points_indices.push_back(point_idx); + if (std::abs(result.points[point_idx].local_ccw_angle) + > SeamPlacer::sharp_angle_snapping_threshold) { + large_angle_points_indices.push_back(point_idx); + } + } + assert(viable_points_indices.size() > 0); + if (large_angle_points_indices.empty()) { + size_t central_idx = viable_points_indices[viable_points_indices.size() / 2]; + result.points[central_idx].central_enforcer = true; + } else { + size_t central_idx = large_angle_points_indices.size() / 2; + result.points[large_angle_points_indices[central_idx]].central_enforcer = true; } - last_enforced_idx = next_index(last_enforced_idx); - } - assert(viable_points_indices.size() > 0); - if (orig_large_angle_points_indices.empty()) { - size_t central_idx = viable_points_indices[viable_points_indices.size() / 2]; - result.points[central_idx].central_enforcer = true; - } else { - size_t central_idx = orig_large_angle_points_indices.size() / 2; - result.points[orig_large_angle_points_indices[central_idx]].central_enforcer = true; } } @@ -621,7 +623,7 @@ std::pair find_previous_and_next_perimeter_point(const std::vect prev = current.perimeter.end_index; } - if (point_index == current.perimeter.end_index) { + if (point_index == current.perimeter.end_index - 1) { // if point_index is equal to end, than next neighbour is at the start next = current.perimeter.start_index; } @@ -749,7 +751,8 @@ struct SeamComparator { float angle_importance; explicit SeamComparator(SeamPosition setup) : setup(setup) { - angle_importance = setup == spNearest ? SeamPlacer::angle_importance_nearest : SeamPlacer::angle_importance_aligned; + angle_importance = + setup == spNearest ? SeamPlacer::angle_importance_nearest : SeamPlacer::angle_importance_aligned; } // Standard comparator, must respect the requirements of comparators (e.g. give same result on same inputs) for sorting usage @@ -766,8 +769,7 @@ struct SeamComparator { } //avoid overhangs - if (a.overhang > SeamPlacer::overhang_distance_tolerance_factor * a.perimeter.flow_width || - b.overhang > SeamPlacer::overhang_distance_tolerance_factor * b.perimeter.flow_width) { + if (a.overhang > 0.0f || b.overhang > 0.0f) { return a.overhang < b.overhang; } @@ -791,10 +793,10 @@ struct SeamComparator { } // the penalites are kept close to range [0-1.x] however, it should not be relied upon - float penalty_a = a.visibility + + float penalty_a = a.overhang + a.visibility + angle_importance * compute_angle_penalty(a.local_ccw_angle) + distance_penalty_a; - float penalty_b = b.visibility + + float penalty_b = b.overhang + b.visibility + angle_importance * compute_angle_penalty(b.local_ccw_angle) + distance_penalty_b; @@ -824,8 +826,8 @@ struct SeamComparator { } //avoid overhangs - if (a.overhang > SeamPlacer::overhang_distance_tolerance_factor * a.perimeter.flow_width || - b.overhang > SeamPlacer::overhang_distance_tolerance_factor * b.perimeter.flow_width) { + if ((a.overhang > 0.0f || b.overhang > 0.0f) + && abs(a.overhang - b.overhang) > (0.1f * a.perimeter.flow_width)) { return a.overhang < b.overhang; } @@ -845,9 +847,9 @@ struct SeamComparator { return a.position.y() + SeamPlacer::seam_align_score_tolerance * 5.0f > b.position.y(); } - float penalty_a = a.visibility + float penalty_a = a.overhang + a.visibility + angle_importance * compute_angle_penalty(a.local_ccw_angle); - float penalty_b = b.visibility + + float penalty_b = b.overhang + b.visibility + angle_importance * compute_angle_penalty(b.local_ccw_angle); return penalty_a <= penalty_b || penalty_a - penalty_b < SeamPlacer::seam_align_score_tolerance; @@ -856,13 +858,6 @@ struct SeamComparator { bool are_similar(const SeamCandidate &a, const SeamCandidate &b) const { return is_first_not_much_worse(a, b) && is_first_not_much_worse(b, a); } - - float weight(const SeamCandidate &a) const { - if (setup == SeamPosition::spAligned && a.central_enforcer) { - return 2.0f; - } - return a.visibility + angle_importance * compute_angle_penalty(a.local_ccw_angle) / (1.0f + angle_importance); - } }; #ifdef DEBUG_FILES @@ -886,8 +881,8 @@ void debug_export_points(const std::vector &lay min_vis = std::min(min_vis, point.visibility); max_vis = std::max(max_vis, point.visibility); - min_weight = std::min(min_weight, -comparator.compute_angle_penalty(point.local_ccw_angle)); - max_weight = std::max(max_weight, -comparator.compute_angle_penalty(point.local_ccw_angle)); + min_weight = std::min(min_weight, -compute_angle_penalty(point.local_ccw_angle)); + max_weight = std::max(max_weight, -compute_angle_penalty(point.local_ccw_angle)); } @@ -908,7 +903,7 @@ void debug_export_points(const std::vector &lay visibility_svg.draw(scaled(Vec2f(point.position.head<2>())), visibility_fill); Vec3i weight_color = value_to_rgbi(min_weight, max_weight, - -comparator.compute_angle_penalty(point.local_ccw_angle)); + -compute_angle_penalty(point.local_ccw_angle)); std::string weight_fill = "rgb(" + std::to_string(weight_color.x()) + "," + std::to_string(weight_color.y()) + "," + std::to_string(weight_color.z()) + ")"; @@ -931,7 +926,7 @@ void pick_seam_point(std::vector &perimeter_points, size_t start_ size_t end_index = perimeter_points[start_index].perimeter.end_index; size_t seam_index = start_index; - for (size_t index = start_index; index <= end_index; ++index) { + for (size_t index = start_index; index < end_index; ++index) { if (comparator.is_first_better(perimeter_points[index], perimeter_points[seam_index])) { seam_index = index; } @@ -945,7 +940,7 @@ size_t pick_nearest_seam_point_index(const std::vector &perimeter SeamComparator comparator { spNearest }; size_t seam_index = start_index; - for (size_t index = start_index; index <= end_index; ++index) { + for (size_t index = start_index; index < end_index; ++index) { if (comparator.is_first_better(perimeter_points[index], perimeter_points[seam_index], preffered_location)) { seam_index = index; } @@ -972,10 +967,10 @@ void pick_random_seam_point(const std::vector &perimeter_points, }; std::vector viables; - for (size_t index = start_index; index <= end_index; ++index) { + for (size_t index = start_index; index < end_index; ++index) { if (comparator.are_similar(perimeter_points[index], perimeter_points[viable_example_index])) { // index ok, push info into viables - Vec3f edge_to_next { perimeter_points[index == end_index ? start_index : index + 1].position + Vec3f edge_to_next { perimeter_points[index == end_index - 1 ? start_index : index + 1].position - perimeter_points[index].position }; float dist_to_next = edge_to_next.norm(); viables.push_back( { index, dist_to_next, edge_to_next }); @@ -988,7 +983,7 @@ void pick_random_seam_point(const std::vector &perimeter_points, viable_example_index = index; viables.clear(); - Vec3f edge_to_next = (perimeter_points[index == end_index ? start_index : index + 1].position + Vec3f edge_to_next = (perimeter_points[index == end_index - 1 ? start_index : index + 1].position - perimeter_points[index].position); float dist_to_next = edge_to_next.norm(); viables.push_back( { index, dist_to_next, edge_to_next }); @@ -1042,8 +1037,8 @@ public: float distance_from_perimeter(const Point &point) const { Vec2d p = unscale(point); - size_t hit_idx_out; - Vec2d hit_point_out; + size_t hit_idx_out { }; + Vec2d hit_point_out = Vec2d::Zero(); auto distance = AABBTreeLines::squared_distance_to_indexed_lines(lines, tree, p, hit_idx_out, hit_point_out); if (distance < 0) { return std::numeric_limits::max(); @@ -1069,14 +1064,12 @@ public: void SeamPlacer::gather_seam_candidates(const PrintObject *po, const SeamPlacerImpl::GlobalModelInfo &global_model_info, const SeamPosition configured_seam_preference) { using namespace SeamPlacerImpl; - bool arachne_generated = po->config().perimeter_generator == PerimeterGeneratorType::Arachne; - PrintObjectSeamData &seam_data = m_seam_per_object.emplace(po, PrintObjectSeamData { }).first->second; seam_data.layers.resize(po->layer_count()); tbb::parallel_for(tbb::blocked_range(0, po->layers().size()), - [po, configured_seam_preference, arachne_generated, &global_model_info, &seam_data] - (tbb::blocked_range r) { + [po, configured_seam_preference, &global_model_info, &seam_data] + (tbb::blocked_range r) { for (size_t layer_idx = r.begin(); layer_idx < r.end(); ++layer_idx) { PrintObjectSeamData::LayerSeams &layer_seams = seam_data.layers[layer_idx]; const Layer *layer = po->get_layer(layer_idx); @@ -1086,7 +1079,7 @@ void SeamPlacer::gather_seam_candidates(const PrintObject *po, Polygons polygons = extract_perimeter_polygons(layer, configured_seam_preference, regions); for (size_t poly_index = 0; poly_index < polygons.size(); ++poly_index) { process_perimeter_polygon(polygons[poly_index], unscaled_z, - regions[poly_index], arachne_generated, global_model_info, layer_seams); + regions[poly_index], global_model_info, layer_seams); } auto functor = SeamCandidateCoordinateFunctor { layer_seams.points }; seam_data.layers[layer_idx].points_tree = @@ -1137,11 +1130,18 @@ void SeamPlacer::calculate_overhangs_and_layer_embedding(const PrintObject *po) for (SeamCandidate &perimeter_point : layers[layer_idx].points) { Point point = Point::new_scale(Vec2f { perimeter_point.position.head<2>() }); if (prev_layer_distancer.get() != nullptr) { - perimeter_point.overhang = prev_layer_distancer->distance_from_perimeter(point); + perimeter_point.overhang = (prev_layer_distancer->distance_from_perimeter(point) + + 0.5f * perimeter_point.perimeter.flow_width + - tan(SeamPlacer::overhang_angle_threshold) + * po->layers()[layer_idx]->height) + / (3.0f * perimeter_point.perimeter.flow_width); + //NOTE disables the feature to place seams on slowly decreasing areas. Remove the following line to enable. + perimeter_point.overhang = perimeter_point.overhang < 0.0f ? 0.0f : perimeter_point.overhang; } if (should_compute_layer_embedding) { // search for embedded perimeter points (points hidden inside the print ,e.g. multimaterial join, best position for seam) - perimeter_point.embedded_distance = current_layer_distancer->distance_from_perimeter(point); + perimeter_point.embedded_distance = current_layer_distancer->distance_from_perimeter(point) + + 0.5f * perimeter_point.perimeter.flow_width; } } @@ -1160,7 +1160,7 @@ void SeamPlacer::calculate_overhangs_and_layer_embedding(const PrintObject *po) // Used by align_seam_points(). std::optional> SeamPlacer::find_next_seam_in_layer( const std::vector &layers, - const Vec3f& projected_position, + const Vec3f &projected_position, const size_t layer_idx, const float max_distance, const SeamPlacerImpl::SeamComparator &comparator) const { using namespace SeamPlacerImpl; @@ -1223,9 +1223,7 @@ std::optional> SeamPlacer::find_next_seam_in_layer( } std::vector> SeamPlacer::find_seam_string(const PrintObject *po, - std::pair start_seam, const SeamPlacerImpl::SeamComparator &comparator, - float& string_weight) const { - string_weight = 0.0f; + std::pair start_seam, const SeamPlacerImpl::SeamComparator &comparator) const { const std::vector &layers = m_seam_per_object.find(po)->second.layers; int layer_idx = start_seam.first; @@ -1248,7 +1246,8 @@ std::vector> SeamPlacer::find_seam_string(const PrintO break; } } - float max_distance = SeamPlacer::seam_align_tolerable_dist; + float max_distance = SeamPlacer::seam_align_tolerable_dist_factor * + layers[start_seam.first].points[start_seam.second].perimeter.flow_width; Vec3f prev_position = layers[prev_point_index.first].points[prev_point_index.second].position; Vec3f projected_position = prev_position; projected_position.z() = float(po->get_layer(next_layer)->slice_z); @@ -1259,11 +1258,6 @@ std::vector> SeamPlacer::find_seam_string(const PrintO if (maybe_next_seam.has_value()) { // For old macOS (pre 10.14), std::optional does not have .value() method, so the code is using operator*() instead. - std::pair next_seam_coords = maybe_next_seam.operator*(); - const auto &next_seam = layers[next_seam_coords.first].points[next_seam_coords.second]; - bool is_moved = next_seam.perimeter.seam_index != next_seam_coords.second; - string_weight += comparator.weight(next_seam) - - is_moved ? comparator.weight(layers[next_seam_coords.first].points[next_seam.perimeter.seam_index]) : 0.0f; seam_string.push_back(maybe_next_seam.operator*()); prev_point_index = seam_string.back(); //String added, prev_point_index updated @@ -1271,15 +1265,14 @@ std::vector> SeamPlacer::find_seam_string(const PrintO if (step == 1) { reverse_lookup_direction(); if (next_layer < 0) { - break; - } + break; + } } else { break; } } next_layer += step; } - return seam_string; } @@ -1318,7 +1311,7 @@ void SeamPlacer::align_seam_points(const PrintObject *po, const SeamPlacerImpl:: size_t current_point_index = 0; while (current_point_index < layer_perimeter_points.size()) { seams.emplace_back(layer_idx, layer_perimeter_points[current_point_index].perimeter.seam_index); - current_point_index = layer_perimeter_points[current_point_index].perimeter.end_index + 1; + current_point_index = layer_perimeter_points[current_point_index].perimeter.end_index; } } @@ -1349,18 +1342,15 @@ void SeamPlacer::align_seam_points(const PrintObject *po, const SeamPlacerImpl:: // This perimeter is already aligned, skip seam continue; } else { - float seam_string_weight; - seam_string = this->find_seam_string(po, { layer_idx, seam_index }, comparator, seam_string_weight); + seam_string = this->find_seam_string(po, { layer_idx, seam_index }, comparator); size_t step_size = 1 + seam_string.size() / 20; - for (size_t alternative_start = 0; alternative_start < seam_string.size(); alternative_start+=step_size) { - float alternative_seam_string_weight = 0; + for (size_t alternative_start = 0; alternative_start < seam_string.size(); alternative_start += step_size) { size_t start_layer_idx = seam_string[alternative_start].first; - size_t seam_idx = layers[start_layer_idx].points[seam_string[alternative_start].second].perimeter.seam_index; - alternative_seam_string = this->find_seam_string(po, std::pair(start_layer_idx, seam_idx), comparator, - alternative_seam_string_weight); - if (alternative_seam_string.size() >= SeamPlacer::seam_align_minimum_string_seams && - alternative_seam_string_weight > seam_string_weight) { - seam_string_weight = alternative_seam_string_weight; + size_t seam_idx = + layers[start_layer_idx].points[seam_string[alternative_start].second].perimeter.seam_index; + alternative_seam_string = this->find_seam_string(po, + std::pair(start_layer_idx, seam_idx), comparator); + if (alternative_seam_string.size() > seam_string.size()) { seam_string = std::move(alternative_seam_string); } } @@ -1379,36 +1369,60 @@ void SeamPlacer::align_seam_points(const PrintObject *po, const SeamPlacerImpl:: //repeat the alignment for the current seam, since it could be skipped due to alternative path being aligned. global_index--; - // gather all positions of seams and their weights (weights are derived as negative penalty, they are made positive in next step) + // gather all positions of seams and their weights observations.resize(seam_string.size()); observation_points.resize(seam_string.size()); weights.resize(seam_string.size()); + auto angle_3d = [](const Vec3f& a, const Vec3f& b){ + return std::abs(acosf(a.normalized().dot(b.normalized()))); + }; + + auto angle_weight = [](float angle){ + return 1.0f / (0.1f + compute_angle_penalty(angle)); + }; + //gather points positions and weights float total_length = 0.0f; Vec3f last_point_pos = layers[seam_string[0].first].points[seam_string[0].second].position; for (size_t index = 0; index < seam_string.size(); ++index) { - Vec3f pos = layers[seam_string[index].first].points[seam_string[index].second].position; - total_length += (last_point_pos - pos).norm(); - last_point_pos = pos; - observations[index] = pos.head<2>(); - observation_points[index] = pos.z(); - weights[index] = comparator.weight(layers[seam_string[index].first].points[seam_string[index].second]); + const SeamCandidate ¤t = layers[seam_string[index].first].points[seam_string[index].second]; + float layer_angle = 0.0f; + if (index > 0 && index < seam_string.size() - 1) { + layer_angle = angle_3d( + current.position + - layers[seam_string[index - 1].first].points[seam_string[index - 1].second].position, + layers[seam_string[index + 1].first].points[seam_string[index + 1].second].position + - current.position + ); + } + observations[index] = current.position.head<2>(); + observation_points[index] = current.position.z(); + weights[index] = angle_weight(current.local_ccw_angle); + float sign = layer_angle > 2.0 * std::abs(current.local_ccw_angle) ? -1.0f : 1.0f; + if (current.type == EnforcedBlockedSeamPoint::Enforced) { + sign = 1.0f; + weights[index] += 3.0f; + } + total_length += sign * (last_point_pos - current.position).norm(); + last_point_pos = current.position; } // Curve Fitting size_t number_of_segments = std::max(size_t(1), - size_t(total_length / SeamPlacer::seam_align_mm_per_segment)); + size_t(std::max(0.0f,total_length) / SeamPlacer::seam_align_mm_per_segment)); auto curve = Geometry::fit_cubic_bspline(observations, observation_points, weights, number_of_segments); // Do alignment - compute fitted point for each point in the string from its Z coord, and store the position into // Perimeter structure of the point; also set flag aligned to true for (size_t index = 0; index < seam_string.size(); ++index) { const auto &pair = seam_string[index]; - const float t = - compute_angle_penalty(layers[pair.first].points[pair.second].local_ccw_angle) - < SeamPlacer::sharp_angle_penalty_snapping_threshold - ? 0.8f : 0.0f; + float t = std::min(1.0f, std::abs(layers[pair.first].points[pair.second].local_ccw_angle) + / SeamPlacer::sharp_angle_snapping_threshold); + if (layers[pair.first].points[pair.second].type == EnforcedBlockedSeamPoint::Enforced){ + t = std::max(0.7f, t); + } + Vec3f current_pos = layers[pair.first].points[pair.second].position; Vec2f fitted_pos = curve.get_fitted_value(current_pos.z()); @@ -1501,7 +1515,7 @@ void SeamPlacer::init(const Print &print, std::function throw_if_can for (size_t layer_idx = r.begin(); layer_idx < r.end(); ++layer_idx) { std::vector &layer_perimeter_points = layers[layer_idx].points; for (size_t current = 0; current < layer_perimeter_points.size(); - current = layer_perimeter_points[current].perimeter.end_index + 1) + current = layer_perimeter_points[current].perimeter.end_index) if (configured_seam_preference == spRandom) pick_random_seam_point(layer_perimeter_points, current); else @@ -1575,12 +1589,12 @@ void SeamPlacer::place_seam(const Layer *layer, ExtrusionLoop &loop, bool extern // the internal seam into the concave corner, and not on the perpendicular projection on the closest edge (which is what the split_at function does) size_t index_of_prev = seam_index == perimeter_point.perimeter.start_index ? - perimeter_point.perimeter.end_index : + perimeter_point.perimeter.end_index - 1 : seam_index - 1; size_t index_of_next = - seam_index == perimeter_point.perimeter.end_index ? - perimeter_point.perimeter.start_index : - seam_index + 1; + seam_index == perimeter_point.perimeter.end_index - 1 ? + perimeter_point.perimeter.start_index : + seam_index + 1; Vec2f dir_to_middle = ((perimeter_point.position - layer_perimeters.points[index_of_prev].position).head<2>().normalized() diff --git a/src/libslic3r/GCode/SeamPlacer.hpp b/src/libslic3r/GCode/SeamPlacer.hpp index 1f1643d0d..4275e4942 100644 --- a/src/libslic3r/GCode/SeamPlacer.hpp +++ b/src/libslic3r/GCode/SeamPlacer.hpp @@ -52,16 +52,16 @@ enum class EnforcedBlockedSeamPoint { // struct representing single perimeter loop struct Perimeter { - size_t start_index; - size_t end_index; //inclusive! - size_t seam_index; - float flow_width; + size_t start_index{}; + size_t end_index{}; //inclusive! + size_t seam_index{}; + float flow_width{}; // During alignment, a final position may be stored here. In that case, finalized is set to true. // Note that final seam position is not limited to points of the perimeter loop. In theory it can be any position // Random position also uses this flexibility to set final seam point position bool finalized = false; - Vec3f final_seam_position; + Vec3f final_seam_position = Vec3f::Zero(); }; //Struct over which all processing of perimeters is done. For each perimeter point, its respective candidate is created, @@ -128,11 +128,10 @@ public: // arm length used during angles computation static constexpr float polygon_local_angles_arm_distance = 0.3f; - // value for angles with penalty lower than this threshold - such angles will be snapped to their original position instead of spline interpolated position - static constexpr float sharp_angle_penalty_snapping_threshold = 0.6f; - - // max tolerable distance from the previous layer is overhang_distance_tolerance_factor * flow_width - static constexpr float overhang_distance_tolerance_factor = 0.5f; + // snapping angle - angles larger than this value will be snapped to during seam painting + static constexpr float sharp_angle_snapping_threshold = 55.0f * float(PI) / 180.0f; + // overhang angle for seam placement that still yields good results, in degrees, measured from vertical direction + static constexpr float overhang_angle_threshold = 45.0f * float(PI) / 180.0f; // determines angle importance compared to visibility ( neutral value is 1.0f. ) static constexpr float angle_importance_aligned = 0.6f; @@ -144,8 +143,8 @@ public: // When searching for seam clusters for alignment: // following value describes, how much worse score can point have and still be picked into seam cluster instead of original seam point on the same layer static constexpr float seam_align_score_tolerance = 0.3f; - // seam_align_tolerable_dist - if next layer closest point is too far away, break aligned string - static constexpr float seam_align_tolerable_dist = 1.0f; + // seam_align_tolerable_dist_factor - how far to search for seam from current position, final dist is seam_align_tolerable_dist_factor * flow_width + static constexpr float seam_align_tolerable_dist_factor = 4.0f; // minimum number of seams needed in cluster to make alignment happen static constexpr size_t seam_align_minimum_string_seams = 6; // millimeters covered by spline; determines number of splines for the given string @@ -167,8 +166,7 @@ private: void align_seam_points(const PrintObject *po, const SeamPlacerImpl::SeamComparator &comparator); std::vector> find_seam_string(const PrintObject *po, std::pair start_seam, - const SeamPlacerImpl::SeamComparator &comparator, - float& string_weight) const; + const SeamPlacerImpl::SeamComparator &comparator) const; std::optional> find_next_seam_in_layer( const std::vector &layers, const Vec3f& projected_position, diff --git a/src/libslic3r/Geometry/Curves.hpp b/src/libslic3r/Geometry/Curves.hpp index 6ccdea366..f4a5a0067 100644 --- a/src/libslic3r/Geometry/Curves.hpp +++ b/src/libslic3r/Geometry/Curves.hpp @@ -175,6 +175,19 @@ PiecewiseFittedCurve fit_curve( return result; } + +template +PiecewiseFittedCurve> +fit_linear_spline( + const std::vector> &observations, + std::vector observation_points, + std::vector weights, + size_t segments_count, + size_t endpoints_level_of_freedom = 0) { + return fit_curve>(observations, observation_points, weights, segments_count, + endpoints_level_of_freedom); +} + template PiecewiseFittedCurve> fit_cubic_bspline(