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Measurement: tweaking of the tolerances, ransacing the whole border

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Lukas Matena 2022-12-01 13:31:22 +01:00 committed by enricoturri1966
parent 220104dbe2
commit eeea803be5
1 changed files with 175 additions and 149 deletions
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324
src/libslic3r/Measure.cpp
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@ -18,7 +18,7 @@ static std::pair<Vec3d, double> get_center_and_radius(const std::vector<Vec3d>&
{ {
Vec2ds out; Vec2ds out;
double z = 0.; double z = 0.;
for (const Vec3d pt : points) { for (const Vec3d& pt : points) {
Vec3d pt_transformed = trafo * pt; Vec3d pt_transformed = trafo * pt;
z = pt_transformed.z(); z = pt_transformed.z();
out.emplace_back(pt_transformed.x(), pt_transformed.y()); out.emplace_back(pt_transformed.x(), pt_transformed.y());
@ -29,6 +29,14 @@ static std::pair<Vec3d, double> get_center_and_radius(const std::vector<Vec3d>&
return std::make_pair(trafo.inverse() * Vec3d(circle.center.x(), circle.center.y(), z), circle.radius); return std::make_pair(trafo.inverse() * Vec3d(circle.center.x(), circle.center.y(), z), circle.radius);
} }
static bool circle_fit_is_ok(const std::vector<Vec3d>& pts, const Vec3d& center, double radius)
{
for (const Vec3d& pt : pts)
if (std::abs((pt - center).norm() - radius) > 0.05)
return false;
return true;
}
static std::array<Vec3d, 3> orthonormal_basis(const Vec3d& v) static std::array<Vec3d, 3> orthonormal_basis(const Vec3d& v)
{ {
std::array<Vec3d, 3> ret; std::array<Vec3d, 3> ret;
@ -246,10 +254,7 @@ void MeasuringImpl::update_planes()
void MeasuringImpl::extract_features() void MeasuringImpl::extract_features()
{ {
auto are_angles_same = [](double a, double b) { return Slic3r::is_approx(a,b); }; std::vector<double> angles; // placed in outer scope to prevent reallocations
auto are_lengths_same = [](double a, double b) { return Slic3r::is_approx(a,b); };
std::vector<double> angles;
std::vector<double> lengths; std::vector<double> lengths;
@ -267,175 +272,196 @@ void MeasuringImpl::extract_features()
if (border.size() <= 1) if (border.size() <= 1)
continue; continue;
// Given an idx into border, return the index that is idx+offset position, bool done = false;
// while taking into account the need for warp-around and the fact that
// the first and last point are the same.
auto offset_to_index = [border_size = int(border.size())](int idx, int offset) -> int {
assert(std::abs(offset) < border_size);
int out = idx+offset;
if (out >= border_size)
out = out - border_size;
else if (out < 0)
out = border_size + out;
return out; if (const auto& [center, radius] = get_center_and_radius(border, trafo);
}; (border.size()>4) && circle_fit_is_ok(border, center, radius)) {
// The whole border is one circle. Just add it into the list of features
// and we are done.
// First calculate angles at all the vertices. bool is_polygon = border.size()>4 && border.size()<=8;
angles.clear(); bool lengths_match = std::all_of(border.begin()+2, border.end(), [is_polygon](const Vec3d& pt) {
lengths.clear(); return Slic3r::is_approx((pt - *((&pt)-1)).squaredNorm(), (*((&pt)-1) - *((&pt)-2)).squaredNorm(), is_polygon ? 0.01 : 0.01);
int first_different_angle_idx = 0; });
for (int i=0; i<int(border.size()); ++i) {
const Vec3d& v2 = border[i] - (i == 0 ? border[border.size()-1] : border[i-1]);
const Vec3d& v1 = (i == int(border.size()-1) ? border[0] : border[i+1]) - border[i];
double angle = atan2(-normal.dot(v1.cross(v2)), -v1.dot(v2)) + M_PI;
if (angle > M_PI)
angle = 2*M_PI - angle;
angles.push_back(angle); if (lengths_match && (is_polygon || border.size() > 8)) {
lengths.push_back(v2.norm()); if (is_polygon) {
if (first_different_angle_idx == 0 && angles.size() > 1) { // This is a polygon, add the separate edges with the center.
if (! are_angles_same(angles.back(), angles[angles.size()-2])) for (int j=0; j<int(border.size()); ++j)
first_different_angle_idx = angles.size()-1; plane.surface_features.emplace_back(SurfaceFeature(SurfaceFeatureType::Edge,
border[j==0 ? border.size()-1 : j-1], border[j],
std::make_optional(center)));
} else {
// The fit went well and it has more than 8 points - let's consider this a circle.
plane.surface_features.emplace_back(SurfaceFeature(SurfaceFeatureType::Circle, center, plane.normal, std::nullopt, radius));
}
done = true;
} }
} }
assert(border.size() == angles.size());
assert(border.size() == lengths.size());
// First go around the border and pick what might be circular segments. if (! done) {
// Save pair of indices to where such potential segments start and end. // In this case, the border is not a circle and may contain circular
// Also remember the length of these segments. // segments. Try to find them and then add all remaining edges as edges.
int start_idx = -1;
bool circle = false; auto are_angles_same = [](double a, double b) { return Slic3r::is_approx(a,b,0.01); };
bool first_iter = true; auto are_lengths_same = [](double a, double b) { return Slic3r::is_approx(a,b,0.01); };
std::vector<SurfaceFeature> circles;
std::vector<SurfaceFeature> edges;
std::vector<std::pair<int, int>> circles_idxs; // Given an idx into border, return the index that is idx+offset position,
//std::vector<double> circles_lengths; // while taking into account the need for wrap-around and the fact that
std::vector<Vec3d> single_circle; // could be in loop-scope, but reallocations // the first and last point are the same.
double single_circle_length = 0.; auto offset_to_index = [border_size = int(border.size())](int idx, int offset) -> int {
int first_pt_idx = offset_to_index(first_different_angle_idx, 1); assert(std::abs(offset) < border_size);
int i = first_pt_idx; int out = idx+offset;
while (i != first_pt_idx || first_iter) { if (out >= border_size)
if (are_angles_same(angles[i], angles[offset_to_index(i,-1)]) out = out - border_size;
&& i != offset_to_index(first_pt_idx, -1) // not the last point else if (out < 0)
&& i != start_idx ) { out = border_size + out;
// circle
if (! circle) { return out;
circle = true; };
single_circle.clear();
single_circle_length = 0.; // First calculate angles at all the vertices.
start_idx = offset_to_index(i, -2); angles.clear();
single_circle = { border[start_idx], border[offset_to_index(start_idx,1)] }; lengths.clear();
single_circle_length += lengths[offset_to_index(i, -1)]; int first_different_angle_idx = 0;
for (int i=0; i<int(border.size()); ++i) {
const Vec3d& v2 = border[i] - (i == 0 ? border[border.size()-1] : border[i-1]);
const Vec3d& v1 = (i == int(border.size()-1) ? border[0] : border[i+1]) - border[i];
double angle = atan2(-normal.dot(v1.cross(v2)), -v1.dot(v2)) + M_PI;
if (angle > M_PI)
angle = 2*M_PI - angle;
angles.push_back(angle);
lengths.push_back(v2.norm());
if (first_different_angle_idx == 0 && angles.size() > 1) {
if (! are_angles_same(angles.back(), angles[angles.size()-2]))
first_different_angle_idx = angles.size()-1;
} }
single_circle.emplace_back(border[i]); }
single_circle_length += lengths[i]; assert(border.size() == angles.size());
} else { assert(border.size() == lengths.size());
if (circle && single_circle.size() >= 5) { // Less than 5 vertices? Not a circle.
// First go around the border and pick what might be circular segments.
// Save pair of indices to where such potential segments start and end.
// Also remember the length of these segments.
int start_idx = -1;
bool circle = false;
bool first_iter = true;
std::vector<SurfaceFeature> circles;
std::vector<SurfaceFeature> edges;
std::vector<std::pair<int, int>> circles_idxs;
//std::vector<double> circles_lengths;
std::vector<Vec3d> single_circle; // could be in loop-scope, but reallocations
double single_circle_length = 0.;
int first_pt_idx = offset_to_index(first_different_angle_idx, 1);
int i = first_pt_idx;
while (i != first_pt_idx || first_iter) {
if (are_angles_same(angles[i], angles[offset_to_index(i,-1)])
&& i != offset_to_index(first_pt_idx, -1) // not the last point
&& i != start_idx ) {
// circle
if (! circle) {
circle = true;
single_circle.clear();
single_circle_length = 0.;
start_idx = offset_to_index(i, -2);
single_circle = { border[start_idx], border[offset_to_index(start_idx,1)] };
single_circle_length += lengths[offset_to_index(i, -1)];
}
single_circle.emplace_back(border[i]); single_circle.emplace_back(border[i]);
single_circle_length += lengths[i]; single_circle_length += lengths[i];
} else {
if (circle && single_circle.size() >= 5) { // Less than 5 vertices? Not a circle.
single_circle.emplace_back(border[i]);
single_circle_length += lengths[i];
bool accept_circle = true; bool accept_circle = true;
{ {
// Check that lengths of internal (!!!) edges match. // Check that lengths of internal (!!!) edges match.
int j = offset_to_index(start_idx, 3); int j = offset_to_index(start_idx, 3);
while (j != i) { while (j != i) {
if (! are_lengths_same(lengths[offset_to_index(j,-1)], lengths[j])) { if (! are_lengths_same(lengths[offset_to_index(j,-1)], lengths[j])) {
accept_circle = false; accept_circle = false;
break; break;
} }
j = offset_to_index(j, 1); j = offset_to_index(j, 1);
}
}
if (accept_circle) {
const auto& [center, radius] = get_center_and_radius(single_circle, trafo);
// Check that the fit went well. The tolerance is high, only to
// reject complete failures.
for (const Vec3d& pt : single_circle) {
if (std::abs((pt - center).norm() - radius) > 0.5) {
accept_circle = false;
break;
} }
} }
// If the segment subtends less than 90 degrees, throw it away.
accept_circle &= single_circle_length / radius > 0.9*M_PI/2.;
// If this is all-around and 5 to 8 vertices, consider it a polygon.
bool is_polygon = start_idx == i && single_circle.size() <= 9 && single_circle.size() >= 6;
if (accept_circle) { if (accept_circle) {
// Add the circle and remember indices into borders. const auto& [center, radius] = get_center_and_radius(single_circle, trafo);
circles_idxs.emplace_back(start_idx, i);
if (is_polygon) { // Check that the fit went well. The tolerance is high, only to
for (int j=0; j<=i; ++j) // No wrap-around handling needed here. // reject complete failures.
edges.emplace_back(SurfaceFeature(SurfaceFeatureType::Edge, accept_circle &= circle_fit_is_ok(single_circle, center, radius);
border[j==0 ? border.size()-1 : j-1], border[j],
std::make_optional(center))); // If the segment subtends less than 90 degrees, throw it away.
} accept_circle &= single_circle_length / radius > 0.9*M_PI/2.;
else
if (accept_circle) {
// Add the circle and remember indices into borders.
circles_idxs.emplace_back(start_idx, i);
circles.emplace_back(SurfaceFeature(SurfaceFeatureType::Circle, center, plane.normal, std::nullopt, radius)); circles.emplace_back(SurfaceFeature(SurfaceFeatureType::Circle, center, plane.normal, std::nullopt, radius));
}
} }
} }
circle = false;
} }
circle = false; // Take care of the wrap around.
} first_iter = false;
// Take care of the wrap around.
first_iter = false;
i = offset_to_index(i, 1);
}
// We have the circles. Now go around again and pick edges, while jumping over circles.
if (circles_idxs.empty()) {
// Just add all edges.
for (int i=1; i<int(border.size()); ++i)
edges.emplace_back(SurfaceFeature(SurfaceFeatureType::Edge, border[i-1], border[i]));
edges.emplace_back(SurfaceFeature(SurfaceFeatureType::Edge, border[0], border[border.size()-1]));
} else {
// There is at least one circular segment. Start at its end and add edges until the start of the next one.
int i = circles_idxs.front().second;
int circle_idx = 1;
while (true) {
i = offset_to_index(i, 1); i = offset_to_index(i, 1);
edges.emplace_back(SurfaceFeature(SurfaceFeatureType::Edge, border[offset_to_index(i,-1)], border[i])); }
if (circle_idx < int(circles_idxs.size()) && i == circles_idxs[circle_idx].first) {
i = circles_idxs[circle_idx].second; // We have the circles. Now go around again and pick edges, while jumping over circles.
++circle_idx; if (circles_idxs.empty()) {
// Just add all edges.
for (int i=1; i<int(border.size()); ++i)
edges.emplace_back(SurfaceFeature(SurfaceFeatureType::Edge, border[i-1], border[i]));
edges.emplace_back(SurfaceFeature(SurfaceFeatureType::Edge, border[0], border[border.size()-1]));
} else if (circles_idxs.size() > 1 || circles_idxs.front().first != circles_idxs.front().second) {
// There is at least one circular segment. Start at its end and add edges until the start of the next one.
int i = circles_idxs.front().second;
int circle_idx = 1;
while (true) {
i = offset_to_index(i, 1);
edges.emplace_back(SurfaceFeature(SurfaceFeatureType::Edge, border[offset_to_index(i,-1)], border[i]));
if (circle_idx < int(circles_idxs.size()) && i == circles_idxs[circle_idx].first) {
i = circles_idxs[circle_idx].second;
++circle_idx;
}
if (i == circles_idxs.front().first)
break;
} }
if (i == circles_idxs.front().first)
break;
} }
}
// Merge adjacent edges where needed. // Merge adjacent edges where needed.
assert(std::all_of(edges.begin(), edges.end(), assert(std::all_of(edges.begin(), edges.end(),
[](const SurfaceFeature& f) { return f.get_type() == SurfaceFeatureType::Edge; })); [](const SurfaceFeature& f) { return f.get_type() == SurfaceFeatureType::Edge; }));
for (int i=edges.size()-1; i>=0; --i) { for (int i=edges.size()-1; i>=0; --i) {
const auto& [first_start, first_end] = edges[i==0 ? edges.size()-1 : i-1].get_edge(); 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(); const auto& [second_start, second_end] = edges[i].get_edge();
if (Slic3r::is_approx(first_end, second_start) if (Slic3r::is_approx(first_end, second_start)
&& Slic3r::is_approx((first_end-first_start).normalized().dot((second_end-second_start).normalized()), 1.)) { && 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. // 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[i==0 ? edges.size()-1 : i-1] = SurfaceFeature(SurfaceFeatureType::Edge, first_start, second_end);
edges.erase(edges.begin() + i); edges.erase(edges.begin() + i);
}
} }
}
// Now move the circles and edges into the feature list for the plane. // Now move the circles and edges into the feature list for the plane.
assert(std::all_of(circles.begin(), circles.end(), [](const SurfaceFeature& f) { assert(std::all_of(circles.begin(), circles.end(), [](const SurfaceFeature& f) {
return f.get_type() == SurfaceFeatureType::Circle; return f.get_type() == SurfaceFeatureType::Circle;
})); }));
assert(std::all_of(edges.begin(), edges.end(), [](const SurfaceFeature& f) { assert(std::all_of(edges.begin(), edges.end(), [](const SurfaceFeature& f) {
return f.get_type() == SurfaceFeatureType::Edge; return f.get_type() == SurfaceFeatureType::Edge;
})); }));
plane.surface_features.insert(plane.surface_features.end(), std::make_move_iterator(circles.begin()), plane.surface_features.insert(plane.surface_features.end(), std::make_move_iterator(circles.begin()),
std::make_move_iterator(circles.end())); std::make_move_iterator(circles.end()));
plane.surface_features.insert(plane.surface_features.end(), std::make_move_iterator(edges.begin()), plane.surface_features.insert(plane.surface_features.end(), std::make_move_iterator(edges.begin()),
std::make_move_iterator(edges.end())); std::make_move_iterator(edges.end()));
}
} }
// The last surface feature is the plane itself. // The last surface feature is the plane itself.