162 lines
5.0 KiB
C++
162 lines
5.0 KiB
C++
#include <limits>
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#include <libslic3r/SLA/Rotfinder.hpp>
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#include <libslic3r/SLA/Concurrency.hpp>
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#include <libslic3r/Optimize/BruteforceOptimizer.hpp>
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#include "libslic3r/SLAPrint.hpp"
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#include "libslic3r/PrintConfig.hpp"
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#include <libslic3r/Geometry.hpp>
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#include "Model.hpp"
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#include <thread>
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#include <libnest2d/tools/benchmark.h>
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namespace Slic3r { namespace sla {
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namespace {
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// Get the vertices of a triangle directly in an array of 3 points
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std::array<Vec3d, 3> get_triangle_vertices(const TriangleMesh &mesh,
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size_t faceidx)
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{
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const auto &face = mesh.its.indices[faceidx];
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return {Vec3d{mesh.its.vertices[face(0)].cast<double>()},
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Vec3d{mesh.its.vertices[face(1)].cast<double>()},
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Vec3d{mesh.its.vertices[face(2)].cast<double>()}};
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}
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std::array<Vec3d, 3> get_transformed_triangle(const TriangleMesh &mesh,
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const Transform3d & tr,
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size_t faceidx)
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{
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const auto &tri = get_triangle_vertices(mesh, faceidx);
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return {tr * tri[0], tr * tri[1], tr * tri[2]};
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}
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// Get area and normal of a triangle
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struct Facestats {
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Vec3d normal;
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double area;
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explicit Facestats(const std::array<Vec3d, 3> &triangle)
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{
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Vec3d U = triangle[1] - triangle[0];
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Vec3d V = triangle[2] - triangle[0];
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Vec3d C = U.cross(V);
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normal = C.normalized();
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area = 0.5 * C.norm();
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}
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};
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template<class AccessFn>
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double sum_score(AccessFn &&accessfn, size_t facecount, size_t Nthreads)
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{
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double initv = 0.;
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auto mergefn = [](double a, double b) { return a + b; };
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size_t grainsize = facecount / Nthreads;
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size_t from = 0, to = facecount;
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return ccr_par::reduce(from, to, initv, mergefn, accessfn, grainsize);
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}
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// Try to guess the number of support points needed to support a mesh
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double get_model_supportedness(const TriangleMesh &mesh, const Transform3d &tr)
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{
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if (mesh.its.vertices.empty()) return std::nan("");
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auto accessfn = [&mesh, &tr](size_t fi) {
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Facestats fc{get_transformed_triangle(mesh, tr, fi)};
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// We should score against the alignment with the reference planes
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return std::abs(fc.normal.dot(Vec3d::UnitX())) +
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std::abs(fc.normal.dot(Vec3d::UnitY())) +
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std::abs(fc.normal.dot(Vec3d::UnitZ()));
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};
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size_t facecount = mesh.its.indices.size();
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size_t Nthreads = std::thread::hardware_concurrency();
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double S = sum_score(accessfn, facecount, Nthreads);
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return S / facecount;
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}
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using XYRotation = std::array<double, 2>;
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// prepare the rotation transformation
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Transform3d to_transform3d(const XYRotation &rot)
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{
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Transform3d rt = Transform3d::Identity();
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rt.rotate(Eigen::AngleAxisd(rot[1], Vec3d::UnitY()));
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rt.rotate(Eigen::AngleAxisd(rot[0], Vec3d::UnitX()));
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return rt;
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}
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} // namespace
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Vec2d find_best_rotation(const SLAPrintObject & po,
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float accuracy,
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std::function<void(unsigned)> statuscb,
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std::function<bool()> stopcond)
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{
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static const unsigned MAX_TRIES = 1000;
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// return value
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XYRotation rot;
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// We will use only one instance of this converted mesh to examine different
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// rotations
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TriangleMesh mesh = po.model_object()->raw_mesh();
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mesh.require_shared_vertices();
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// To keep track of the number of iterations
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unsigned status = 0;
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// The maximum number of iterations
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auto max_tries = unsigned(accuracy * MAX_TRIES);
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// call status callback with zero, because we are at the start
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statuscb(status);
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auto statusfn = [&statuscb, &status, &max_tries] {
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// report status
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statuscb(unsigned(++status * 100.0/max_tries) );
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};
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// Preparing the optimizer.
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size_t gridsize = std::sqrt(max_tries);
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opt::Optimizer<opt::AlgBruteForce> solver(opt::StopCriteria{}
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.max_iterations(max_tries)
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.stop_condition(stopcond),
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gridsize);
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// We are searching rotations around only two axes x, y. Thus the
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// problem becomes a 2 dimensional optimization task.
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// We can specify the bounds for a dimension in the following way:
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auto bounds = opt::bounds({ {-PI/2, PI/2}, {-PI/2, PI/2} });
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auto result = solver.to_max().optimize(
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[&mesh, &statusfn] (const XYRotation &rot)
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{
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statusfn();
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return get_model_supportedness(mesh, to_transform3d(rot));
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}, opt::initvals({0., 0.}), bounds);
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rot = result.optimum;
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return {rot[0], rot[1]};
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}
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double get_model_supportedness(const SLAPrintObject &po, const Transform3d &tr)
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{
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TriangleMesh mesh = po.model_object()->raw_mesh();
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mesh.require_shared_vertices();
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return get_model_supportedness(mesh, tr);
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}
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}} // namespace Slic3r::sla
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