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Replaced boost::rtree in multi-material segmentation with much faster ClosestPointInRadiusLookup.

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This commit is contained in:
Lukáš Hejl 2021-06-25 18:28:33 +02:00
parent ce738102c6
commit a426093f12
1 changed files with 67 additions and 85 deletions
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152
src/libslic3r/MultiMaterialSegmentation.cpp
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@ -10,14 +10,8 @@
#include <unordered_set> #include <unordered_set>
#include <boost/log/trivial.hpp> #include <boost/log/trivial.hpp>
#include <tbb/parallel_for.h> #include <tbb/parallel_for.h>
#include <boost/geometry.hpp>
#include <boost/geometry/geometries/point.hpp>
#include <boost/geometry/geometries/segment.hpp>
#include <boost/geometry/index/rtree.hpp>
namespace Slic3r { namespace Slic3r {
struct ColoredLine { struct ColoredLine {
Line line; Line line;
@ -165,6 +159,7 @@ static Polygon colored_points_to_polygon(const std::vector<ColoredLine> &lines)
static Polygons colored_points_to_polygon(const std::vector<std::vector<ColoredLine>> &lines) static Polygons colored_points_to_polygon(const std::vector<std::vector<ColoredLine>> &lines)
{ {
Polygons out; Polygons out;
out.reserve(lines.size());
for (const std::vector<ColoredLine> &l : lines) for (const std::vector<ColoredLine> &l : lines)
out.emplace_back(colored_points_to_polygon(l)); out.emplace_back(colored_points_to_polygon(l));
return out; return out;
@ -495,6 +490,12 @@ static std::vector<std::vector<ColoredLine>> colorize_polygons(const Polygons &p
using boost::polygon::voronoi_diagram; using boost::polygon::voronoi_diagram;
static inline Point mk_point(const Voronoi::VD::vertex_type *point) { return Point(coord_t(point->x()), coord_t(point->y())); }
static inline Point mk_point(const Voronoi::Internal::point_type &point) { return Point(coord_t(point.x()), coord_t(point.y())); }
static inline Point mk_point(const voronoi_diagram<double>::vertex_type &point) { return Point(coord_t(point.x()), coord_t(point.y())); }
struct MMU_Graph struct MMU_Graph
{ {
enum class ARC_TYPE { BORDER, NON_BORDER }; enum class ARC_TYPE { BORDER, NON_BORDER };
@ -627,24 +628,63 @@ struct MMU_Graph
{ {
return this->is_vertex_on_contour(edge_iterator->vertex0()) && this->is_vertex_on_contour(edge_iterator->vertex1()); return this->is_vertex_on_contour(edge_iterator->vertex0()) && this->is_vertex_on_contour(edge_iterator->vertex1());
} }
// All Voronoi vertices are post-processes to merge very close vertices to single. Witch eliminates issues with intersection edges.
// Also, Voronoi vertices outside of the bounding of input polygons are throw away by marking them.
void append_voronoi_vertices(const Geometry::VoronoiDiagram &vd, const Polygons &color_poly_tmp, BoundingBox bbox) {
bbox.offset(SCALED_EPSILON);
struct CPoint
{
CPoint() = delete;
CPoint(const Point &point, size_t contour_idx, size_t point_idx) : m_point(point), m_point_idx(point_idx), m_contour_idx(contour_idx) {}
CPoint(const Point &point, size_t point_idx) : m_point(point), m_point_idx(point_idx), m_contour_idx(0) {}
const Point m_point;
size_t m_point_idx;
size_t m_contour_idx;
[[nodiscard]] const Point &point() const { return m_point; }
bool operator==(const CPoint &rhs) const { return this->m_point == rhs.m_point && this->m_contour_idx == rhs.m_contour_idx && this->m_point_idx == rhs.m_point_idx; }
};
struct CPointAccessor { const Point* operator()(const CPoint &pt) const { return &pt.point(); }};
typedef ClosestPointInRadiusLookup<CPoint, CPointAccessor> CPointLookupType;
CPointLookupType closest_voronoi_point(3 * coord_t(SCALED_EPSILON));
CPointLookupType closest_contour_point(3 * coord_t(SCALED_EPSILON));
for (const Polygon &polygon : color_poly_tmp)
for (const Point &pt : polygon.points)
closest_contour_point.insert(CPoint(pt, &polygon - &color_poly_tmp.front(), &pt - &polygon.points.front()));
for (const voronoi_diagram<double>::vertex_type &vertex : vd.vertices()) {
vertex.color(-1);
Point vertex_point = mk_point(vertex);
const Point &first_point = this->nodes[this->get_arc(vertex.incident_edge()->cell()->source_index()).from_idx].point;
const Point &second_point = this->nodes[this->get_arc(vertex.incident_edge()->twin()->cell()->source_index()).from_idx].point;
if (vertex_equal_to_point(&vertex, first_point)) {
assert(vertex.color() != vertex.incident_edge()->cell()->source_index());
assert(vertex.color() != vertex.incident_edge()->twin()->cell()->source_index());
vertex.color(this->get_arc(vertex.incident_edge()->cell()->source_index()).from_idx);
} else if (vertex_equal_to_point(&vertex, second_point)) {
assert(vertex.color() != vertex.incident_edge()->cell()->source_index());
assert(vertex.color() != vertex.incident_edge()->twin()->cell()->source_index());
vertex.color(this->get_arc(vertex.incident_edge()->twin()->cell()->source_index()).from_idx);
} else if (bbox.contains(vertex_point)) {
if (auto [contour_pt, c_dist_sqr] = closest_contour_point.find(vertex_point); contour_pt != nullptr && c_dist_sqr < 3 * SCALED_EPSILON) {
vertex.color(this->get_global_index(contour_pt->m_contour_idx, contour_pt->m_point_idx));
} else if (auto [voronoi_pt, v_dist_sqr] = closest_voronoi_point.find(vertex_point); voronoi_pt == nullptr || v_dist_sqr >= 3 * SCALED_EPSILON) {
closest_voronoi_point.insert(CPoint(vertex_point, this->nodes_count()));
vertex.color(this->nodes_count());
this->nodes.push_back({vertex_point});
} else {
vertex.color(voronoi_pt->m_point_idx);
}
}
}
}
}; };
namespace bg = boost::geometry;
namespace bgm = boost::geometry::model;
namespace bgi = boost::geometry::index;
// float is needed because for coord_t bgi::intersects throws "bad numeric conversion: positive overflow"
using rtree_point_t = bgm::point<float, 2, boost::geometry::cs::cartesian>;
using rtree_t = bgi::rtree<std::pair<rtree_point_t, size_t>, bgi::rstar<16, 4>>;
static inline rtree_point_t mk_rtree_point(const Point &pt) { return rtree_point_t(float(pt.x()), float(pt.y())); }
static inline Point mk_point(const Voronoi::VD::vertex_type *point) { return Point(coord_t(point->x()), coord_t(point->y())); }
static inline Point mk_point(const Voronoi::Internal::point_type &point) { return Point(coord_t(point.x()), coord_t(point.y())); }
static inline Point mk_point(const voronoi_diagram<double>::vertex_type &point) { return Point(coord_t(point.x()), coord_t(point.y())); }
static inline void mark_processed(const voronoi_diagram<double>::const_edge_iterator &edge_iterator) static inline void mark_processed(const voronoi_diagram<double>::const_edge_iterator &edge_iterator)
{ {
edge_iterator->color(true); edge_iterator->color(true);
@ -706,7 +746,7 @@ static MMU_Graph build_graph(size_t layer_idx, const std::vector<std::vector<Col
{ {
Geometry::VoronoiDiagram vd; Geometry::VoronoiDiagram vd;
std::vector<ColoredLine> lines_colored = to_lines(color_poly); std::vector<ColoredLine> lines_colored = to_lines(color_poly);
Polygons color_poly_tmp = colored_points_to_polygon(color_poly); const Polygons color_poly_tmp = colored_points_to_polygon(color_poly);
const Points points = to_points(color_poly_tmp); const Points points = to_points(color_poly_tmp);
const Lines lines = to_lines(color_poly_tmp); const Lines lines = to_lines(color_poly_tmp);
@ -730,6 +770,7 @@ static MMU_Graph build_graph(size_t layer_idx, const std::vector<std::vector<Col
boost::polygon::construct_voronoi(lines_colored.begin(), lines_colored.end(), &vd); boost::polygon::construct_voronoi(lines_colored.begin(), lines_colored.end(), &vd);
MMU_Graph graph; MMU_Graph graph;
graph.nodes.reserve(points.size() + vd.vertices().size());
for (const Point &point : points) for (const Point &point : points)
graph.nodes.push_back({point}); graph.nodes.push_back({point});
@ -737,66 +778,8 @@ static MMU_Graph build_graph(size_t layer_idx, const std::vector<std::vector<Col
init_polygon_indices(graph, color_poly, lines_colored); init_polygon_indices(graph, color_poly, lines_colored);
assert(graph.nodes.size() == lines_colored.size()); assert(graph.nodes.size() == lines_colored.size());
BoundingBox bbox = get_extents(color_poly_tmp);
// All Voronoi vertices are post-processes to merge very close vertices to single. Witch Eliminates issues with intersection edges. graph.append_voronoi_vertices(vd, color_poly_tmp, bbox);
// Also, Voronoi vertices outside of the bounding of input polygons are throw away by marking them.
auto append_voronoi_vertices_to_graph = [&graph, &color_poly_tmp, &vd]() -> void {
auto is_equal_points = [](const Point &p1, const Point &p2) { return p1 == p2 || (p1 - p2).cast<double>().norm() <= 3 * SCALED_EPSILON; };
BoundingBox bbox = get_extents(color_poly_tmp);
bbox.offset(SCALED_EPSILON);
// EdgeGrid is used for vertices near to contour and rtree for other vertices
// FIXME Lukas H.: Get rid of EdgeGrid and rtree. Use only one structure for both cases.
EdgeGrid::Grid grid;
grid.set_bbox(bbox);
grid.create(color_poly_tmp, coord_t(scale_(10.)));
rtree_t rtree;
for (const voronoi_diagram<double>::vertex_type &vertex : vd.vertices()) {
vertex.color(-1);
Point vertex_point = mk_point(vertex);
const Point &first_point = graph.nodes[graph.get_arc(vertex.incident_edge()->cell()->source_index()).from_idx].point;
const Point &second_point = graph.nodes[graph.get_arc(vertex.incident_edge()->twin()->cell()->source_index()).from_idx].point;
if (vertex_equal_to_point(&vertex, first_point)) {
assert(vertex.color() != vertex.incident_edge()->cell()->source_index());
assert(vertex.color() != vertex.incident_edge()->twin()->cell()->source_index());
vertex.color(graph.get_arc(vertex.incident_edge()->cell()->source_index()).from_idx);
} else if (vertex_equal_to_point(&vertex, second_point)) {
assert(vertex.color() != vertex.incident_edge()->cell()->source_index());
assert(vertex.color() != vertex.incident_edge()->twin()->cell()->source_index());
vertex.color(graph.get_arc(vertex.incident_edge()->twin()->cell()->source_index()).from_idx);
} else if (bbox.contains(vertex_point)) {
EdgeGrid::Grid::ClosestPointResult cp = grid.closest_point_signed_distance(vertex_point, coord_t(3 * SCALED_EPSILON));
if (cp.valid()) {
size_t global_idx = graph.get_global_index(cp.contour_idx, cp.start_point_idx);
size_t global_idx_next = graph.get_global_index(cp.contour_idx, (cp.start_point_idx + 1) % color_poly_tmp[cp.contour_idx].points.size());
vertex.color(is_equal_points(vertex_point, graph.nodes[global_idx].point) ? global_idx : global_idx_next);
} else {
if (rtree.empty()) {
rtree.insert(std::make_pair(mk_rtree_point(vertex_point), graph.nodes_count()));
vertex.color(graph.nodes_count());
graph.nodes.push_back({vertex_point});
} else {
std::vector<std::pair<rtree_point_t, size_t>> closest;
rtree.query(bgi::nearest(mk_rtree_point(vertex_point), 1), std::back_inserter(closest));
assert(!closest.empty());
rtree_point_t r_point = closest.front().first;
Point closest_p(bg::get<0>(r_point), bg::get<1>(r_point));
if (Line(vertex_point, closest_p).length() > 3 * SCALED_EPSILON) {
rtree.insert(std::make_pair(mk_rtree_point(vertex_point), graph.nodes_count()));
vertex.color(graph.nodes_count());
graph.nodes.push_back({vertex_point});
} else {
vertex.color(closest.front().second);
}
}
}
}
}
};
append_voronoi_vertices_to_graph();
auto get_prev_contour_line = [&lines_colored, &color_poly, &graph](const voronoi_diagram<double>::const_edge_iterator &edge_it) -> ColoredLine { auto get_prev_contour_line = [&lines_colored, &color_poly, &graph](const voronoi_diagram<double>::const_edge_iterator &edge_it) -> ColoredLine {
size_t contour_line_local_idx = lines_colored[edge_it->cell()->source_index()].local_line_idx; size_t contour_line_local_idx = lines_colored[edge_it->cell()->source_index()].local_line_idx;
@ -814,7 +797,6 @@ static MMU_Graph build_graph(size_t layer_idx, const std::vector<std::vector<Col
return lines_colored[contour_next_idx]; return lines_colored[contour_next_idx];
}; };
BoundingBox bbox = get_extents(color_poly_tmp);
bbox.offset(scale_(10.)); bbox.offset(scale_(10.));
const double bbox_dim_max = double(std::max(bbox.size().x(), bbox.size().y())); const double bbox_dim_max = double(std::max(bbox.size().x(), bbox.size().y()));
@ -1509,7 +1491,7 @@ std::vector<std::vector<std::pair<ExPolygon, size_t>>> multi_material_segmentati
// [P0, P2] a [P0, P1] // [P0, P2] a [P0, P1]
float t1 = (float(layer->slice_z) - facet[0].z()) / (facet[1].z() - facet[0].z()); float t1 = (float(layer->slice_z) - facet[0].z()) / (facet[1].z() - facet[0].z());
line_end_f = facet[0] + t1 * (facet[1] - facet[0]); line_end_f = facet[0] + t1 * (facet[1] - facet[0]);
} else if (facet[1].z() <= layer->slice_z) { } else {
// [P0, P2] a [P1, P2] // [P0, P2] a [P1, P2]
float t2 = (float(layer->slice_z) - facet[1].z()) / (facet[2].z() - facet[1].z()); float t2 = (float(layer->slice_z) - facet[1].z()) / (facet[2].z() - facet[1].z());
line_end_f = facet[1] + t2 * (facet[2] - facet[1]); line_end_f = facet[1] + t2 * (facet[2] - facet[1]);