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Diffstat (limited to 'src/libslic3r/SLA/Clustering.cpp')
-rw-r--r-- | src/libslic3r/SLA/Clustering.cpp | 152 |
1 files changed, 152 insertions, 0 deletions
diff --git a/src/libslic3r/SLA/Clustering.cpp b/src/libslic3r/SLA/Clustering.cpp new file mode 100644 index 000000000..41ff1d4f0 --- /dev/null +++ b/src/libslic3r/SLA/Clustering.cpp @@ -0,0 +1,152 @@ +#include "Clustering.hpp" +#include "boost/geometry/index/rtree.hpp" + +#include <libslic3r/SLA/SpatIndex.hpp> +#include <libslic3r/SLA/BoostAdapter.hpp> + +namespace Slic3r { namespace sla { + +namespace bgi = boost::geometry::index; +using Index3D = bgi::rtree< PointIndexEl, bgi::rstar<16, 4> /* ? */ >; + +namespace { + +bool cmp_ptidx_elements(const PointIndexEl& e1, const PointIndexEl& e2) +{ + return e1.second < e2.second; +}; + +ClusteredPoints cluster(Index3D &sindex, + unsigned max_points, + std::function<std::vector<PointIndexEl>( + const Index3D &, const PointIndexEl &)> qfn) +{ + using Elems = std::vector<PointIndexEl>; + + // Recursive function for visiting all the points in a given distance to + // each other + std::function<void(Elems&, Elems&)> group = + [&sindex, &group, max_points, qfn](Elems& pts, Elems& cluster) + { + for(auto& p : pts) { + std::vector<PointIndexEl> tmp = qfn(sindex, p); + + std::sort(tmp.begin(), tmp.end(), cmp_ptidx_elements); + + Elems newpts; + std::set_difference(tmp.begin(), tmp.end(), + cluster.begin(), cluster.end(), + std::back_inserter(newpts), cmp_ptidx_elements); + + int c = max_points && newpts.size() + cluster.size() > max_points? + int(max_points - cluster.size()) : int(newpts.size()); + + cluster.insert(cluster.end(), newpts.begin(), newpts.begin() + c); + std::sort(cluster.begin(), cluster.end(), cmp_ptidx_elements); + + if(!newpts.empty() && (!max_points || cluster.size() < max_points)) + group(newpts, cluster); + } + }; + + std::vector<Elems> clusters; + for(auto it = sindex.begin(); it != sindex.end();) { + Elems cluster = {}; + Elems pts = {*it}; + group(pts, cluster); + + for(auto& c : cluster) sindex.remove(c); + it = sindex.begin(); + + clusters.emplace_back(cluster); + } + + ClusteredPoints result; + for(auto& cluster : clusters) { + result.emplace_back(); + for(auto c : cluster) result.back().emplace_back(c.second); + } + + return result; +} + +std::vector<PointIndexEl> distance_queryfn(const Index3D& sindex, + const PointIndexEl& p, + double dist, + unsigned max_points) +{ + std::vector<PointIndexEl> tmp; tmp.reserve(max_points); + sindex.query( + bgi::nearest(p.first, max_points), + std::back_inserter(tmp) + ); + + for(auto it = tmp.begin(); it < tmp.end(); ++it) + if((p.first - it->first).norm() > dist) it = tmp.erase(it); + + return tmp; +} + +} // namespace + +// Clustering a set of points by the given criteria +ClusteredPoints cluster( + const std::vector<unsigned>& indices, + std::function<Vec3d(unsigned)> pointfn, + double dist, + unsigned max_points) +{ + // A spatial index for querying the nearest points + Index3D sindex; + + // Build the index + for(auto idx : indices) sindex.insert( std::make_pair(pointfn(idx), idx)); + + return cluster(sindex, max_points, + [dist, max_points](const Index3D& sidx, const PointIndexEl& p) + { + return distance_queryfn(sidx, p, dist, max_points); + }); +} + +// Clustering a set of points by the given criteria +ClusteredPoints cluster( + const std::vector<unsigned>& indices, + std::function<Vec3d(unsigned)> pointfn, + std::function<bool(const PointIndexEl&, const PointIndexEl&)> predicate, + unsigned max_points) +{ + // A spatial index for querying the nearest points + Index3D sindex; + + // Build the index + for(auto idx : indices) sindex.insert( std::make_pair(pointfn(idx), idx)); + + return cluster(sindex, max_points, + [max_points, predicate](const Index3D& sidx, const PointIndexEl& p) + { + std::vector<PointIndexEl> tmp; tmp.reserve(max_points); + sidx.query(bgi::satisfies([p, predicate](const PointIndexEl& e){ + return predicate(p, e); + }), std::back_inserter(tmp)); + return tmp; + }); +} + +ClusteredPoints cluster(const Eigen::MatrixXd& pts, double dist, unsigned max_points) +{ + // A spatial index for querying the nearest points + Index3D sindex; + + // Build the index + for(Eigen::Index i = 0; i < pts.rows(); i++) + sindex.insert(std::make_pair(Vec3d(pts.row(i)), unsigned(i))); + + return cluster(sindex, max_points, + [dist, max_points](const Index3D& sidx, const PointIndexEl& p) + { + return distance_queryfn(sidx, p, dist, max_points); + }); +} + +}} // namespace Slic3r::sla |