Skip to content
GitLab
Verified Commit 2f284b53 authored by Tobias WEBER's avatar Tobias WEBER
Browse files

ensuring that retraction points are far enough from any wall

parent 98d2c09e
Hide whitespace changes
Inline Side-by-side
src/core/PathsBuilder.cpp
View file @ 2f284b53
......@@ -621,7 +621,7 @@ bool PathsBuilder::CalculateVoronoi(bool group_lines, VoronoiBackend backend,
std::string message{"Calculating Voronoi diagram..."};
(*m_sigProgress)(CalculationState::STEP_STARTED, 0, message);
// is the vector in a forbidden region?
// is the vertex in a forbidden region?
std::function<bool(const t_vec2&)> region_func = [this](const t_vec2& vec) -> bool
{
if(vec[0] < 0 || vec[1] < 0)
......@@ -640,6 +640,13 @@ bool PathsBuilder::CalculateVoronoi(bool group_lines, VoronoiBackend backend,
return false;
};
// validation function that checks if (voronoi) vertices are far enough from any wall
std::function<bool(const t_vec2&)> validation_func = [this](const t_vec2& vec) -> bool
{
t_real dist_to_walls = GetDistToNearestWall(vec);
return dist_to_walls >= m_min_angular_dist_to_walls;
};
geo::VoronoiLinesRegions<t_vec2, t_line> regions{};
regions.SetGroupLines(group_lines);
regions.SetRemoveVoronoiVertices(true);
......@@ -647,6 +654,7 @@ bool PathsBuilder::CalculateVoronoi(bool group_lines, VoronoiBackend backend,
regions.SetPointsOutsideRegions(&m_points_outside_regions);
regions.SetInvertedRegions(&m_inverted_regions);
regions.SetRegionFunc(use_region_function ? &region_func : nullptr);
regions.SetValidateFunc(&validation_func);
if(backend == VoronoiBackend::BOOST)
{
......@@ -662,6 +670,12 @@ bool PathsBuilder::CalculateVoronoi(bool group_lines, VoronoiBackend backend,
m_lines, m_eps, m_voroedge_eps, &regions);
}
#endif
else
{
// invalid backend selected
(*m_sigProgress)(CalculationState::FAILED, 1, message);
return false;
}
(*m_sigProgress)(CalculationState::STEP_SUCCEEDED, 1, message);
return true;
......@@ -851,6 +865,7 @@ InstrumentPath PathsBuilder::FindPath(
return path;
}
// convert angles to degrees
a2_i *= 180. / tl2::pi<t_real>;
a4_i *= 180. / tl2::pi<t_real>;
......@@ -964,22 +979,9 @@ InstrumentPath PathsBuilder::FindPath(
const t_vec2& vertex1 = voro_vertices[idx1];
const t_vec2& vertex2 = voro_vertices[idx2];
// get the wall vertices that are closest to the current voronoi vertices
auto nearest_vertices1 = m_wallsindextree.Query(vertex1, 1);
auto nearest_vertices2 = m_wallsindextree.Query(vertex2, 1);
if(nearest_vertices1.size()<1 || nearest_vertices2.size()<1)
return weight;
// get angular coordinates
t_vec2 vertex1_angle = this->PixelToAngle(vertex1);
t_vec2 vertex2_angle = this->PixelToAngle(vertex2);
t_vec2 nearest_vertex1_angle = this->PixelToAngle(nearest_vertices1[0]);
t_vec2 nearest_vertex2_angle = this->PixelToAngle(nearest_vertices2[0]);
// get minimum angular distances
t_real dist1 = GetPathLength(nearest_vertex1_angle - vertex1_angle);
t_real dist2 = GetPathLength(nearest_vertex2_angle - vertex2_angle);
// get the distances to the wall vertices that are closest to the current voronoi vertices
t_real dist1 = GetDistToNearestWall(vertex1);
t_real dist2 = GetDistToNearestWall(vertex2);
t_real min_dist = std::min(dist1, dist2);
// modify edge weights using the minimum distance to the next wall
......@@ -1057,6 +1059,7 @@ InstrumentPath PathsBuilder::FindPath(
const t_vec2& vert1 = voro_vertices[idx1];
const t_vec2& vert2 = voro_vertices[idx2];
// if the voronoi vertices belong to a linear bisector,
// find the closest point by projecting 'vec' onto it
t_real param_lin = -1;
......@@ -1065,16 +1068,90 @@ InstrumentPath PathsBuilder::FindPath(
{
t_vec2 dir = vert2 - vert1;
t_real dir_len = tl2::norm<t_vec2>(dir);
// the query point lies on the voronoi vertex
if(dir_len < m_eps_angular)
return std::make_tuple(0, 0, true);
dir /= dir_len;
auto [ptProj, _dist_lin, paramProj] =
auto [_ptProj, _dist_lin, paramProj] =
tl2::project_line<t_vec2, t_real>(
vec, vert1, dir, true);
param_lin = paramProj / dir_len;
dist_lin = _dist_lin;
// look for another parameter if the projected vertex is too close to a wall
t_real new_param_lin = param_lin;
bool new_param_found = false;
const t_real delta_param = 0.025;
// initial distance to walls
//t_vec2 vertex_1 = vert1 + dir*new_param_lin*dir_len;
t_real dist_to_walls_1 = GetDistToNearestWall(/*vertex_1*/ _ptProj);
// direction for parameter search
const t_real param_range[2] = { -1., 1. };
bool increase_param = true;
if(new_param_lin < param_range[0])
increase_param = true;
else if(new_param_lin > param_range[1])
increase_param = false;
else
{
// find direction for parameter search which decreases the distance to the walls
t_vec2 vertex_2 = vert1 + dir*(new_param_lin + delta_param)*dir_len;
t_real dist_to_walls_2 = GetDistToNearestWall(vertex_2);
increase_param = (dist_to_walls_2 > dist_to_walls_1);
}
while(dist_to_walls_1 < m_min_angular_dist_to_walls)
{
if(increase_param)
new_param_lin += delta_param;
else
new_param_lin -= delta_param;
// vertex is far enough from any wall?
t_vec2 new_vertex = vert1 + dir*new_param_lin*dir_len;
t_real dist_to_walls = GetDistToNearestWall(new_vertex);
// found a better position?
if(dist_to_walls > dist_to_walls_1)
{
new_param_found = true;
// out of critical distance?
if(dist_to_walls >= m_min_angular_dist_to_walls)
break;
}
// not yet in target range?
if((increase_param && new_param_lin < param_range[0]) ||
(!increase_param && new_param_lin > param_range[1]))
continue;
// end of parameter search?
if(new_param_lin > param_range[1] || new_param_lin < param_range[0])
break;
}
// a new parameter farther from the walls has been found
if(new_param_found)
{
new_param_lin = tl2::clamp<t_real>(new_param_lin, param_range[0], param_range[1]);
t_vec2 new_vertex = vert1 + dir*new_param_lin*dir_len;
param_lin = new_param_lin;
dist_lin = tl2::norm<t_vec2>(new_vertex-vec);
}
}
// if the voronoi vertices belong to a quadratic bisector,
// find the closest vertex along its segment
t_real param_quadr = -1;
......@@ -1096,6 +1173,12 @@ InstrumentPath PathsBuilder::FindPath(
t_real dist2 = tl2::inner<t_vec2>(path_vertex-vec, path_vertex-vec);
if(dist2 < min_dist2)
{
t_real dist_to_walls = GetDistToNearestWall(path_vertex);
// reject vertex if the minimum distance to the walls is undercut
if(dist_to_walls < m_min_angular_dist_to_walls)
continue;
min_dist2 = dist2;
min_idx = vertidx;
}
......@@ -1108,6 +1191,7 @@ InstrumentPath PathsBuilder::FindPath(
param_quadr = 1. - param_quadr;
}
if(dist_lin < dist_quadr)
return std::make_tuple(param_lin, dist_lin, true);
else
......@@ -1115,6 +1199,7 @@ InstrumentPath PathsBuilder::FindPath(
};
// find the retractionn points from the start/end point towards the path mesh
if(path.voronoi_indices.size() >= 2)
{
// find closest start point
......@@ -1157,6 +1242,7 @@ InstrumentPath PathsBuilder::FindPath(
path.param_i = tl2::clamp<t_real>(path.param_i, 0., 1.);
path.is_linear_i = is_linear_bisector_begin;
// find closest end point
std::size_t vert_idx1_end = *(path.voronoi_indices.rbegin()+1);
std::size_t vert_idx2_end = *path.voronoi_indices.rbegin();
......@@ -1196,12 +1282,35 @@ InstrumentPath PathsBuilder::FindPath(
path.is_linear_f = is_linear_bisector_end;
}
return path;
}
/**
* get the angular distance of a vertex to the nearest wall
*/
t_real PathsBuilder::GetDistToNearestWall(const t_vec2& vertex, bool deg) const
{
// get the wall vertices that are closest to the given vertex
if(auto nearest_walls = m_wallsindextree.Query(vertex, 1); nearest_walls.size() >= 1)
{
// get angular distance to wall
t_vec2 angle = PixelToAngle(vertex, deg, false);
t_vec2 nearest_wall_angle = PixelToAngle(nearest_walls[0], false, false);
t_real dist = GetPathLength(nearest_wall_angle - angle);
return dist;
}
// no wall found
return std::numeric_limits<t_real>::max();
}
/**
* get individual vertices on an instrument path
* (in angular coordinates)
*/
std::vector<t_vec2> PathsBuilder::GetPathVertices(
const InstrumentPath& path, bool subdivide_lines, bool deg) const
......@@ -1449,7 +1558,8 @@ std::vector<t_vec2> PathsBuilder::GetPathVertices(
}
}
if(minimum_found && !DoesDirectPathCollide(path_vertices[start_idx], path_vertices[min_idx], deg))
if(minimum_found &&
!DoesDirectPathCollide(path_vertices[start_idx], path_vertices[min_idx], deg))
{
// a shortcut was found
path_vertices.erase(path_vertices.begin()+min_idx+1, path_vertices.begin()+start_idx);
......@@ -1499,17 +1609,11 @@ bool PathsBuilder::DoesDirectPathCollide(const t_vec2& vert1, const t_vec2& vert
// look for the closest wall
t_vec2 pix = tl2::create<t_vec2>({t_real(x), t_real(y)});
if(auto nearest_walls = m_wallsindextree.Query(pix, 1); nearest_walls.size() >= 1)
{
// get angular distance to wall
t_vec2 angle = PixelToAngle(pix, false, false);
t_vec2 nearest_wall_angle = PixelToAngle(nearest_walls[0], false, false);
t_real dist = GetPathLength(nearest_wall_angle - angle);
// reject path if the minimum distance to the walls is undercut
if(dist < m_min_angular_dist_to_walls)
return true;
}
t_real dist_to_walls = GetDistToNearestWall(pix);
// reject path if the minimum distance to the walls is undercut
if(dist_to_walls < m_min_angular_dist_to_walls)
return true;
last_x = x;
last_y = y;
......
src/core/PathsBuilder.h
View file @ 2f284b53
......@@ -49,7 +49,7 @@ struct InstrumentPath
// path mesh ok?
bool ok = false;
// initial and final vertices on path
// initial and final vertices on path (in pixel coordinates)
t_vec2 vec_i;
t_vec2 vec_f;
......@@ -122,6 +122,9 @@ protected:
// check if a direct path between the two vertices leads to a collision
bool DoesDirectPathCollide(const t_vec2& vert1, const t_vec2& vert2, bool deg = false) const;
// get the angular distance of a vertex to the nearest wall
t_real GetDistToNearestWall(const t_vec2& vertex, bool deg = false) const;
public:
PathsBuilder();
......@@ -292,7 +295,7 @@ private:
t_real m_monoScatteringRange[2]{0, tl2::pi<t_real>};
t_real m_sampleScatteringRange[2]{0, tl2::pi<t_real>};
// index tree for wall positions
// index tree for wall positions (in pixel coordinates)
geo::ClosestPixelTreeResults<t_contourvec> m_wallsindextree{};
// wall contours in configuration space
......
src/libs/voronoi_lines.h
View file @ 2f284b53
......@@ -6,7 +6,7 @@
* @license GPLv3, see 'LICENSE' file
*
* References for the algorithms:
* - (Klein 2005) R. Klein, "Algorithmische Geometrie" (2005),
* - (Klein 2005) R. Klein, "Algorithmische Geometrie" (2005),
* ISBN: 978-3540209560 (http://dx.doi.org/10.1007/3-540-27619-X).
* - (FUH 2020) R. Klein, C. Icking, "Algorithmische Geometrie" (2020),
* Kurs 1840, Fernuni Hagen (https://vu.fernuni-hagen.de/lvuweb/lvu/app/Kurs/1840).
......@@ -262,6 +262,19 @@ public:
}
/**
* call the external validation function on the vertex
* TODO: move this into its own option struct (and out of VoronoiLinesRegions)
*/
bool ValidateVertex(const t_vec& vert) const
{
if(!validate_func)
return true;
return (*validate_func)(vert);
}
// ------------------------------------------------------------------------
// getters & setters
// ------------------------------------------------------------------------
......@@ -277,6 +290,9 @@ public:
void SetPointsOutsideRegions(const std::vector<t_vec>* p) { points_outside_regions = p; }
void SetInvertedRegions(const std::vector<bool>* r) { inverted_regions = r; }
void SetRegionFunc(const std::function<bool(const t_vec& vert)>* f) { region_func = f; }
// TODO: move this into its own option struct (and out of VoronoiLinesRegions)
void SetValidateFunc(const std::function<bool(const t_vec& vert)>* f) { validate_func = f; }
// ------------------------------------------------------------------------
......@@ -293,6 +309,10 @@ private:
// alternate callback function for defining regions
const std::function<bool(const t_vec& vert)>* region_func = nullptr;
// external vertex validation function
// TODO: move this into its own option struct (and out of VoronoiLinesRegions)
const std::function<bool(const t_vec& vert)>* validate_func = nullptr;
};
......@@ -822,35 +842,51 @@ requires tl2::is_vec<t_vec> && is_graph<t_graph>
const auto* vert1 = edge.vertex1();
auto vert0idx = get_vertex_idx(vert0);
auto vert1idx = get_vertex_idx(vert1);
bool valid_vertices = vert0idx && vert1idx;
// line groups defined?
if(regions && regions->GetLineGroups()->size())
if(regions)
{
// get index of the segment
auto seg1idx = get_segment_idx(edge, false);
auto seg2idx = get_segment_idx(edge, true);
bool vert_1_invalid = false;
bool vert_2_invalid = false;
if(seg1idx && seg2idx)
// remove vertices that don't satisfy the external validation function
if(vert0idx && !regions->ValidateVertex(vertices[*vert0idx]))
vert_1_invalid = true;
if(vert1idx && !regions->ValidateVertex(vertices[*vert1idx]))
vert_2_invalid = true;
if(vert_1_invalid && vert_2_invalid)
continue;
// remove vertices inside regions
if(regions->GetLineGroups()->size())
{
// get the group index of the segments
auto region1 = get_group_idx(*seg1idx);
auto region2 = get_group_idx(*seg2idx);
// get index of the segment
auto seg1idx = get_segment_idx(edge, false);
auto seg2idx = get_segment_idx(edge, true);
if(regions->GetGroupLines())
if(seg1idx && seg2idx)
{
// are the generating line segments part of the same group?
// if so, ignore this voronoi edge and skip to next one
if(region1 && region2 && *region1 == *region2)
continue;
// get the group index of the segments
auto region1 = get_group_idx(*seg1idx);
auto region2 = get_group_idx(*seg2idx);
if(regions->GetGroupLines())
{
// are the generating line segments part of the same group?
// if so, ignore this voronoi edge and skip to next one
if(region1 && region2 && *region1 == *region2)
continue;
}
}
}
if(regions->IsVertexInRegion(lines,
vertices, vert0idx, vert1idx, eps))
continue;
if(regions->IsVertexInRegion(lines,
vertices, vert0idx, vert1idx, eps))
continue;
}
}
bool valid_vertices = vert0idx && vert1idx;
if(valid_vertices)
{
// add edge to graph
......@@ -1268,7 +1304,7 @@ template<class t_vec,
class t_graph = AdjacencyMatrix<typename t_vec::value_type>,
class t_int = int>
VoronoiLinesResults<t_vec, t_line, t_graph>
calc_voro_cgal(const std::vector<t_line>& lines,
calc_voro_cgal(const std::vector<t_line>& lines,
typename t_vec::value_type eps = std::sqrt(std::numeric_limits<typename t_vec::value_type>::epsilon()),
typename t_vec::value_type para_edge_eps = 1e-2,
const VoronoiLinesRegions<t_vec, t_line>* regions = nullptr)
......@@ -1440,11 +1476,27 @@ requires tl2::is_vec<t_vec> && is_graph<t_graph>
bool valid_vertices = vert0idx && vert1idx;
// line groups defined?
if(regions && regions->GetLineGroups()->size())
if(regions)
{
if(regions->IsVertexInRegion(lines,
vertices, vert0idx, vert1idx, eps))
bool vert_1_invalid = false;
bool vert_2_invalid = false;
// remove vertices that don't satisfy the external validation function
if(vert0idx && !regions->ValidateVertex(vertices[*vert0idx]))
vert_1_invalid = true;
if(vert1idx && !regions->ValidateVertex(vertices[*vert1idx]))
vert_2_invalid = true;
if(vert_1_invalid && vert_2_invalid)
continue;
// remove vertices inside regions
if(regions->GetLineGroups()->size())
{
if(regions->IsVertexInRegion(lines,
vertices, vert0idx, vert1idx, eps))
continue;
}
}
if(valid_vertices)
......@@ -1498,11 +1550,27 @@ requires tl2::is_vec<t_vec> && is_graph<t_graph>
bool valid_vertices = vert0idx && vert1idx;
// line groups defined?
if(regions && regions->GetLineGroups()->size())
if(regions)
{
if(regions->IsVertexInRegion(lines,
vertices, vert0idx, vert1idx, eps))
bool vert_1_invalid = false;
bool vert_2_invalid = false;
// remove vertices that don't satisfy the external validation function
if(vert0idx && !regions->ValidateVertex(vertices[*vert0idx]))
vert_1_invalid = true;
if(vert1idx && !regions->ValidateVertex(vertices[*vert1idx]))
vert_2_invalid = true;
if(vert_1_invalid && vert_2_invalid)
continue;
// remove vertices inside regions
if(regions->GetLineGroups()->size())
{
if(regions->IsVertexInRegion(lines,
vertices, vert0idx, vert1idx, eps))
continue;
}
}
// add graph edges
......@@ -1543,11 +1611,27 @@ requires tl2::is_vec<t_vec> && is_graph<t_graph>
bool valid_vertices = vert0idx && vert1idx;
// line groups defined?
if(regions && regions->GetLineGroups()->size())
if(regions)
{
if(regions->IsVertexInRegion(lines,
vertices, vert0idx, vert1idx, eps))
bool vert_1_invalid = false;
bool vert_2_invalid = false;
// remove vertices that don't satisfy the external validation function
if(vert0idx && !regions->ValidateVertex(vertices[*vert0idx]))
vert_1_invalid = true;
if(vert1idx && !regions->ValidateVertex(vertices[*vert1idx]))
vert_2_invalid = true;
if(vert_1_invalid && vert_2_invalid)
continue;
// remove vertices inside regions
if(regions->GetLineGroups()->size())
{
if(regions->IsVertexInRegion(lines,
vertices, vert0idx, vert1idx, eps))
continue;
}
}
// add graph edges
......
Supports Markdown
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment