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Allow bypassing averaging of normals #217

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Allow bypassing averaging of normals #217

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5731114
Allow bypassing averaging of normals
Jan 25, 2023
aa4dc50
Pass clang format
Jan 24, 2024
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65 changes: 40 additions & 25 deletions noether_tpp/src/tool_path_planners/raster/plane_slicer_raster_planner.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -25,6 +25,7 @@
#include <vtkPoints.h>
#include <vtkPolyData.h>
#include <vtkPolyDataNormals.h>
#include <vtkGenericCell.h>
#include <vtkSmartPointer.h>
#include <vtkStripper.h>

Expand Down Expand Up @@ -338,7 +339,8 @@ noether::ToolPaths convertToPoses(const std::vector<RasterConstructData>& raster
bool insertNormals(const double search_radius,
vtkSmartPointer<vtkPolyData>& mesh_data_,
vtkSmartPointer<vtkKdTreePointLocator>& kd_tree_,
vtkSmartPointer<vtkPolyData>& data)
vtkSmartPointer<vtkPolyData>& data,
vtkSmartPointer<vtkCellLocator>& cell_locator_)
{
// Find closest cell to each point and uses its normal vector
vtkSmartPointer<vtkDoubleArray> new_normals = vtkSmartPointer<vtkDoubleArray>::New();
Expand All @@ -358,39 +360,52 @@ bool insertNormals(const double search_radius,
{
// locate closest cell
Eigen::Vector3d query_point;
vtkSmartPointer<vtkIdList> id_list = vtkSmartPointer<vtkIdList>::New();
data->GetPoints()->GetPoint(i, query_point.data());
kd_tree_->FindPointsWithinRadius(search_radius, query_point.data(), id_list);
if (id_list->GetNumberOfIds() < 1)
{
kd_tree_->FindClosestNPoints(1, query_point.data(), id_list);

if (search_radius > 0.0)
{
vtkSmartPointer<vtkIdList> id_list = vtkSmartPointer<vtkIdList>::New();
kd_tree_->FindPointsWithinRadius(search_radius, query_point.data(), id_list);
if (id_list->GetNumberOfIds() < 1)
{
return false;
}
}
kd_tree_->FindClosestNPoints(1, query_point.data(), id_list);

// compute normal average
normal_vect = Eigen::Vector3d::Zero();
std::size_t num_normals = 0;
for (auto p = 0; p < id_list->GetNumberOfIds(); p++)
{
Eigen::Vector3d temp_normal, query_point, closest_point;
vtkIdType p_id = id_list->GetId(p);
if (id_list->GetNumberOfIds() < 1)
{
return false;
}
}

if (p_id < 0)
// compute normal average
normal_vect = Eigen::Vector3d::Zero();
std::size_t num_normals = 0;
for (auto p = 0; p < id_list->GetNumberOfIds(); p++)
{
continue;
Eigen::Vector3d temp_normal, query_point, closest_point;
vtkIdType p_id = id_list->GetId(p);

if (p_id < 0)
{
continue;
}

// get normal and add it to average
normal_data->GetTuple(p_id, temp_normal.data());
normal_vect += temp_normal.normalized();
num_normals++;
}

// get normal and add it to average
normal_data->GetTuple(p_id, temp_normal.data());
normal_vect += temp_normal.normalized();
num_normals++;
normal_vect /= num_normals;
}
else
{
Eigen::Vector3d closest_point;
vtkIdType cellId;
int subid;
double dist2;
cell_locator_->FindClosestPoint(query_point.data(), closest_point.data(), cellId, subid, dist2);
mesh_data_->GetCellData()->GetNormals()->GetTuple(cellId, normal_vect.data());
}

normal_vect /= num_normals;
normal_vect.normalize();

// save normal
Expand Down Expand Up @@ -615,7 +630,7 @@ ToolPaths PlaneSlicerRasterPlanner::planImpl(const pcl::PolygonMesh& mesh) const
segment_data->SetPoints(new_points);

// inserting normals
if (!insertNormals(search_radius_, mesh_data_, kd_tree_, segment_data))
if (!insertNormals(search_radius_, mesh_data_, kd_tree_, segment_data, cell_locator_))
{
throw std::runtime_error("Could not insert normals for segment " + std::to_string(r.raster_segments.size()) +
" of raster " + std::to_string(i));
Expand Down
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