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Optimize perimeter nesting algorithm to improve efficiency and reduce computational overhead #15

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111 changes: 62 additions & 49 deletions src/coverage_planner.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -318,6 +318,66 @@ slic3r_coverage_planner::Path determinePathForOutline(std_msgs::Header &header,
return path;
}

// New function to optimize perimeter nesting
void optimizePerimeterNesting(std::vector<PerimeterGeneratorLoops>& contours, std::vector<PerimeterGeneratorLoops>& holes) {
// Sort contours and holes by area (largest first) to improve nesting efficiency
auto sortByArea = [](const PerimeterGeneratorLoop& a, const PerimeterGeneratorLoop& b) {
return a.polygon.area() > b.polygon.area();
};
for (auto& contour_group : contours) {
std::sort(contour_group.begin(), contour_group.end(), sortByArea);
}
for (auto& hole_group : holes) {
std::sort(hole_group.begin(), hole_group.end(), sortByArea);
}

// Re-nest holes: for each hole, find the smallest containing contour
for (int d = 0; d < holes.size(); ++d) {
auto& holes_d = holes[d];
for (int i = 0; i < holes_d.size(); ++i) {
const auto& hole = holes_d[i];
bool nested = false;
for (int t = 0; t < contours.size(); ++t) {
for (auto& contour : contours[t]) {
if (contour.polygon.contains(hole.polygon.first_point())) {
contour.children.push_back(hole);
nested = true;
break;
}
}
if (nested) break;
}
if (nested) {
holes_d.erase(holes_d.begin() + i);
--i;
}
}
}

// Re-nest contours: for each contour, find the smallest containing contour
for (int d = contours.size() - 1; d >= 0; --d) {
auto& contours_d = contours[d];
for (int i = 0; i < contours_d.size(); ++i) {
const auto& contour = contours_d[i];
bool nested = false;
for (int t = 0; t < d; ++t) {
for (auto& parent : contours[t]) {
if (parent.polygon.contains(contour.polygon.first_point())) {
parent.children.push_back(contour);
nested = true;
break;
}
}
if (nested) break;
}
if (nested) {
contours_d.erase(contours_d.begin() + i);
--i;
}
}
}
}

bool planPath(slic3r_coverage_planner::PlanPathRequest &req, slic3r_coverage_planner::PlanPathResponse &res) {

Slic3r::Polygon outline_poly;
Expand Down Expand Up @@ -405,55 +465,8 @@ bool planPath(slic3r_coverage_planner::PlanPathRequest &req, slic3r_coverage_pla
}
}

// nest loops: holes first
for (int d = 0; d <= loop_number; ++d) {
PerimeterGeneratorLoops &holes_d = holes[d];

// loop through all holes having depth == d
for (int i = 0; i < (int) holes_d.size(); ++i) {
const PerimeterGeneratorLoop &loop = holes_d[i];

// find the hole loop that contains this one, if any
for (int t = d + 1; t <= loop_number; ++t) {
for (int j = 0; j < (int) holes[t].size(); ++j) {
PerimeterGeneratorLoop &candidate_parent = holes[t][j];
if (candidate_parent.polygon.contains(loop.polygon.first_point())) {
candidate_parent.children.push_back(loop);
holes_d.erase(holes_d.begin() + i);
--i;
goto NEXT_LOOP;
}
}
}

NEXT_LOOP:;
}
}

// nest contour loops
for (int d = loop_number; d >= 1; --d) {
PerimeterGeneratorLoops &contours_d = contours[d];

// loop through all contours having depth == d
for (int i = 0; i < (int) contours_d.size(); ++i) {
const PerimeterGeneratorLoop &loop = contours_d[i];

// find the contour loop that contains it
for (int t = d - 1; t >= 0; --t) {
for (size_t j = 0; j < contours[t].size(); ++j) {
PerimeterGeneratorLoop &candidate_parent = contours[t][j];
if (candidate_parent.polygon.contains(loop.polygon.first_point())) {
candidate_parent.children.push_back(loop);
contours_d.erase(contours_d.begin() + i);
--i;
goto NEXT_CONTOUR;
}
}
}

NEXT_CONTOUR:;
}
}
// After generating contours and holes, optimize nesting
optimizePerimeterNesting(contours, holes);

traverse_from_right(contours[0], area_outlines);
for (auto &hole: holes) {
Expand Down