├── .github
└── ISSUE_TEMPLATE
│ └── bug_report.md
├── .gitignore
├── Backtransformation_GCode.py
├── CODE_OF_CONDUCT.md
├── LICENSE.md
├── README.md
├── Scripts for Variable Angle
├── Backtransformation_GCode_var_angle.py
└── Transformation_STL_var_angle.py
└── Transformation_STL.py
/.github/ISSUE_TEMPLATE/bug_report.md:
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1 | ---
2 | name: Bug report
3 | about: Create a report to help us improve
4 | title: ''
5 | labels: ''
6 | assignees: ''
7 |
8 | ---
9 |
10 | **Describe the bug**
11 | A clear and concise description of what the bug is.
12 |
13 | **To Reproduce**
14 | Steps to reproduce the behavior:
15 | 1. Go to '...'
16 | 2. Click on '....'
17 | 3. Scroll down to '....'
18 | 4. See error
19 |
20 | **Expected behavior**
21 | A clear and concise description of what you expected to happen.
22 |
23 | **Screenshots**
24 | If applicable, add screenshots to help explain your problem.
25 |
26 | **Desktop (please complete the following information):**
27 | - OS: [e.g. iOS]
28 | - Browser [e.g. chrome, safari]
29 | - Version [e.g. 22]
30 |
31 | **Smartphone (please complete the following information):**
32 | - Device: [e.g. iPhone6]
33 | - OS: [e.g. iOS8.1]
34 | - Browser [e.g. stock browser, safari]
35 | - Version [e.g. 22]
36 |
37 | **Additional context**
38 | Add any other context about the problem here.
39 |
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/.gitignore:
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1 |
2 | *.gcode
3 | *.stl
4 |
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/Backtransformation_GCode.py:
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1 | import re
2 | import numpy as np
3 | import os
4 | import time
5 |
6 |
7 | def insert_Z(row, z_value):
8 | """
9 | Insert or replace the z-value in a row. The new z-value must be given.
10 | :param row: string
11 | String containing the row, in which a z-value has to be inserted or replaced
12 | :param z_value: float
13 | New z-value, which should be inserted
14 | :return: string
15 | New string, containing the row with replaced z-value
16 | """
17 | pattern_X = r'X[-0-9]+[.]?[0-9]*'
18 | pattern_Y = r'Y[-0-9]+[.]?[0-9]*'
19 | pattern_Z = r'Z[-0-9]+[.]?[0-9]*'
20 | match_x = re.search(pattern_X, row)
21 | match_y = re.search(pattern_Y, row)
22 | match_z = re.search(pattern_Z, row)
23 |
24 | if match_z is not None:
25 | row_new = re.sub(pattern_Z, ' Z' + str(round(z_value, 3)), row)
26 | else:
27 | if match_y is not None:
28 | row_new = row[0:match_y.end(0)] + ' Z' + str(round(z_value, 3)) + row[match_y.end(0):]
29 | elif match_x is not None:
30 | row_new = row[0:match_x.end(0)] + ' Z' + str(round(z_value, 3)) + row[match_x.end(0):]
31 | else:
32 | row_new = 'Z' + str(round(z_value, 3)) + ' ' + row
33 | return row_new
34 |
35 |
36 | def replace_E(row, dist_old, dist_new, corr_value):
37 | """
38 | Replace the amount of extruded filament in a row. The new amount is proportional to the old amount, where
39 | the factor is obtained by the ratio of new distance to old distance. (Due to the transformation, the amount has to
40 | be divided by sqrt(2). replace_E is accessed 2 times.)
41 | :param row: string
42 | String containing the row, of which the extruder value should be replaced
43 | :param dist_old: float
44 | Length of the distance before backtransformation
45 | :param dist_new: float
46 | Length of the distance after backtransformation
47 | :param corr_value: float
48 | additional correction value due to transformation # added to have additional possiblity to correct amount of
49 | extruded material
50 | :return: string
51 | New string, containing the row with replaced extruder value
52 | """
53 | pattern_E = r'E[-0-9]+[.]?[0-9]*'
54 | match_e = re.search(pattern_E, row)
55 | if match_e is None:
56 | return row
57 | e_val_old = float(match_e.group(0).replace('E', ''))
58 | if dist_old == 0:
59 | e_val_new = 0
60 | else:
61 | e_val_new = round(e_val_old * dist_new * corr_value / dist_old, 6)
62 | e_str_new = 'E' + str(e_val_new)
63 | row_new = row[0:match_e.start(0)] + e_str_new + row[match_e.end(0):]
64 | return row_new
65 |
66 |
67 | def compute_angle_radial(x_new, y_new, inward_cone):
68 | """
69 | Compute the angle of the printing head, when moving from an old point [x_old, y_old] to a new point [x_new, y_new].
70 | (Note: the z-value is not considered for the orientation of the printing head.) The direction is given by the
71 | direction of the new point by the arctan2 value according to the coordinates.
72 | :param x_new: float
73 | x-coordinate of the new point
74 | :param y_new: float
75 | y-coordinate of the new point
76 | :param inward_cone: bool
77 | Boolean variable, which depends on the kind of transformation. If True, an additional angle of pi is added to
78 | the angle.
79 | :return: float
80 | Angle, which describes orientation of printing head. Its value lies in [-pi, pi].
81 | """
82 | angle = np.arctan2(y_new, x_new)
83 | if inward_cone:
84 | angle = angle + np.pi
85 | return angle
86 |
87 |
88 | def compute_angle_tangential(x_old, y_old, x_new, y_new, inward_cone):
89 | """
90 | Compute the angle of the printing head, when moving from an old point [x_old, y_old] to a new point [x_new, y_new].
91 | (Note: the z-value is not considered for the orientation of the printing head.) The direction is normal to the
92 | movement of direction, such that the printing head will point to the origin.
93 | x-coordinate of the old point
94 | :param x_old: float
95 | x-coordinate of the old point
96 | :param y_old: float
97 | y-coordinate of the old point
98 | :param x_new: float
99 | x-coordinate of the new point
100 | :param y_new: float
101 | y-coordinate of the new point
102 | :param inward_cone: bool
103 | Boolean variable, which depends on the kind of transformation. If True, an additional angle of pi is added to
104 | the angle.
105 | :return: float
106 | Angle, which describes orientation of printing head. Its value lies in [-pi, pi].
107 | """
108 | direction_normal = np.array([-(y_new - y_old), x_new - x_old])
109 | len_normal = np.linalg.norm(direction_normal)
110 | direction_point = np.array([x_new, y_new])
111 | len_point = np.linalg.norm(direction_point)
112 | if len_normal * len_point == 0:
113 | angle = np.arctan2(y_new, x_new)
114 | else:
115 | inner_prod = np.dot(direction_normal / len_normal, direction_point / len_point)
116 | if np.isclose(inner_prod, 0, atol=0.01):
117 | angle = np.arctan2(direction_normal[1], direction_normal[0])
118 | else:
119 | printhead_direction = inner_prod * len_point / len_normal * direction_normal
120 | angle = np.arctan2(printhead_direction[1], printhead_direction[0])
121 |
122 | if inward_cone:
123 | angle = angle + np.pi
124 |
125 | return angle
126 |
127 |
128 | def compute_U_values(angle_array):
129 | """
130 | Compute the U-values, which will be inserted, according to given angle values. The U-values are computed such that
131 | there are no changes larger than 180. The range of the U-values is [-3600-180, 3600+180].
132 | :param angle_array: array
133 | Array, which contains the angle values in radian
134 | :return array
135 | Array, which contains U-values in degrees
136 | """
137 | angle_candidates = np.around(np.array([angle_array + k * 2 * np.pi for k in range(-10, 11)]).T, 4)
138 | angle_insert = [angle_array[0]]
139 | for i in range(1, len(angle_array)):
140 | angle_prev = angle_insert[i - 1]
141 | idx = np.argmin(np.absolute(angle_candidates[i] - angle_prev))
142 | angle_insert.append(angle_candidates[i, idx])
143 |
144 | angle_insert = np.round(np.array(angle_insert) * 360 / (2 * np.pi), 2)
145 |
146 | return angle_insert
147 |
148 |
149 | def insert_U(row, angle):
150 | """
151 | Insert or replace the U-value in a row, where the U-values describes the orientation of the printing head.
152 | :param row: string
153 | String containing the row, in which a U-value has to be inserted or replaced
154 | :param angle: float
155 | Value of the angle, which is inserted or replaces the old U-value
156 | :return: string
157 | New string, containing the row with replaced U-value
158 | """
159 | pattern_Z = r'Z[-0-9]+[.]?[0-9]*'
160 | match_z = re.search(pattern_Z, row)
161 | pattern_U = r'U[-0-9]+[.]?[0-9]*'
162 | match_u = re.search(pattern_U, row)
163 |
164 | if match_u is None:
165 | row_new = row[0:match_z.end(0)] + ' U' + str(angle) + row[match_z.end(0):]
166 | else:
167 | row_new = re.sub(pattern_U, 'U' + str(angle), row)
168 |
169 | return row_new
170 |
171 |
172 | def backtransform_data_radial(data, cone_type, maximal_length):
173 | """
174 | Backtransform G-Code, which is given in a list, each element describing a row. Rows which describe a movement
175 | are detected, x-, y-, z-, E- and U-values are replaced accordingly to the transformation. If a original segment
176 | is too long, it gets divided into sub-segments before the backtransformation. The U-values are computed
177 | using the function compute_angle_radial. (Added, that while travel moves, nozzle only rises 1 mm above highest
178 | printed point and not along cone.)
179 | :param data: list
180 | List of strings, describing each line of the GCode, which is to be backtransformed
181 | :param cone_type: string
182 | String, either 'outward' or 'inward', defines which transformation should be used
183 | :param maximal_length: float
184 | Maximal length of a segment in the original GCode; every longer segment is divided, such that the resulting
185 | segments are shorter than maximal_length
186 | :return: list
187 | List of strings, which describe the new GCode.
188 | """
189 | new_data = []
190 | pattern_X = r'X[-0-9]+[.]?[0-9]*'
191 | pattern_Y = r'Y[-0-9]+[.]?[0-9]*'
192 | pattern_Z = r'Z[-0-9]+[.]?[0-9]*'
193 | pattern_E = r'E[-0-9]+[.]?[0-9]*'
194 | pattern_G = r'\AG[01] '
195 |
196 | x_old, y_old = 0, 0
197 | x_new, y_new = 0, 0
198 | z_layer = 0
199 | angle_old = 0
200 | z_max = 0
201 | update_x, update_y = False, False
202 | if cone_type == 'outward':
203 | c = -1
204 | inward_cone = False
205 | elif cone_type == 'inward':
206 | c = 1
207 | inward_cone = True
208 | else:
209 | raise ValueError('{} is not a admissible type for the transformation'.format(cone_type))
210 |
211 | for row in data:
212 |
213 | g_match = re.search(pattern_G, row)
214 | if g_match is None:
215 | new_data.append(row)
216 |
217 | else:
218 | x_match = re.search(pattern_X, row)
219 | y_match = re.search(pattern_Y, row)
220 | z_match = re.search(pattern_Z, row)
221 | if x_match is None and y_match is None and z_match is None:
222 | new_data.append(row)
223 |
224 | else:
225 | if z_match is not None:
226 | z_layer = float(z_match.group(0).replace('Z', ''))
227 | if x_match is not None:
228 | x_new = float(x_match.group(0).replace('X', ''))
229 | update_x = True
230 | if y_match is not None:
231 | y_new = float(y_match.group(0).replace('Y', ''))
232 | update_y = True
233 |
234 | # Compute new distance and angle according to new row
235 | e_match = re.search(pattern_E, row)
236 | x_old_bt, x_new_bt = x_old / np.sqrt(2), x_new / np.sqrt(2)
237 | y_old_bt, y_new_bt = y_old / np.sqrt(2), y_new / np.sqrt(2)
238 | dist_transformed = np.linalg.norm([x_new - x_old, y_new - y_old])
239 |
240 | # Compute new values for backtransformation of row
241 | num_segm = int(dist_transformed // maximal_length + 1)
242 | x_vals = np.linspace(x_old_bt, x_new_bt, num_segm + 1)
243 | y_vals = np.linspace(y_old_bt, y_new_bt, num_segm + 1)
244 | if inward_cone and e_match is None and (update_x or update_y):
245 | z_start = z_layer + c * np.sqrt(x_old_bt ** 2 + y_old_bt ** 2)
246 | z_end = z_layer + c * np.sqrt(x_new_bt ** 2 + y_new_bt ** 2)
247 | z_vals = np.linspace(z_start, z_end, num_segm + 1)
248 | else:
249 | z_vals = np.array([z_layer + c * np.sqrt(x ** 2 + y ** 2) for x, y in zip(x_vals, y_vals)])
250 | if e_match and (np.max(z_vals) > z_max or z_max == 0):
251 | z_max = np.max(z_vals) # save hightes point with material extruded
252 | if e_match is None and np.max(z_vals) > z_max:
253 | np.minimum(z_vals, (z_max + 1),
254 | z_vals) # cut away all travel moves, that are higher than max height extruded + 1 mm safety
255 | # das hier könnte noch verschönert werden, in dem dann eine alle abgeschnittenen Werte mit einer einer geraden Linie ersetzt werden
256 |
257 | angle_new = compute_angle_radial(x_old_bt, y_old_bt, inward_cone)
258 |
259 | angle_vals = np.array(
260 | [angle_old] + [compute_angle_radial(x_vals[k], y_vals[k], inward_cone)
261 | for k in range(0, num_segm)])
262 | u_vals = compute_U_values(angle_vals)
263 | distances_transformed = dist_transformed / num_segm * np.ones(num_segm)
264 | distances_bt = np.array(
265 | [np.linalg.norm([x_vals[i] - x_vals[i - 1], y_vals[i] - y_vals[i - 1], z_vals[i] - z_vals[i - 1]])
266 | for i in range(1, num_segm + 1)])
267 |
268 | # Replace new row with num_seg new rows for movements and possible command rows for the U value
269 | row = insert_Z(row, z_vals[0])
270 | row = replace_E(row, num_segm, 1, 1 / np.sqrt(2))
271 | replacement_rows = ''
272 | for j in range(0, num_segm):
273 | single_row = re.sub(pattern_X, 'X' + str(round(x_vals[j + 1], 3)), row)
274 | single_row = re.sub(pattern_Y, 'Y' + str(round(y_vals[j + 1], 3)), single_row)
275 | single_row = re.sub(pattern_Z, 'Z' + str(round(z_vals[j + 1], 3)), single_row)
276 | single_row = replace_E(single_row, distances_transformed[j], distances_bt[j], 1)
277 | if np.abs(u_vals[j + 1] - u_vals[j]) <= 30:
278 | single_row = insert_U(single_row, u_vals[j + 1])
279 | else:
280 | single_row = 'G1 E-0.800 \n' + 'G1 U' + str(u_vals[j + 1]) + ' \n' + 'G1 E0.800 \n' + single_row
281 | replacement_rows = replacement_rows + single_row
282 | if np.amax(np.absolute(u_vals)) > 3600:
283 | angle_reset = np.round(angle_vals[-1] * 360 / (2 * np.pi), 2)
284 | replacement_rows = replacement_rows + 'G92 U' + str(angle_reset) + '\n'
285 | angle_old = angle_new
286 | else:
287 | angle_old = u_vals[-1] * 2 * np.pi / 360
288 | row = replacement_rows
289 |
290 | if update_x:
291 | x_old = x_new
292 | update_x = False
293 | if update_y:
294 | y_old = y_new
295 | update_y = False
296 | new_data.append(row)
297 |
298 | return new_data
299 |
300 |
301 | def backtransform_data_tangential(data, cone_type, maximal_length):
302 | """
303 | Backtransform GCode, which is given in a list, each element describing a row. Rows which describe a movement
304 | are detected, x-, y-, z-, e- and U-values are replaced accordingly to the transformation. If a original segment
305 | is too long, it gets divided into sub-segments before the backtransformation. The U-values are computed
306 | using the function compute_angle_tangential.
307 | :param data: list
308 | List of strings, describing each line of the GCode, which is to be backtransformed
309 | :param cone_type: string
310 | String, either 'outward' or 'inward', defines which transformation should be used
311 | :param maximal_length: float
312 | Maximal length of a segment in the original GCode; every longer segment is divided, such that the resulting
313 | segments are shorter than maximal_length
314 | :return: list
315 | List of strings, which describe the new GCode.
316 | """
317 | new_data = []
318 | pattern_X = r'X[-0-9]+[.]?[0-9]*'
319 | pattern_Y = r'Y[-0-9]+[.]?[0-9]*'
320 | pattern_Z = r'Z[-0-9]+[.]?[0-9]*'
321 | pattern_E = r'E[-0-9]+[.]?[0-9]*'
322 | pattern_G = r'\AG[01] '
323 |
324 | x_old, y_old = 0, 0
325 | x_new, y_new = 0, 0
326 | z_layer = 0
327 | angle_old = 0
328 | z_max = 0
329 |
330 | update_x, update_y = False, False
331 | if cone_type == 'outward':
332 | c = -1
333 | inward_cone = False
334 | elif cone_type == 'inward':
335 | c = 1
336 | inward_cone = True
337 | else:
338 | raise ValueError('{} is not a admissible type for the transformation'.format(cone_type))
339 |
340 | for row in data:
341 |
342 | g_match = re.search(pattern_G, row)
343 | if g_match is None:
344 | new_data.append(row)
345 |
346 | else:
347 | x_match = re.search(pattern_X, row)
348 | y_match = re.search(pattern_Y, row)
349 | z_match = re.search(pattern_Z, row)
350 |
351 | if x_match is None and y_match is None and z_match is None:
352 | new_data.append(row)
353 |
354 | else:
355 | if z_match is not None:
356 | z_layer = float(z_match.group(0).replace('Z', ''))
357 | if x_match is not None:
358 | x_new = float(x_match.group(0).replace('X', ''))
359 | update_x = True
360 | if y_match is not None:
361 | y_new = float(y_match.group(0).replace('Y', ''))
362 | update_y = True
363 |
364 | # Compute new values according to new row
365 | e_match = re.search(pattern_E, row)
366 | x_old_bt, y_old_bt = x_old / np.sqrt(2), y_old / np.sqrt(2)
367 | x_new_bt, y_new_bt = x_new / np.sqrt(2), y_new / np.sqrt(2)
368 | dist_transformed = np.linalg.norm([x_new - x_old, y_new - y_old])
369 | if update_x or update_y:
370 | angle_new = compute_angle_tangential(x_old_bt, y_old_bt, x_new_bt, y_new_bt, inward_cone)
371 | else:
372 | angle_new = angle_old
373 |
374 | # Compute new values for backtransformation of row
375 | num_segm = int(dist_transformed // maximal_length + 1)
376 | x_vals = np.linspace(x_old_bt, x_new_bt, num_segm + 1)
377 | y_vals = np.linspace(y_old_bt, y_new_bt, num_segm + 1)
378 | if inward_cone and e_match is None and (update_x or update_y):
379 | z_start = z_layer + c * np.sqrt(x_old_bt ** 2 + y_old_bt ** 2)
380 | z_end = z_layer + c * np.sqrt(x_new_bt ** 2 + y_new_bt ** 2)
381 | z_vals = np.linspace(z_start, z_end, num_segm + 1)
382 | else:
383 | z_vals = np.array([z_layer + c * np.sqrt(x ** 2 + y ** 2) for x, y in zip(x_vals, y_vals)])
384 | if e_match and (np.max(z_vals) > z_max or z_max == 0):
385 | z_max = np.max(z_vals) # save hightes point with material extruded
386 | if e_match is None and np.max(z_vals) > z_max:
387 | np.minimum(z_vals, (z_max + 1),
388 | z_vals) # cut away all travel moves, that are higher than max height extruded + 1 mm safety
389 | # das hier könnte noch verschönert werden, in dem dann alle abgeschnittenen Werte mit einer einer geraden Linie ersetzt werden
390 | angle_vals = np.array([angle_old] + [angle_new for k in range(0, num_segm)])
391 | u_vals = compute_U_values(angle_vals)
392 | distances_transformed = dist_transformed / num_segm * np.ones(num_segm)
393 | distances_bt = np.array(
394 | [np.linalg.norm([x_vals[i] - x_vals[i - 1], y_vals[i] - y_vals[i - 1], z_vals[i] - z_vals[i - 1]])
395 | for i in range(1, num_segm + 1)])
396 |
397 | # Replace new row with num_seg new rows for movements and possible command rows for the U value
398 | row = insert_Z(row, z_vals[0])
399 | row = replace_E(row, num_segm, 1, 1 / np.sqrt(2))
400 | replacement_rows = ''
401 | for j in range(0, num_segm):
402 | single_row = re.sub(pattern_X, 'X' + str(round(x_vals[j + 1], 3)), row)
403 | single_row = re.sub(pattern_Y, 'Y' + str(round(y_vals[j + 1], 3)), single_row)
404 | single_row = re.sub(pattern_Z, 'Z' + str(round(z_vals[j + 1], 3)), single_row)
405 | single_row = replace_E(single_row, distances_transformed[j], distances_bt[j], 1)
406 | if np.abs(u_vals[j + 1] - u_vals[j]) <= 30:
407 | single_row = insert_U(single_row, u_vals[j + 1])
408 | else:
409 | single_row = single_row + 'G1 E-0.800 \n' + 'G1 U' + str(u_vals[j + 1]) + ' \n' + 'G1 E0.800 \n'
410 | replacement_rows = replacement_rows + single_row
411 | if np.amax(np.absolute(u_vals)) > 3600:
412 | angle_reset = np.round(angle_vals[-1] * 360 / (2 * np.pi), 2)
413 | replacement_rows = replacement_rows + 'G92 U' + str(angle_reset) + '\n'
414 | angle_old = angle_new
415 | else:
416 | angle_old = u_vals[-1] * 2 * np.pi / 360
417 |
418 | row = replacement_rows
419 |
420 | if update_x:
421 | x_old = x_new
422 | update_x = False
423 | if update_y:
424 | y_old = y_new
425 | update_y = False
426 | new_data.append(row)
427 |
428 | return new_data
429 |
430 |
431 | def translate_data(data, translate_x, translate_y, z_desired, e_parallel, e_perpendicular):
432 | """
433 | Translate the GCode in x- and y-direction. Only the lines, which describe a movement will be translated.
434 | Additionally, if z_translation is True, the z-values will be translated such that the minimal z-value is z_desired.
435 | This happens by traversing the list of strings twice. If cone_type is 'inward', it is assured, that all moves
436 | with no extrusion have at least a height of z_desired.
437 | :param data: list
438 | List of strings, containing the GCode
439 | :param translate_x: float
440 | Float, which describes the translation in x-direction
441 | :param translate_y: float
442 | Float, which describes the translation in y-direction
443 | :param z_desired: float
444 | Desired minimal z-value
445 | :param e_parallel: float
446 | Correction of extrusion error parallel to nozzle
447 | :param e_perpendicular: float
448 | Correction of extrusion error perpendicular to nozzle
449 | :return: list
450 | List of strings, which contains the translated GCode
451 | """
452 | new_data = []
453 | pattern_X = r'X[-0-9]+[.]?[0-9]*'
454 | pattern_Y = r'Y[-0-9]+[.]?[0-9]*'
455 | pattern_Z = r'Z[-0-9]+[.]?[0-9]*'
456 | pattern_E = r'E[-0-9]+[.]?[0-9]*'
457 | pattern_U = r'U[-0-9]+[.]?[0-9]*'
458 | pattern_G = r'\AG[01] '
459 | z_initialized = False
460 | u_val = 0.0
461 |
462 | for row in data:
463 | g_match = re.search(pattern_G, row)
464 | z_match = re.search(pattern_Z, row)
465 | e_match = re.search(pattern_E, row)
466 | if g_match is not None and z_match is not None and e_match is not None:
467 | z_val = float(z_match.group(0).replace('Z', ''))
468 | if not z_initialized:
469 | z_min = z_val
470 | z_initialized = True
471 | if z_val < z_min:
472 | z_min = z_val
473 | z_translate = z_desired - z_min
474 |
475 | for row in data:
476 |
477 | x_match = re.search(pattern_X, row)
478 | y_match = re.search(pattern_Y, row)
479 | z_match = re.search(pattern_Z, row)
480 | g_match = re.search(pattern_G, row)
481 | u_match = re.search(pattern_U, row)
482 |
483 | if u_match is not None:
484 | u_val = np.radians(float(u_match.group(0).replace('U', '')))
485 |
486 | if g_match is None:
487 | new_data.append(row)
488 |
489 | else:
490 | if x_match is not None:
491 | x_val = round(float(x_match.group(0).replace('X', '')) + translate_x - (e_parallel * np.cos(u_val)) + (
492 | e_perpendicular * np.sin(u_val)), 3) # added correction for misalignment of nozzle
493 | row = re.sub(pattern_X, 'X' + str(x_val), row)
494 | if y_match is not None:
495 | y_val = round(float(y_match.group(0).replace('Y', '')) + translate_y - (e_parallel * np.sin(u_val)) - (
496 | e_perpendicular * np.cos(u_val)), 3) # added correction for misalignment of nozzle
497 | row = re.sub(pattern_Y, 'Y' + str(y_val), row)
498 | if z_match is not None:
499 | z_val = max(round(float(z_match.group(0).replace('Z', '')) + z_translate, 3), z_desired)
500 | row = re.sub(pattern_Z, 'Z' + str(z_val), row)
501 |
502 | new_data.append(row)
503 |
504 | return new_data
505 |
506 |
507 | def backtransform_file(path, output_dir, cone_type, maximal_length, angle_comp, x_shift, y_shift, z_desired, e_parallel,
508 | e_perpendicular):
509 | """
510 | Read GCode from file, backtransform, translate it and save backtransformed G-Code.
511 | :param path: string
512 | String with the path to the GCode-file
513 | :param output_dir: string
514 | path of directory, where transformed STL-file will be saved
515 | :param cone_type: string
516 | String, either 'outward' or 'inward', defines which transformation should be used
517 | :param maximal_length: float
518 | Maximal length of a segment in the original GCode
519 | :param angle_comp: string
520 | String, which describes the way, the angle is computed; one of 'radial' or 'tangential'
521 | :param x_shift: float
522 | Float, which describes the translation in x-direction
523 | :param y_shift: float
524 | Float, which describes the translation in y-direction
525 | :param z_desired: float
526 | Desired minimal z-value
527 | :param e_perpendicular: float
528 | Correction of extrusion error parallel to nozzle
529 | :param e_parallel: float
530 | Correction of extrusion error perpendicular to nozzle
531 | :return: None
532 | """
533 | start = time.time()
534 | if angle_comp == 'radial':
535 | backtransform_data = backtransform_data_radial
536 | elif angle_comp == 'tangential':
537 | backtransform_data = backtransform_data_tangential
538 | else:
539 | raise ValueError('{} is not a admissible type for the angle computation'.format(angle_comp))
540 |
541 | with open(path, 'r') as f_gcode:
542 | data = f_gcode.readlines()
543 | data_bt = backtransform_data(data, cone_type, maximal_length)
544 | data_bt_string = ''.join(data_bt)
545 | data_bt = [row + ' \n' for row in data_bt_string.split('\n')]
546 | data_bt = translate_data(data_bt, x_shift, y_shift, z_desired, e_parallel, e_perpendicular)
547 | data_bt_string = ''.join(data_bt)
548 |
549 | if not os.path.exists(output_dir):
550 | os.mkdir(output_dir)
551 | file_name = path[path.rfind('/'):]
552 | file_name = file_name.replace('.gcode', '_bt_' + cone_type + '_' + angle_comp + '.gcode')
553 | output_path = output_dir + file_name
554 | with open(output_path, 'w+') as f_gcode_bt:
555 | f_gcode_bt.write(data_bt_string)
556 |
557 | end = time.time()
558 | print('GCode generated in {:.1f}s, saved in {}'.format(end - start, output_path))
559 | return None
560 |
561 |
562 | # -------------------------------------------------------------------------------
563 | # Apply the functions for a G-Code file
564 | # -------------------------------------------------------------------------------
565 |
566 | # G-Code backtransformation function parameters
567 | file_path = '/path/to/gcode/file.gcode'
568 | dir_backtransformed = '/path/to/save/backtransformation/'
569 | transformation_type = 'inward' # inward or outward
570 | angle_type = 'radial' # radial or tangential
571 | max_length = 5 # maximal length of a segment in mm
572 | delta_x = 0 # shift of code in x-direction
573 | delta_y = 0 # shift of code in y-direction
574 | z_height = 0.1 # desired height in z-direction
575 | err_parallel = 0.25 # error in parallel direction
576 | err_perpendicular = 0.65 # error in perpendicular direction
577 |
578 | # G-Code backtransformation function call
579 | backtransform_file(path=file_path,
580 | output_dir=dir_backtransformed,
581 | cone_type=transformation_type,
582 | maximal_length=max_length,
583 | angle_comp=angle_type,
584 | x_shift=delta_x,
585 | y_shift=delta_y,
586 | z_desired=z_height,
587 | e_parallel=err_parallel,
588 | e_perpendicular=err_perpendicular
589 | )
590 |
--------------------------------------------------------------------------------
/CODE_OF_CONDUCT.md:
--------------------------------------------------------------------------------
1 | # Contributor Covenant Code of Conduct
2 |
3 | ## Our Pledge
4 |
5 | We as members, contributors, and leaders pledge to make participation in our
6 | community a harassment-free experience for everyone, regardless of age, body
7 | size, visible or invisible disability, ethnicity, sex characteristics, gender
8 | identity and expression, level of experience, education, socio-economic status,
9 | nationality, personal appearance, race, religion, or sexual identity
10 | and orientation.
11 |
12 | We pledge to act and interact in ways that contribute to an open, welcoming,
13 | diverse, inclusive, and healthy community.
14 |
15 | ## Our Standards
16 |
17 | Examples of behavior that contributes to a positive environment for our
18 | community include:
19 |
20 | * Demonstrating empathy and kindness toward other people
21 | * Being respectful of differing opinions, viewpoints, and experiences
22 | * Giving and gracefully accepting constructive feedback
23 | * Accepting responsibility and apologizing to those affected by our mistakes,
24 | and learning from the experience
25 | * Focusing on what is best not just for us as individuals, but for the
26 | overall community
27 |
28 | Examples of unacceptable behavior include:
29 |
30 | * The use of sexualized language or imagery, and sexual attention or
31 | advances of any kind
32 | * Trolling, insulting or derogatory comments, and personal or political attacks
33 | * Public or private harassment
34 | * Publishing others' private information, such as a physical or email
35 | address, without their explicit permission
36 | * Other conduct which could reasonably be considered inappropriate in a
37 | professional setting
38 |
39 | ## Enforcement Responsibilities
40 |
41 | Community leaders are responsible for clarifying and enforcing our standards of
42 | acceptable behavior and will take appropriate and fair corrective action in
43 | response to any behavior that they deem inappropriate, threatening, offensive,
44 | or harmful.
45 |
46 | Community leaders have the right and responsibility to remove, edit, or reject
47 | comments, commits, code, wiki edits, issues, and other contributions that are
48 | not aligned to this Code of Conduct, and will communicate reasons for moderation
49 | decisions when appropriate.
50 |
51 | ## Scope
52 |
53 | This Code of Conduct applies within all community spaces, and also applies when
54 | an individual is officially representing the community in public spaces.
55 | Examples of representing our community include using an official e-mail address,
56 | posting via an official social media account, or acting as an appointed
57 | representative at an online or offline event.
58 |
59 | ## Enforcement
60 |
61 | Instances of abusive, harassing, or otherwise unacceptable behavior may be
62 | reported to the community leaders responsible for enforcement at
63 | .
64 | All complaints will be reviewed and investigated promptly and fairly.
65 |
66 | All community leaders are obligated to respect the privacy and security of the
67 | reporter of any incident.
68 |
69 | ## Enforcement Guidelines
70 |
71 | Community leaders will follow these Community Impact Guidelines in determining
72 | the consequences for any action they deem in violation of this Code of Conduct:
73 |
74 | ### 1. Correction
75 |
76 | **Community Impact**: Use of inappropriate language or other behavior deemed
77 | unprofessional or unwelcome in the community.
78 |
79 | **Consequence**: A private, written warning from community leaders, providing
80 | clarity around the nature of the violation and an explanation of why the
81 | behavior was inappropriate. A public apology may be requested.
82 |
83 | ### 2. Warning
84 |
85 | **Community Impact**: A violation through a single incident or series
86 | of actions.
87 |
88 | **Consequence**: A warning with consequences for continued behavior. No
89 | interaction with the people involved, including unsolicited interaction with
90 | those enforcing the Code of Conduct, for a specified period of time. This
91 | includes avoiding interactions in community spaces as well as external channels
92 | like social media. Violating these terms may lead to a temporary or
93 | permanent ban.
94 |
95 | ### 3. Temporary Ban
96 |
97 | **Community Impact**: A serious violation of community standards, including
98 | sustained inappropriate behavior.
99 |
100 | **Consequence**: A temporary ban from any sort of interaction or public
101 | communication with the community for a specified period of time. No public or
102 | private interaction with the people involved, including unsolicited interaction
103 | with those enforcing the Code of Conduct, is allowed during this period.
104 | Violating these terms may lead to a permanent ban.
105 |
106 | ### 4. Permanent Ban
107 |
108 | **Community Impact**: Demonstrating a pattern of violation of community
109 | standards, including sustained inappropriate behavior, harassment of an
110 | individual, or aggression toward or disparagement of classes of individuals.
111 |
112 | **Consequence**: A permanent ban from any sort of public interaction within
113 | the community.
114 |
115 | ## Attribution
116 |
117 | This Code of Conduct is adapted from the [Contributor Covenant][homepage],
118 | version 2.0, available at
119 | https://www.contributor-covenant.org/version/2/0/code_of_conduct.html.
120 |
121 | Community Impact Guidelines were inspired by [Mozilla's code of conduct
122 | enforcement ladder](https://github.com/mozilla/diversity).
123 |
124 | [homepage]: https://www.contributor-covenant.org
125 |
126 | For answers to common questions about this code of conduct, see the FAQ at
127 | https://www.contributor-covenant.org/faq. Translations are available at
128 | https://www.contributor-covenant.org/translations.
129 |
--------------------------------------------------------------------------------
/LICENSE.md:
--------------------------------------------------------------------------------
1 | GNU GENERAL PUBLIC LICENSE
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--------------------------------------------------------------------------------
/README.md:
--------------------------------------------------------------------------------
1 | # 3D_Printer
2 |
3 | ### Introduction
4 | This is an algorithm for a 3D printer with new printer kinematics. With this new printer kinematics, overhangs with 90° and more can be printed without support material. The two scripts can be used to generate the G-Code for the RotBot printer kinematics from a STL-file. The algorithm is based on a geometric transformation of the body. The ideas are summarized in [https://www.researchgate.net/publication/354726760_A_Novel_Slicing_Strategy_to_Print_Overhangs_without_Support_Material]().
5 |
6 | The script Transformation_STL.py takes a path to a STL-file as input, generates a mesh of a transformed object and saves this mesh in a STL file.
7 |
8 | The script Backtransformation_GCode.py takes a path to a G-Code as input, generates G-Code for the backtransformed object and saves the G-Code in a text file.
9 |
10 | To generate G-Code from the STL file, different slicer software can be used, e.g. [https://ultimaker.com/software/ultimaker-cura]() or [https://www.simplify3d.com/]()
11 |
12 | ### Transformation of the STL file
13 | The transformation of the STL file has the following parameters:
14 | * file_path: path to the STL file of the body
15 | * dir_transformed: path, where to save the STL file of the transformed body
16 | * transformation_type: 'inward' or 'outward' transformation
17 | * nb_iterations: number iterations for the triangulation refinement
18 |
19 | ### Back-Transformation of the G-Code
20 | The back-transformation of the G-Code has the following parameters:
21 | * file_path: path to the G-Code
22 | * dir_backtransformed: path, where the transformed G-Code should be saved
23 | * transformation_type: 'inward' or 'outward' transformation
24 | * angle_type: 'radial' or 'tangential' orientation of the print head
25 | * max_length: maximal length of a segment in mm
26 | * x_shift: shift of (final) G-code in x-direction
27 | * y_shift: shift of (final) G-code in y-direction
28 | * z_desired: desired height in z-direction
29 | * e_parallel: extrusion error to correct in parallel direction
30 | * e_perpendicular: extrusion error to correct in perpendicular direction
31 |
32 | ### Scripts for variable angle
33 | With this scripts, the cone angle can be changed. So it does not only work for 45° angle as used for RotBot, but can also be used with much smaller angles (e.g. 15°) to do a conical slicing for any printer. So overhangs can be printed on any printer.
34 |
35 | ### License
36 | The algorithm is open source and licensed under the GNU General Public License Version 3.0 ([https://www.gnu.org/licenses/gpl-3.0.en.html]()).
37 |
38 | ### Citation
39 | If you use the algorithm, please consider citing the following paper:
40 | ```
41 | @Article{app11188760,
42 | AUTHOR = {Wüthrich, Michael and Gubser, Maurus and Elspass, Wilfried J. and Jaeger, Christian},
43 | TITLE = {A Novel Slicing Strategy to Print Overhangs without Support Material},
44 | JOURNAL = {Applied Sciences},
45 | VOLUME = {11},
46 | YEAR = {2021},
47 | NUMBER = {18},
48 | ARTICLE-NUMBER = {8760},
49 | URL = {https://www.mdpi.com/2076-3417/11/18/8760},
50 | ISSN = {2076-3417},
51 | ABSTRACT = {Fused deposition modeling (FDM) 3D printers commonly need support material to print overhangs. A previously developed 4-axis printing process based on an orthogonal kinematic, an additional rotational axis around the z-axis and a 45° tilted nozzle can print overhangs up to 100° without support material. With this approach, the layers are in a conical shape and no longer parallel to the printing plane; therefore, a new slicer strategy is necessary to generate the paths. This paper describes a slicing algorithm compatible with this 4-axis printing kinematics. The presented slicing strategy is a combination of a geometrical transformation with a conventional slicing software and has three basic steps: Transformation of the geometry in the .STL file, path generation with a conventional slicer and back transformation of the G-code. A comparison of conventionally manufactured parts and parts produced with the new process shows the feasibility and initial results in terms of surface quality and dimensional accuracy.},
52 | DOI = {10.3390/app11188760}
53 | }
54 | ```
55 |
--------------------------------------------------------------------------------
/Scripts for Variable Angle/Backtransformation_GCode_var_angle.py:
--------------------------------------------------------------------------------
1 | import re
2 | import numpy as np
3 | import time
4 |
5 | # -----------------------------------------------------------------------------------------
6 | # Transformation Settings
7 | # -----------------------------------------------------------------------------------------
8 | FILE_NAME = 'tower_01_B.gcode' # filename including extension
9 | FOLDER_NAME = 'gcodes/' # name of the subfolder in which the gcode is located
10 | CONE_ANGLE = 16 # transformation angle
11 | CONE_TYPE = 'outward' # type of the cone: 'inward' & 'outward'
12 | FIRST_LAYER_HEIGHT = 0.2 # moves all the gcode up to this height. Use also for stacking
13 | X_SHIFT = 110 # moves your gcode away from the origin into the center of the bed (usually bed size / 2)
14 | Y_SHIFT = 90
15 |
16 |
17 | def insert_Z(row, z_value):
18 | """
19 | Insert or replace the z-value in a row. The new z-value must be given.
20 | :param row: string
21 | String containing the row, in which a z-value has to be inserted or replaced
22 | :param z_value: float
23 | New z-value, which should be inserted
24 | :return: string
25 | New string, containing the row with replaced z-value
26 | """
27 | pattern_X = r'X[-0-9]*[.]?[0-9]*'
28 | pattern_Y = r'Y[-0-9]*[.]?[0-9]*'
29 | pattern_Z = r'Z[-0-9]*[.]?[0-9]*'
30 | match_x = re.search(pattern_X, row)
31 | match_y = re.search(pattern_Y, row)
32 | match_z = re.search(pattern_Z, row)
33 |
34 | if match_z is not None:
35 | row_new = re.sub(pattern_Z, ' Z' + str(round(z_value, 3)), row)
36 | else:
37 | if match_y is not None:
38 | row_new = row[0:match_y.end(0)] + ' Z' + str(round(z_value, 3)) + row[match_y.end(0):]
39 | elif match_x is not None:
40 | row_new = row[0:match_x.end(0)] + ' Z' + str(round(z_value, 3)) + row[match_x.end(0):]
41 | else:
42 | row_new = 'Z' + str(round(z_value, 3)) + ' ' + row
43 | return row_new
44 |
45 |
46 | def replace_E(row, dist_old, dist_new, corr_value):
47 | """
48 | Replace the amount of extruded filament in a row. The new amount is proportional to the old amount, where
49 | the factor is obtained by the ratio of new distance to old distance. (wuem: Due to the transformation, the amount has to be
50 | divided by sqrt(2). replace_E is accessed 2 times.)
51 | :param row: string
52 | String containing the row, of which the extruder value should be replaced
53 | :param dist_old: float
54 | Length of the distance before backtransformation
55 | :param dist_new: float
56 | Length of the distance after backtransformation
57 | :param corr_value: float
58 | additional correction value due to transformation
59 | :return: string
60 | New string, containing the row with replaced extruder value
61 | """
62 | pattern_E = r'E[-0-9]*[.]?[0-9]*'
63 | match_e = re.search(pattern_E, row)
64 | if match_e is None:
65 | return row
66 | e_val_old = float(match_e.group(0).replace('E', ''))
67 | if dist_old == 0:
68 | e_val_new = 0
69 | else:
70 | e_val_new = e_val_old * dist_new * corr_value / dist_old
71 | e_str_new = 'E' + f'{e_val_new:.5f}'
72 | row_new = row[0:match_e.start(0)] + e_str_new + row[match_e.end(0):]
73 | return row_new
74 |
75 |
76 | def compute_angle_radial(x_old, y_old, x_new, y_new, inward_cone):
77 | """
78 | Compute the angle of the printing head, when moving from an old point [x_old, y_old] to a new point [x_new, y_new].
79 | (Note: the z-value is not considered for the orientation of the printing head.) The direction is given by the
80 | direction of the new point by the arctan2 value according to the coordinates.
81 | :param x_old: float
82 | x-coordinate of the old point
83 | :param y_old: float
84 | y-coordinate of the old point
85 | :param x_new: float
86 | x-coordinate of the new point
87 | :param y_new: float
88 | y-coordinate of the new point
89 | :param inward_cone: bool
90 | Boolean variable, which depends on the kind of transformation. If True, an additional angle of pi is added to
91 | the angle.
92 | :return: float
93 | Angle, which describes orientation of printing head. Its value lies in [-pi, pi].
94 | """
95 | angle = np.arctan2(y_new, x_new)
96 | if inward_cone:
97 | angle = angle + np.pi
98 | return angle
99 |
100 |
101 |
102 |
103 |
104 | def compute_U_values(angle_array):
105 | """
106 | Compute the U-values, which will be inserted, according to given angle values.
107 | The U-values are computed such that there are no discontinuous jumps from pi to -pi.
108 | :param angle_array: array
109 | Array, which contains the angle values in radian
110 | :return array
111 | Array, which contains U-values in degrees
112 | """
113 | # angle_candidates = np.around(np.array([angle_array, angle_array - 2 * np.pi, angle_array + 2 * np.pi]).T, 4)
114 | angle_candidates = np.around(np.array([angle_array + k * 2 * np.pi for k in range(-10, 11)]).T, 4)
115 | angle_insert = [angle_array[0]]
116 | for i in range(1, len(angle_array)):
117 | angle_prev = angle_insert[i - 1]
118 | idx = np.argmin(np.absolute(angle_candidates[i] - angle_prev))
119 | angle_insert.append(angle_candidates[i, idx])
120 |
121 | angle_insert = np.round(np.array(angle_insert) * 360 / (2 * np.pi), 2)
122 |
123 | return angle_insert
124 |
125 |
126 | def insert_U(row, angle):
127 | """
128 | Insert or replace the U-value in a row, where the U-values describes the orientation of the printing head.
129 | :param row: string
130 | String containing the row, in which a U-value has to be inserted or replaced
131 | :param angle: float
132 | Value of the angle, which is inserted or replaces the old U-value
133 | :return: string
134 | New string, containing the row with replaced U-value
135 | """
136 | pattern_Z = r'Z[-0-9]*[.]?[0-9]*'
137 | match_z = re.search(pattern_Z, row)
138 | pattern_U = r'U[-0-9]*[.]?[0-9]*'
139 | match_u = re.search(pattern_U, row)
140 |
141 | if match_u is None:
142 | row_new = row[0:match_z.end(0)] + ' U' + str(angle) + row[match_z.end(0):]
143 | else:
144 | row_new = re.sub(pattern_U, 'U' + str(angle), row)
145 |
146 | return row_new
147 |
148 |
149 | def backtransform_data_radial(data, cone_type, maximal_length, cone_angle_rad):
150 | """
151 | Backtransform GCode, which is given in a list, each element describing a row. Rows which describe a movement
152 | are detected, x-, y-, z-, E- and U-values are replaced accordingly to the transformation. If a original segment
153 | is too long, it gets divided into sub-segments before the backtransformation. The U-values are computed
154 | using the funciton compute_angle_radial.(wuem: added, that while travel moves, nozzle only rises 1 mm above highest
155 | printed point and not along cone)
156 | :param data: list
157 | List of strings, describing each line of the GCode, which is to be backtransformed
158 | :param cone_type: string
159 | String, either 'outward' or 'inward', defines which transformation should be used
160 | :param maximal_length: float
161 | Maximal length of a segment in the original GCode; every longer segment is divided, such that the resulting
162 | segments are shorter than maximal_length
163 | : param cone_angle_rad
164 | Angle of transformation cone in rad
165 | :return: list
166 | List of strings, which describe the new GCode.
167 | """
168 | new_data = []
169 | pattern_X = r'X[-0-9]*[.]?[0-9]*'
170 | pattern_Y = r'Y[-0-9]*[.]?[0-9]*'
171 | pattern_Z = r'Z[-0-9]*[.]?[0-9]*'
172 | pattern_E = r'E[-0-9]*[.]?[0-9]*'
173 | pattern_G = r'\AG[1] '
174 |
175 | x_old, y_old = 0, 0
176 | x_new, y_new = 0, 0
177 | z_layer = 0
178 | z_max = 0
179 | update_x, update_y = False, False
180 | if cone_type == 'outward':
181 | c = -1
182 | inward_cone = False
183 | elif cone_type == 'inward':
184 | c = 1
185 | inward_cone = True
186 | else:
187 | raise ValueError('{} is not a admissible type for the transformation'.format(cone_type))
188 |
189 | for row in data:
190 |
191 | g_match = re.search(pattern_G, row)
192 | if g_match is None:
193 | new_data.append(row)
194 |
195 | else:
196 | x_match = re.search(pattern_X, row)
197 | y_match = re.search(pattern_Y, row)
198 | z_match = re.search(pattern_Z, row)
199 |
200 | if x_match is None and y_match is None and z_match is None:
201 | new_data.append(row)
202 |
203 | else:
204 | if z_match is not None:
205 | z_layer = float(z_match.group(0).replace('Z', ''))
206 | if x_match is not None:
207 | x_new = float(x_match.group(0).replace('X', ''))
208 | update_x = True
209 | if y_match is not None:
210 | y_new = float(y_match.group(0).replace('Y', ''))
211 | update_y = True
212 |
213 | # Compute new distance and angle according to new row
214 | e_match = re.search(pattern_E, row)
215 | x_old_bt, x_new_bt = x_old * np.cos(cone_angle_rad), x_new * np.cos(cone_angle_rad)
216 | y_old_bt, y_new_bt = y_old * np.cos(cone_angle_rad), y_new * np.cos(cone_angle_rad)
217 | dist_transformed = np.linalg.norm([x_new - x_old, y_new - y_old])
218 |
219 | # Compute new values for backtransformation of row
220 | num_segm = int(dist_transformed // maximal_length + 1)
221 | x_vals = np.linspace(x_old_bt, x_new_bt, num_segm + 1)
222 | y_vals = np.linspace(y_old_bt, y_new_bt, num_segm + 1)
223 | if inward_cone and e_match is None and (update_x or update_y):
224 | z_start = z_layer + c * np.sqrt(x_old_bt ** 2 + y_old_bt ** 2) * np.tan(cone_angle_rad)
225 | z_end = z_layer + c * np.sqrt(x_new_bt ** 2 + y_new_bt ** 2) * np.tan(cone_angle_rad)
226 | z_vals = np.linspace(z_start, z_end, num_segm + 1)
227 | else:
228 | z_vals = np.array([z_layer + c * np.sqrt(x ** 2 + y ** 2) * np.tan(cone_angle_rad) for x, y in zip(x_vals, y_vals)])
229 | if e_match and (np.max(z_vals) > z_max or z_max == 0):
230 | z_max = np.max(z_vals) # save hightes point with material extruded
231 | if e_match is None and np.max(z_vals) > z_max:
232 | np.minimum(z_vals, (z_max + 1), z_vals) # cut away all travel moves, that are higher than max height extruded + 1 mm safety
233 | # das hier könnte noch verschönert werden, in dem dann eine alle abgeschnittenen Werte mit einer einer geraden Linie ersetzt werden
234 |
235 | distances_transformed = dist_transformed / num_segm * np.ones(num_segm)
236 | distances_bt = np.array(
237 | [np.linalg.norm([x_vals[i] - x_vals[i - 1], y_vals[i] - y_vals[i - 1], z_vals[i] - z_vals[i - 1]])
238 | for i in range(1, num_segm + 1)])
239 |
240 | # Replace new row with num_seg new rows for movements and possible command rows for the U value
241 | row = insert_Z(row, z_vals[0])
242 | row = replace_E(row, num_segm, 1, 1 * np.cos(cone_angle_rad))
243 | replacement_rows = ''
244 | for j in range(0, num_segm):
245 | single_row = re.sub(pattern_X, 'X' + str(round(x_vals[j + 1], 3)), row)
246 | single_row = re.sub(pattern_Y, 'Y' + str(round(y_vals[j + 1], 3)), single_row)
247 | single_row = re.sub(pattern_Z, 'Z' + str(round(z_vals[j + 1], 3)), single_row)
248 | single_row = replace_E(single_row, distances_transformed[j], distances_bt[j], 1)
249 | replacement_rows = replacement_rows + single_row
250 | row = replacement_rows
251 |
252 | if update_x:
253 | x_old = x_new
254 | update_x = False
255 | if update_y:
256 | y_old = y_new
257 | update_y = False
258 |
259 | new_data.append(row)
260 |
261 | return new_data
262 |
263 |
264 |
265 | def translate_data(data, cone_type, translate_x, translate_y, z_desired, e_parallel, e_perpendicular):
266 | """
267 | Translate the GCode in x- and y-direction. Only the lines, which describe a movement will be translated.
268 | Additionally, if z_translation is True, the z-values will be translated such that the minimal z-value is z_desired.
269 | This happens by traversing the list of strings twice. If cone_type is 'inward', it is assured, that all moves
270 | with no extrusion have at least a hight of z_desired.
271 | :param data: list
272 | List of strings, containing the GCode
273 | :param cone_type: string
274 | String, either 'outward' or 'inward', defines which transformation should be used
275 | :param translate_x: float
276 | Float, which describes the translation in x-direction
277 | :param translate_y: float
278 | Float, which describes the translation in y-direction
279 | :param z_desired: float
280 | Desired minimal z-value
281 | :param e_parallel: float
282 | Error parallel to nozzle
283 | :param e_perpendicular: float
284 | Error perpendicular to nozzle
285 | :return: list
286 | List of strings, which contains the translated GCode
287 | """
288 | new_data = []
289 | pattern_X = r'X[-0-9]*[.]?[0-9]*'
290 | pattern_Y = r'Y[-0-9]*[.]?[0-9]*'
291 | pattern_Z = r'Z[-0-9]*[.]?[0-9]*'
292 | pattern_E = r'E[-0-9]*[.]?[0-9]*'
293 | pattern_G = r'\AG[1] '
294 | z_initialized = False
295 | u_val = 0.0
296 |
297 | for row in data:
298 | g_match = re.search(pattern_G, row)
299 | z_match = re.search(pattern_Z, row)
300 | e_match = re.search(pattern_E, row)
301 | if g_match is not None and z_match is not None and e_match is not None:
302 | z_val = float(z_match.group(0).replace('Z', ''))
303 | if not z_initialized:
304 | z_min = z_val
305 | z_initialized = True
306 | if z_val < z_min:
307 | z_min = z_val
308 | z_translate = z_desired - z_min
309 |
310 | for row in data:
311 |
312 | x_match = re.search(pattern_X, row)
313 | y_match = re.search(pattern_Y, row)
314 | z_match = re.search(pattern_Z, row)
315 | g_match = re.search(pattern_G, row)
316 |
317 | if g_match is None:
318 | new_data.append(row)
319 |
320 | else:
321 | if x_match is not None:
322 | x_val = round(float(x_match.group(0).replace('X', '')) + translate_x - (e_parallel * np.cos(u_val)) + (e_perpendicular * np.sin(u_val)), 3)
323 | row = re.sub(pattern_X, 'X' + str(x_val), row)
324 | if y_match is not None:
325 | y_val = round(float(y_match.group(0).replace('Y', '')) + translate_y - (e_parallel * np.sin(u_val)) - (e_perpendicular * np.cos(u_val)), 3)
326 | row = re.sub(pattern_Y, 'Y' + str(y_val), row)
327 | if z_match is not None:
328 | z_val = max(round(float(z_match.group(0).replace('Z', '')) + z_translate, 3), z_desired)
329 | row = re.sub(pattern_Z, 'Z' + str(z_val), row)
330 |
331 | new_data.append(row)
332 |
333 | return new_data
334 |
335 |
336 | def backtransform_file(path, cone_type, maximal_length, angle_comp, x_shift, y_shift, cone_angle_deg, z_desired, e_parallel, e_perpendicular):
337 | """
338 | Read GCode from file, backtransform and translate it.
339 | :param path: string
340 | String with the path to the GCode-file
341 | :param cone_type: string
342 | String, either 'outward' or 'inward', defines which transformation should be used
343 | :param maximal_length: float
344 | Maximal length of a segment in the original GCode
345 | :param angle_comp: string
346 | String, which describes the way, the angle is computed; one of 'radial', 'tangential', 'mixed'
347 | :param x_shift: float
348 | Float, which describes the translation in x-direction
349 | :param y_shift: float
350 | Float, which describes the translation in y-direction
351 | :param cone_angle_deg: int
352 | Angle of transformation cone in degrees
353 | :param z_desired: float
354 | Desired minimal z-value
355 | :param e_parallel: float
356 | Error parallel to nozzle
357 | :param e_perpendicular: float
358 | Error perpendicular to nozzle
359 | :return: None
360 | """
361 |
362 | cone_angle_rad = cone_angle_deg / 180 * np.pi
363 |
364 | if angle_comp == 'radial':
365 | backtransform_data = backtransform_data_radial
366 |
367 | with open(path, 'r') as f_gcode:
368 | data = f_gcode.readlines()
369 | data_bt = backtransform_data(data, cone_type, maximal_length, cone_angle_rad)
370 | data_bt_string = ''.join(data_bt)
371 | data_bt = [row + ' \n' for row in data_bt_string.split('\n')]
372 | data_bt = translate_data(data_bt, cone_type, x_shift, y_shift, z_desired, e_parallel, e_perpendicular)
373 | data_bt_string = ''.join(data_bt)
374 |
375 | path_write = re.sub(r'gcodes', 'gcodes_backtransformed', path)
376 | path_write = re.sub(r'.gcode', '_bt_' + cone_type + '_' + angle_comp + '.gcode', path_write)
377 | print(path_write)
378 | with open(path_write, 'w+') as f_gcode_bt:
379 | f_gcode_bt.write(data_bt_string)
380 | print('File successfully backtransformed and translated.')
381 |
382 | return None
383 |
384 | starttime = time.time()
385 | backtransform_file(path=FOLDER_NAME + FILE_NAME, cone_type=CONE_TYPE, maximal_length=0.5, angle_comp='radial', x_shift=X_SHIFT, y_shift=Y_SHIFT,
386 | cone_angle_deg=CONE_ANGLE, z_desired=FIRST_LAYER_HEIGHT, e_parallel=0, e_perpendicular=0)
387 | endtime = time.time()
388 | print('GCode translated, time used:', endtime - starttime)
--------------------------------------------------------------------------------
/Scripts for Variable Angle/Transformation_STL_var_angle.py:
--------------------------------------------------------------------------------
1 | import numpy as np
2 | from stl import mesh
3 | import time
4 |
5 |
6 | #-----------------------------------------------------------------------------------------
7 | # Transformation Settings
8 | #-----------------------------------------------------------------------------------------
9 |
10 | FILE_NAME = 'tower_01_-20' # Filename without extension
11 | FOLDER_NAME_UNTRANSFORMED = 'stl/'
12 | FOLDER_NAME_TRANSFORMED = 'stl_transformed/' # Make sure this folder exists
13 | CONE_ANGLE = 16 # Transformation angle
14 | REFINEMENT_ITERATIONS = 1 # refinement iterations of the stl. 2-3 is a good start for regular stls. If its already uniformaly fine, use 0 or 1. High number cause huge models and long script runtimes
15 | TRANSFORMATION_TYPE = 'outward' # type of the cone: 'inward' & 'outward'
16 |
17 |
18 | def transformation_kegel(points, cone_angle_rad, cone_type):
19 | """
20 | Computes the cone-transformation (x', y', z') = (x / cos(angle), y / cos(angle), z + \sqrt{x^{2} + y^{2}} * tan(angle))
21 | for a list of points
22 | :param points: array
23 | array of points of shape ( , 3)
24 | :param cone_type: string
25 | String, either 'outward' or 'inward', defines which transformation should be used
26 | :return: array
27 | array of transformed points, of same shape as input array
28 | """
29 | if cone_type == 'outward':
30 | c = 1
31 | elif cone_type == 'inward':
32 | c = -1
33 | else:
34 | raise ValueError('{} is not a admissible type for the transformation'.format(cone_type))
35 | f = (lambda x, y, z: np.array([x/np.cos(cone_angle_rad), y/np.cos(cone_angle_rad), z + c * np.sqrt(x**2 + y**2)*np.tan(cone_angle_rad)]))
36 | points_transformed = list(map(f, points[:, 0], points[:, 1], points[:, 2]))
37 | return np.array(points_transformed)
38 |
39 |
40 | def refinement_four_triangles(triangle):
41 | """
42 | Compute a refinement of a triangle. On every side, the midpoint is added. The three corner points and three
43 | midpoints result in four smaller triangles.
44 | :param triangle: array
45 | array of three points of shape (3, 3) (one triangle)
46 | :return: array
47 | array of shape (4, 3, 3) of four triangles
48 | """
49 | point1 = triangle[0]
50 | point2 = triangle[1]
51 | point3 = triangle[2]
52 | midpoint12 = (point1 + point2) / 2
53 | midpoint23 = (point2 + point3) / 2
54 | midpoint31 = (point3 + point1) / 2
55 | triangle1 = np.array([point1, midpoint12, midpoint31])
56 | triangle2 = np.array([point2, midpoint23, midpoint12])
57 | triangle3 = np.array([point3, midpoint31, midpoint23])
58 | triangle4 = np.array([midpoint12, midpoint23, midpoint31])
59 | return np.array([triangle1, triangle2, triangle3, triangle4])
60 |
61 |
62 | def refinement_triangulation(triangle_array, num_iterations):
63 | """
64 | Compute a refinement of a triangulation using the refinement_four_triangles function.
65 | The number of iteration defines, how often the triangulation has to be refined; n iterations lead to
66 | 4^n times many triangles.
67 | :param triangle_array: array
68 | array of shape (num_triangles, 3, 3) of triangles
69 | :param num_iterations: int
70 | :return: array
71 | array of shape (num_triangles*4^num_iterations, 3, 3) of triangles
72 | """
73 | refined_array = triangle_array
74 | for i in range(0, num_iterations):
75 | n_triangles = refined_array.shape[0]*4
76 | refined_array = np.array(list(map(refinement_four_triangles, refined_array)))
77 | refined_array = np.reshape(refined_array, (n_triangles, 3, 3))
78 | return refined_array
79 |
80 |
81 | def transformation_STL_file(path, cone_type, cone_angle_deg, nb_iterations):
82 | """
83 | Read a stl-file, refine the triangulation and transform it according to the cone-transformation
84 | :param path: string
85 | path to the stl file
86 | :param cone_type: string
87 | String, either 'outward' or 'inward', defines which transformation should be used
88 | :param cone_angle: int
89 | angle to transform the part
90 | :param nb_iterations: int
91 | number of iterations, the triangulation should be refined before the transformation
92 | :return: mesh object
93 | transformed triangulation as mesh object which can be stored as stl file
94 | """
95 | cone_angle_rad = cone_angle_deg / 180 * np.pi
96 | my_mesh = mesh.Mesh.from_file(path)
97 | vectors = my_mesh.vectors
98 | vectors_refined = refinement_triangulation(vectors, nb_iterations)
99 | vectors_refined = np.reshape(vectors_refined, (-1, 3))
100 | vectors_transformed = transformation_kegel(vectors_refined, cone_angle_rad, cone_type)
101 | vectors_transformed = np.reshape(vectors_transformed, (-1, 3, 3))
102 | my_mesh_transformed = np.zeros(vectors_transformed.shape[0], dtype=mesh.Mesh.dtype)
103 | my_mesh_transformed['vectors'] = vectors_transformed
104 | my_mesh_transformed = mesh.Mesh(my_mesh_transformed)
105 | return my_mesh_transformed
106 |
107 | startzeit = time.time()
108 | transformed_STL = transformation_STL_file(path=FOLDER_NAME_UNTRANSFORMED + FILE_NAME + '.stl', cone_type=TRANSFORMATION_TYPE, cone_angle_deg=CONE_ANGLE, nb_iterations=REFINEMENT_ITERATIONS)
109 | transformed_STL.save(FOLDER_NAME_TRANSFORMED + FILE_NAME + '_' + TRANSFORMATION_TYPE + '_' + str(CONE_ANGLE) + 'deg_transformed.stl')
110 | endzeit = time.time()
111 | print('Transformation time:', endzeit - startzeit)
112 |
--------------------------------------------------------------------------------
/Transformation_STL.py:
--------------------------------------------------------------------------------
1 | import numpy as np
2 | from stl import mesh
3 | import time
4 | import os
5 |
6 |
7 | def refinement_one_triangle(triangle):
8 | """
9 | Compute a refinement of one triangle. On every side, the midpoint is added. The three corner points and three
10 | midpoints result in four smaller triangles.
11 | :param triangle: array
12 | array of three points of shape (3, 3) (one triangle)
13 | :return: array
14 | array of shape (4, 3, 3) of four triangles
15 | """
16 | point1 = triangle[0]
17 | point2 = triangle[1]
18 | point3 = triangle[2]
19 | midpoint12 = (point1 + point2) / 2
20 | midpoint23 = (point2 + point3) / 2
21 | midpoint31 = (point3 + point1) / 2
22 | triangle1 = np.array([point1, midpoint12, midpoint31])
23 | triangle2 = np.array([point2, midpoint23, midpoint12])
24 | triangle3 = np.array([point3, midpoint31, midpoint23])
25 | triangle4 = np.array([midpoint12, midpoint23, midpoint31])
26 | return np.array([triangle1, triangle2, triangle3, triangle4])
27 |
28 |
29 | def refinement_triangulation(triangle_array, num_iterations):
30 | """
31 | Compute a refinement of a triangulation using the refinement_four_triangles function.
32 | The number of iteration defines, how often the triangulation has to be refined; n iterations lead to
33 | 4^n times many triangles.
34 | :param triangle_array: array
35 | array of shape (num_triangles, 3, 3) of triangles
36 | :param num_iterations: int
37 | :return: array
38 | array of shape (num_triangles*4^num_iterations, 3, 3) of triangles
39 | """
40 | refined_array = triangle_array
41 | for i in range(0, num_iterations):
42 | n_triangles = refined_array.shape[0] * 4
43 | refined_array = np.array(list(map(refinement_one_triangle, refined_array)))
44 | refined_array = np.reshape(refined_array, (n_triangles, 3, 3))
45 | return refined_array
46 |
47 |
48 | def transformation_cone(points, cone_type):
49 | """
50 | Compute the cone-transformation (x', y', z') = (\sqrt{2}x, \sqrt{2}y, z + \sqrt{x^{2} + y^{2}}) ('outward') or
51 | (x', y', z') = (\sqrt{2}x, \sqrt{2}y, z - \sqrt{x^{2} + y^{2}}) ('inward') for a list of points
52 | :param points: array
53 | array of points of shape ( , 3)
54 | :param cone_type: string
55 | String, either 'outward' or 'inward', defines which transformation should be used
56 | :return: array
57 | array of transformed points, of same shape as input array
58 | """
59 | if cone_type == 'outward':
60 | c = 1
61 | elif cone_type == 'inward':
62 | c = -1
63 | else:
64 | raise ValueError('{} is not a admissible type for the transformation'.format(cone_type))
65 | T = (lambda x, y, z: np.array([np.sqrt(2) * x, np.sqrt(2) * y, z + c * np.sqrt(x ** 2 + y ** 2)]))
66 | points_transformed = list(map(T, points[:, 0], points[:, 1], points[:, 2]))
67 | return np.array(points_transformed)
68 |
69 |
70 | def transformation_STL_file(path, output_dir, cone_type, nb_iterations):
71 | """
72 | Read a stl-file, refine the triangulation, transform it according to the cone-transformation and save the
73 | transformed data.
74 | :param path: string
75 | path to the stl file
76 | :param output_dir:
77 | path of directory, where transformed STL-file will be saved
78 | :param cone_type: string
79 | String, either 'outward' or 'inward', defines which transformation should be used
80 | :param nb_iterations: int
81 | number of iterations, the triangulation should be refined before the transformation
82 | :return: mesh object
83 | transformed triangulation as mesh object which can be stored as stl file
84 | """
85 | start = time.time()
86 | my_mesh = mesh.Mesh.from_file(path)
87 | vectors = my_mesh.vectors
88 | vectors_refined = refinement_triangulation(vectors, nb_iterations)
89 | vectors_refined = np.reshape(vectors_refined, (-1, 3))
90 | vectors_transformed = transformation_cone(vectors_refined, cone_type)
91 | vectors_transformed = np.reshape(vectors_transformed, (-1, 3, 3))
92 | my_mesh_transformed = np.zeros(vectors_transformed.shape[0], dtype=mesh.Mesh.dtype)
93 | my_mesh_transformed['vectors'] = vectors_transformed
94 | my_mesh_transformed = mesh.Mesh(my_mesh_transformed)
95 |
96 | if not os.path.exists(output_dir):
97 | os.mkdir(output_dir)
98 | file_name = file_path[file_path.rfind('/'):]
99 | file_name = file_name.replace('.stl', '_' + transformation_type + '_transformed.stl')
100 | output_path = output_dir + file_name
101 | my_mesh_transformed.save(output_path)
102 | end = time.time()
103 | print('STL file generated in {:.1f}s, saved in {}'.format(end - start, output_path))
104 | return None
105 |
106 |
107 | # -------------------------------------------------------------------------------
108 | # Apply the functions for a STL file
109 | # -------------------------------------------------------------------------------
110 |
111 | # STL transformation function parameters
112 | file_path = '/path/to/stl/file.stl'
113 | dir_transformed = '/path/to/save/transformation/'
114 | transformation_type = 'inward' # inward or outward
115 | number_iterations = 4 # number iterations for triangulation refinement
116 |
117 | # STL transformation function call
118 | transformation_STL_file(path=file_path,
119 | output_dir=dir_transformed,
120 | cone_type=transformation_type,
121 | nb_iterations=number_iterations,
122 | )
123 |
--------------------------------------------------------------------------------