├── .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: -------------------------------------------------------------------------------- 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 | -------------------------------------------------------------------------------- /.gitignore: -------------------------------------------------------------------------------- 1 | 2 | *.gcode 3 | *.stl 4 | -------------------------------------------------------------------------------- /Backtransformation_GCode.py: -------------------------------------------------------------------------------- 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 2 | Version 3, 29 June 2007 3 | 4 | Copyright (C) 2007 Free Software Foundation, Inc. 5 | Everyone is permitted to copy and distribute verbatim copies 6 | of this license document, but changing it is not allowed. 7 | 8 | Preamble 9 | 10 | The GNU General Public License is a free, copyleft license for 11 | software and other kinds of works. 12 | 13 | The licenses for most software and other practical works are designed 14 | to take away your freedom to share and change the works. By contrast, 15 | the GNU General Public License is intended to guarantee your freedom to 16 | share and change all versions of a program--to make sure it remains free 17 | software for all its users. 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If not, see . 649 | 650 | Also add information on how to contact you by electronic and paper mail. 651 | 652 | If the program does terminal interaction, make it output a short 653 | notice like this when it starts in an interactive mode: 654 | 655 | Copyright (C) 656 | This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'. 657 | This is free software, and you are welcome to redistribute it 658 | under certain conditions; type `show c' for details. 659 | 660 | The hypothetical commands `show w' and `show c' should show the appropriate 661 | parts of the General Public License. Of course, your program's commands 662 | might be different; for a GUI interface, you would use an "about box". 663 | 664 | You should also get your employer (if you work as a programmer) or school, 665 | if any, to sign a "copyright disclaimer" for the program, if necessary. 666 | For more information on this, and how to apply and follow the GNU GPL, see 667 | . 668 | 669 | The GNU General Public License does not permit incorporating your program 670 | into proprietary programs. If your program is a subroutine library, you 671 | may consider it more useful to permit linking proprietary applications with 672 | the library. If this is what you want to do, use the GNU Lesser General 673 | Public License instead of this License. But first, please read 674 | . 675 | -------------------------------------------------------------------------------- /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 | --------------------------------------------------------------------------------