First semi-successful test of feature extraction. I think the algorithm for line of best fit needs some work. Specifically, ifnding the starting and end point for the line.

map.txt

@@ -1,79 +1,109 @@
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+numVerts,58
-numEdges,34
+numEdges,49
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 vert,165.0,809.0
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src/Car.java

@@ -42,18 +42,15 @@ public class Car{
         proc.stroke(255);
         proc.ellipse(pose.x, pose.y, carWidth, carLength);
         this.updateScan(g);
-//        this.slam.drawLines();
+        this.slam.drawFeatures(proc);
     }
 
     //With all the views that the car has, get their point list
     void updateScan(PointGraph map){
         for(View view : views){
             view.look(map);
-        }
+            slam.RANSAC(view);
 
-        for(View view : views){
-            ArrayList<Vector> pointList = view.getPoints();
-//            slam.RANSAC(pointList, view.getFOV() / view.getRayNum());
         }
     }
 

src/SLAM.java

@@ -1,14 +1,17 @@
 import Vector.*;
 import processing.core.*;
 
+import java.lang.reflect.Array;
 import java.util.ArrayList;
 import java.util.Collections;
 import java.util.List;
 
+import static java.lang.Math.random;
 import static processing.core.PApplet.*;
 
 public class SLAM{
     ArrayList<Line> lines = new ArrayList<>();
+    ArrayList<Vector> unassociatedPoints = new ArrayList<>();
     private static PApplet proc;
 
     SLAM(PApplet processing){
@@ -17,36 +20,38 @@ public class SLAM{
 
     /**
      * @param set the set to take a sub sample of
-     * @param indexRange the range within to take the sub sample
      * @param subSampleSize the size of the sub sample
-     * @return A random subset of the set within an indexRange and of size: subSampleSize
+     * @param minAngle the minimum angle allowed in the subset
+     * @param maxAngle the maximum angle allowed in the subset
+     * @return A random subset of the set within the angle range
      */
-    private List<Vector> randomSample(ArrayList<Vector> set, int indexRange, int subSampleSize){
+    private List<Vector> randomSampleInAngleRange(ArrayList<Vector> set, int subSampleSize, float minAngle, float maxAngle){
-        // select a random laser data reading
-        int randomIdx = (int) proc.random(set.size() - 1); // index of starter reading
-        Vector point = set.get(randomIdx); // point of starter reading
 
-        // get a random sample of size numSampleReadings within degreeRange degrees of this laser reading.
+        // create an arraylist with all points within the angle range fro mthe given set
-        List<Vector> subSample;
+        ArrayList<Vector> pointsInAngleRange = new ArrayList<>();
-        int rangeStart = randomIdx - indexRange >= 0 ? randomIdx - indexRange : 0;
+        for(Vector point : set){
-        int rangeEnd = randomIdx + indexRange < set.size() ? randomIdx + indexRange : set.size()-1;
+            if(minAngle <= point.z && point.z <= maxAngle){
-        subSample = set.subList(rangeStart, rangeEnd); // get the sub-sample
+                pointsInAngleRange.add(point);
-        Collections.shuffle(subSample); // shuffle the list
+            }
-        List<Vector> randomSample = subSample.subList(0, rangeEnd-rangeStart); // get our random sample
-        if (!randomSample.contains(point)) {
-            randomSample.add(point);
         }
 
-        return randomSample;
+        // shuffle the list to randomize it
+        Collections.shuffle(pointsInAngleRange);
+
+        // if the list is too small, just return the whole list
+        if(pointsInAngleRange.size() < subSampleSize){
+            return pointsInAngleRange;
+        }
+        // return a subSample of the list
+        return pointsInAngleRange.subList(0, subSampleSize);
     }
 
     /**
-     * @param originalList the list which the randomSample of points originated from
      * @param randomSample a random subsampling of points from the originalList
      * @param maxRange the maximum distance away from the line of best fit of the subSample of points for a given point's consensus to count.
      * @param consensus the number of points that have to give their consensus for the line of best fit to count as a valid feature.
      */
-    private void extractFeature(ArrayList<Vector> originalList, List<Vector> randomSample, float maxRange, int consensus){
+    private void extractFeature(List<Vector> randomSample, float maxRange, int consensus){
         // get a line of best fit for this list.
         Line bestFit = new Line(randomSample);
         int count = 0;
@@ -63,41 +68,47 @@ public class SLAM{
             lines.add(bestFit);
             // remove the associated readings from the total available readings.
             for (Vector v : newRandomSample) {
-                originalList.remove(v);
+                this.unassociatedPoints.remove(v);
             }
         }
     }
 
     /**
-     * @param newPoints a new scan of points to perform feature detection on
+     * @param view a laser scan view
-     * @param raysPerDegree How many degrees apart are each ray that was cast
      */
-    public void RANSAC(ArrayList<Vector> newPoints, float raysPerDegree){
+    public void RANSAC(View view){
-        float degreeRange = radians(10/2); // range to randomly sample readings within
+        unassociatedPoints.addAll(view.getPoints());
-        int indexRange = (int) (degreeRange / raysPerDegree);
+
+        float degreeRange = radians(25/2); // range to randomly sample readings within
         int numSampleReadings = 10; // number of readings to randomly sample
-        // constrain numSampleReadings so that it cant be higher than possible
+
-        if(numSampleReadings >= 2 * indexRange){
+        int consensus = 7; // the number of points that need to lie near a line for it to be considered valid.
-            numSampleReadings = 2 * indexRange;
+        float maxRange = 5; // the maximum distance a point can be away from the line for it to count as a consensus
-        }
-        int consensus = 6; // the number of points that need to lie near a line for it to be considered valid.
-        float maxRange = 10; // the maximum distance a point can be away from the line for it to count as a consensus
 
         // this for loop determines the maximum number of trials we're willing to do.
         for(int j = 0; j < 20; j++) {
             // if there aren't enough points left in the set to form a consensus, we're done.
-            if(newPoints.size() < consensus){
+            if(this.unassociatedPoints.size() < maxRange){
                 break;
             }
 
+            // get a random angle between -PI and PI
+            float randomAngle = (float) (2*PI*(random()) - 0.5);
+
             // get a random sub sample of newPoints within the index range of a given size
-            List<Vector> randomSample = this.randomSample(newPoints, indexRange, numSampleReadings);
+            List<Vector> randomSample = this.randomSampleInAngleRange(this.unassociatedPoints, numSampleReadings, randomAngle-degreeRange, randomAngle+degreeRange);
 
             // check if the sub sample forms a valid line and remove the randomSample points if it does.
-            extractFeature(newPoints, randomSample, maxRange, consensus);
+            extractFeature(randomSample, maxRange, consensus);
 
         }
 
     }
 
+    public void drawFeatures(PApplet proc){
+        for(Line line : lines){
+            line.draw(proc);
+        }
+    }
+
 }

src/View.java

@@ -22,7 +22,7 @@ public class View {
     public void setRayNum(int numberOfRays, float FOV, float angleOffset) {
         float rayStep = FOV / numberOfRays;
         rays.clear();
-        float angle = (float) (0.01 - angleOffset); //the 0.01 fixes some bugs
+        float angle = (float) (angleOffset); //the 0.01 fixes some bugs
         for (int i = 0; i < numberOfRays; i++) {
             Ray ray = new Ray(pose, angle);
             angle = angle + rayStep;
@@ -51,7 +51,10 @@ public class View {
     //changes the angle of the view
     public void setAngle(float angle) {
         this.angle = angle;
-        this.setRayNum(rays.size(), this.FOV, angle);
+        for(Ray ray : rays){
+            float angleOffset = ray.getAngle() - this.angle;
+            ray.setAngle(this.angle+angleOffset);
+        }
     }
 
     //changes the field of view of the view
@@ -81,11 +84,27 @@ public class View {
         ArrayList<Vector> points = new ArrayList<>();
 
         for (Ray ray : rays) {
-            if (ray.hasCollided()){
+            if(ray.hasCollided()){
-                points.add(ray.getPoint());
+                Vector point = ray.getPoint();
+                // store the angle information for that point in the z coordinate
+                point.z = ray.getAngle();
+                points.add(point);
             }
         }
         return points;
     }
+
+    /**
+     * @return A list of the angles where a collision was detected
+     */
+    public ArrayList<Float> getAngles(){
+        ArrayList<Float> angles = new ArrayList<>();
+        for (Ray ray : rays) {
+            if (ray.hasCollided()){
+                angles.add(ray.getAngle());
+            }
+        }
+        return angles;
+    }
 }