Further tweaks to RANSAC algorithm and line of best fit

map.txt

@@ -1,79 +1,112 @@
-numVerts,43
-numEdges,34
-vert,601.0,491.0
-vert,602.0,652.0
-vert,300.0,277.0
-vert,213.0,812.0
-vert,715.0,655.0
-vert,294.0,378.0
-vert,259.0,476.0
-vert,224.0,247.0
-vert,304.0,479.0
-vert,485.0,693.0
-vert,713.0,810.0
-vert,367.0,347.0
-vert,223.0,273.0
-vert,404.0,666.0
-vert,329.0,345.0
-vert,482.0,615.0
-vert,606.0,811.0
-vert,483.0,810.0
-vert,267.0,616.0
-vert,603.0,537.0
-vert,330.0,376.0
-vert,267.0,723.0
-vert,714.0,488.0
-vert,401.0,616.0
-vert,294.0,347.0
+numVerts,60
+numEdges,50
 vert,206.0,522.0
-vert,711.0,234.0
-vert,493.0,238.0
-vert,302.0,249.0
-vert,403.0,483.0
-vert,334.0,727.0
-vert,168.0,471.0
-vert,487.0,485.0
-vert,327.0,615.0
-vert,405.0,237.0
-vert,211.0,346.0
-vert,210.0,380.0
-vert,165.0,235.0
-vert,411.0,811.0
-vert,165.0,809.0
-vert,713.0,539.0
+vert,554.0,422.0
+vert,525.0,281.0
+vert,404.0,666.0
+vert,482.0,615.0
+vert,545.0,326.0
+vert,520.0,338.0
+vert,713.0,810.0
+vert,401.0,616.0
+vert,520.0,399.0
 vert,367.0,375.0
+vert,599.0,418.0
+vert,591.0,332.0
+vert,483.0,810.0
+vert,602.0,652.0
+vert,711.0,234.0
+vert,366.0,275.0
+vert,611.0,359.0
+vert,570.0,324.0
+vert,302.0,249.0
+vert,259.0,476.0
+vert,411.0,811.0
+vert,503.0,375.0
+vert,168.0,471.0
+vert,603.0,346.0
+vert,601.0,491.0
+vert,165.0,235.0
+vert,405.0,237.0
+vert,606.0,811.0
+vert,165.0,809.0
+vert,213.0,812.0
 vert,165.0,521.0
-edge,start,1,end,4
-edge,start,1,end,16
-edge,start,3,end,25
-edge,start,9,end,17
-edge,start,10,end,26
-edge,start,11,end,14
-edge,start,11,end,41
-edge,end,7,start,12
-edge,end,2,start,12
-edge,start,13,end,38
-edge,end,0,start,19
-edge,start,19,end,40
-edge,end,14,start,20
-edge,start,20,end,41
-edge,end,18,start,21
-edge,start,21,end,30
-edge,start,24,end,35
-edge,end,5,start,24
-edge,start,26,end,27
-edge,end,7,start,28
-edge,end,2,start,28
-edge,end,23,start,29
-edge,end,8,start,29
-edge,end,6,start,31
-edge,end,15,start,32
-edge,end,22,start,32
-edge,end,18,start,33
-edge,end,30,start,33
-edge,start,34,end,37
-edge,end,35,start,36
-edge,end,5,start,36
-edge,start,37,end,39
-edge,end,10,start,39
-edge,end,25,start,42
+vert,223.0,273.0
+vert,294.0,378.0
+vert,267.0,616.0
+vert,493.0,238.0
+vert,403.0,483.0
+vert,210.0,380.0
+vert,330.0,376.0
+vert,714.0,488.0
+vert,603.0,537.0
+vert,715.0,655.0
+vert,224.0,247.0
+vert,267.0,723.0
+vert,503.0,357.0
+vert,618.0,397.0
+vert,713.0,539.0
+vert,334.0,727.0
+vert,485.0,693.0
+vert,211.0,346.0
+vert,300.0,277.0
+vert,294.0,347.0
+vert,577.0,423.0
+vert,531.0,414.0
+vert,329.0,345.0
+vert,327.0,615.0
+vert,367.0,347.0
+vert,304.0,479.0
+vert,621.0,379.0
+vert,487.0,485.0
+edge,start,1,end,53
+edge,start,2,end,16
+edge,start,3,end,21
+edge,start,5,end,18
+edge,end,5,start,6
+edge,start,7,end,15
+edge,start,9,end,22
+edge,start,11,end,52
+edge,start,12,end,24
+edge,start,14,end,41
+edge,start,14,end,28
+edge,start,15,end,35
+edge,start,17,end,58
+edge,end,12,start,18
+edge,start,19,end,42
+edge,start,19,end,50
+edge,start,22,end,44
+edge,end,20,start,23
+edge,end,17,start,24
+edge,start,26,end,29
+edge,end,26,start,27
+edge,end,7,start,29
+edge,end,0,start,30
+edge,end,0,start,31
+edge,start,32,end,42
+edge,start,32,end,50
+edge,end,8,start,36
+edge,start,36,end,57
+edge,start,37,end,49
+edge,end,33,start,37
+edge,start,38,end,54
+edge,end,10,start,38
+edge,end,25,start,40
+edge,start,40,end,46
+edge,end,34,start,43
+edge,start,43,end,47
+edge,end,6,start,44
+edge,end,11,start,45
+edge,end,13,start,48
+edge,end,49,start,51
+edge,end,33,start,51
+edge,end,1,start,52
+edge,end,9,start,53
+edge,end,34,start,55
+edge,end,47,start,55
+edge,end,54,start,56
+edge,end,10,start,56
+edge,end,45,start,58
+edge,end,4,start,59
+edge,end,39,start,59

src/Car.java

@@ -38,22 +38,21 @@ public class Car{
     }
 
     //draw the car and its views
-    public void drawCar(PointGraph g){
+    public void drawCar(PointGraph map, boolean SLAMIsHidden){
         proc.stroke(255);
         proc.ellipse(pose.x, pose.y, carWidth, carLength);
-        this.updateScan(g);
-//        this.slam.drawLines();
+        this.updateScan(map);
+        if(!SLAMIsHidden){
+            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/Processing.java

@@ -12,6 +12,8 @@ public class Processing extends PApplet {
     public static PApplet processing;
 
     PointGraph map = new PointGraph();
+    boolean mapIsHidden = false;
+    boolean SLAMIsHidden = false;
 
     public static void main(String[] args) {
         PApplet.main("Processing");
@@ -21,7 +23,7 @@ public class Processing extends PApplet {
         processing = this;
         car = new Car(processing, 100,100,50,40);
         size(1000, 1000);
-        car.addView(360,180);
+        car.addView(360,360);
 
 //        for(int i = 0; i < 10; i++){
 //            PointVertex vStart = new PointVertex(random(50, 950), random(50, 950));
@@ -32,8 +34,10 @@ public class Processing extends PApplet {
     }
     public void draw(){
         background(0);
-        map.draw(processing);
-        car.drawCar(map);
+        if(!mapIsHidden){
+            map.draw(processing);
+        }
+        car.drawCar(map, SLAMIsHidden);
         strokeWeight(2);
         stroke(255);
         //car.drive(new int[] {0, 0});
@@ -89,6 +93,12 @@ public class Processing extends PApplet {
                 e.printStackTrace();
             }
         }
+        if(key == 'h'){
+            mapIsHidden = !mapIsHidden;
+        }
+        if(key == 'j'){
+            SLAMIsHidden = !SLAMIsHidden;
+        }
     }
 
     public void mousePressed(){

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<>();
+    ShortTermMem unassociatedPoints = new ShortTermMem();
     private static PApplet proc;
 
     SLAM(PApplet processing){
@@ -17,38 +20,41 @@ 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){
-        // 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
+    private List<Vector> randomSampleInAngleRange(ArrayList<Vector> set, int subSampleSize, float minAngle, float maxAngle){
 
-        // get a random sample of size numSampleReadings within degreeRange degrees of this laser reading.
-        List<Vector> subSample;
-        int rangeStart = randomIdx - indexRange >= 0 ? randomIdx - indexRange : 0;
-        int rangeEnd = randomIdx + indexRange < set.size() ? randomIdx + indexRange : set.size()-1;
-        subSample = set.subList(rangeStart, rangeEnd); // get the sub-sample
-        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);
+        // create an arraylist with all points within the angle range from the given set
+        ArrayList<Vector> pointsInAngleRange = new ArrayList<>();
+        for(Vector point : set){
+            if(minAngle <= point.z && point.z <= maxAngle){
+                pointsInAngleRange.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);
+        // check that there are enough points in the sample that are less than the maxRange away to form a consensus
         int count = 0;
         ArrayList<Vector> newRandomSample = new ArrayList<>();
         for (Vector v : randomSample) {
@@ -63,41 +69,69 @@ 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 raysPerDegree How many degrees apart are each ray that was cast
-     */
-    public void RANSAC(ArrayList<Vector> newPoints, float raysPerDegree){
-        float degreeRange = radians(10/2); // range to randomly sample readings within
-        int indexRange = (int) (degreeRange / raysPerDegree);
-        int numSampleReadings = 10; // number of readings to randomly sample
-        // constrain numSampleReadings so that it cant be higher than possible
-        if(numSampleReadings >= 2 * indexRange){
-            numSampleReadings = 2 * indexRange;
+    private void fitToPreviousReadings(List<Vector> sample, float maxRange){
+        // keep track of points that were succesffully associated so they can be removed from the sample at the end
+        ArrayList<Vector> pointsToRemove = new ArrayList<>();
+        // try to associate points from the smaple with pre-existing lines
+        for(Vector v: sample){
+            for(Line l : lines){
+                if(l.getDistance(v) < maxRange){
+                    l.refitLine(v);
+                    pointsToRemove.add(v);
+                }
+            }
         }
-        int consensus = 6; // the number of points that need to lie near a line for it to be considered valid.
+
+        for(Vector v : pointsToRemove){
+            sample.remove(v);
+        }
+    }
+
+    /**
+     * @param view a laser scan view
+     */
+    public void RANSAC(View view){
+        unassociatedPoints.addScan(view.getPos(), view.getPoints());
+
+        float degreeRange = radians(5); // range to randomly sample readings within
+        int numSampleReadings = 15; // number of readings to randomly sample
+
+        int consensus = 10; // 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 sub sample of newPoints within the index range of a given size
-            List<Vector> randomSample = this.randomSample(newPoints, indexRange, numSampleReadings);
+            // get a random angle between -PI and PI
+            float randomAngle = (float) (2*PI*(random()) - 0.5);
 
-            // check if the sub sample forms a valid line and remove the randomSample points if it does.
-            extractFeature(newPoints, randomSample, maxRange, consensus);
+            // get a random sub sample of newPoints within the index range of a given size
+            List<Vector> randomSample = this.randomSampleInAngleRange(this.unassociatedPoints.getPoints(), numSampleReadings, randomAngle-degreeRange, randomAngle+degreeRange);
+
+            if(randomSample.size() >= numSampleReadings){
+                // try to associate points from the sample with previously made lines
+                fitToPreviousReadings(randomSample, maxRange);
+                // check if the sub sample forms a valid line and remove the randomSample points if it does.
+                extractFeature(randomSample, maxRange, consensus);
+            }
 
         }
 
     }
 
+    public void drawFeatures(PApplet proc){
+        for(Line line : lines){
+            line.draw(proc);
+        }
+    }
+
 }

src/ShortTermMem.java

@@ -0,0 +1,59 @@
+import java.util.ArrayList;
+import Vector.Vector;
+public class ShortTermMem {
+    ArrayList<ArrayList<Vector>> scans = new ArrayList<>();
+    ArrayList<Vector> scanPositions = new ArrayList<>();
+
+    ArrayList<Long> scanTimes = new ArrayList<>();
+    private int size = 0;
+
+    public void addScan(Vector scanPosition, ArrayList<Vector> scan){
+        size += scan.size();
+        scans.add(scan);
+        scanPositions.add(scanPosition);
+        scanTimes.add(System.currentTimeMillis());
+        purgeScans();
+    }
+
+    public ArrayList<Vector> getPoints(){
+        ArrayList<Vector> points = new ArrayList<>();
+        for(ArrayList<Vector> pointList : this.scans){
+            points.addAll(pointList);
+        }
+        return points;
+    }
+
+    public void remove(Vector point){
+        for(ArrayList<Vector> pointList : this.scans){
+            int listSize = pointList.size();
+            pointList.remove(point);
+            if(listSize - pointList.size() != 0){
+                size--;
+                break;
+            }
+        }
+    }
+
+    private void purgeScans(){
+        long currentTime = System.currentTimeMillis();
+        int i = scanTimes.size();
+
+        // loop through the list backwards and remove all scans that are over second old
+        // we loop backwards to avoid removal conflicts
+        while(i > 0){
+            i--;
+            long dt = currentTime - scanTimes.get(i);
+            if(dt < 1000){
+                continue;
+            }
+            size -= scans.get(i).size();
+            scanTimes.remove(i);
+            scanPositions.remove(i);
+            scans.remove(i);
+        }
+    }
+
+    public int size(){
+        return this.size;
+    }
+}

src/Vector/Line.java

@@ -3,6 +3,7 @@ package Vector;
 import Vector.Vector;
 import processing.core.PApplet;
 
+import java.util.ArrayList;
 import java.util.List;
 
 import static processing.core.PApplet.*;
@@ -13,6 +14,8 @@ public class Line implements LineInterface{
     // store the starting position of the line
     protected Vector position = new Vector(0,0);
 
+    protected ArrayList<Vector> points = new ArrayList<>();
+
     public Line(Vector startPosition, Vector endPosition){
         direction = endPosition.sub(startPosition);
         position = startPosition;
@@ -26,8 +29,16 @@ public class Line implements LineInterface{
         bestFit(points);
     }
 
+    public void refitLine(Vector newPoint){
+        // add the new point to our list
+        this.points.add(newPoint);
+        // rerun the bestFit algorithm with the new point
+        bestFit(new ArrayList<>());
+    }
+
     // least squares line of best fit algorithm
-    private void bestFit(List<Vector> points){
+    public void bestFit(List<Vector> fitPoints){
+        this.points.addAll(fitPoints);
         // get the mean of all the points
         Vector mean = new Vector();
         for(Vector point : points){
@@ -37,26 +48,28 @@ public class Line implements LineInterface{
 
         // this section calculates the direction vector of the line of best fit
         Vector direction = new Vector();
-        float length = 1;
+        float length = 0;
         // get the rise and run of the line of best fit
         for(Vector point : points){
             direction.y += (point.x - mean.x)*(point.y - mean.y); // rise
             direction.x += pow((point.x - mean.x),2);
 
-            // find the point that's furthest from the mean and use it to set the line length.
+            // get the average distance avery point is away from the mean.
             float dist = abs(point.sub(mean).mag());
-            if(dist > length){
-                length = 2*dist;
-            }
+            length += dist;
 
         }
+        length = 2f*length/points.size();
+        // if the direction is perfectly vertical create a line to represent that.
         if(direction.y == 0){
             this.direction = new Vector(0, 1);
         }
         else{
             this.direction = new Vector(1, direction.y/direction.x);
         }
+        // scale the direction vector to be the correct length of the line.
         this.direction = this.direction.normalize().mul(length);
+
         this.position = mean.sub(this.direction.div(2));
     }
 
@@ -84,12 +97,15 @@ public class Line implements LineInterface{
         return this.position.add(this.direction);
     }
 
-    /**
-     * @param point
-     * @return the smallest distance from the point to this line
-     */
     public float getDistance(Vector point){
-        return (point.sub(position).cross(direction)).mag() / direction.mag();
+        float line_dist = direction.mag();
+        if(line_dist == 0) return this.position.sub(point).mag();
+
+        Vector l2 = this.endPoint();
+        float t = ((point.x - position.x) * (l2.x - position.x) + (point.y - position.y) * (l2.y - position.y) + (point.z - position.z) * (l2.z - position.z)) / line_dist;
+        t = constrain(t, 0, 1);
+        Vector closestPoint = new Vector(position.x + t * (l2.x - position.x), position.y + t * (l2.y - position.y), position.z + t * (l2.z - position.z));
+        return closestPoint.sub(point).mag();
     }
 
     public void draw(PApplet proc){

src/Vector/Vector.java

@@ -1,5 +1,7 @@
 package Vector;
 
+import processing.core.PApplet;
+
 import static java.lang.Math.*;
 import static processing.core.PApplet.cos;
 import static processing.core.PApplet.sin;
@@ -90,4 +92,8 @@ public class Vector {
         float currentAngle = this.angle();
         return new Vector(cos(currentAngle + angle), sin(currentAngle + angle)).mul(distance);
     }
+
+    public void draw(PApplet proc){
+        proc.circle(this.x, this.y, 8);
+    }
 }

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;
@@ -35,7 +35,8 @@ public class View {
         for (Ray ray : rays) {
             ray.castRay(map);
             if(ray.hasCollided()){
-                ray.drawRay(proc);
+                ray.getPoint().draw(proc);
+//                ray.drawRay(proc);
             }
         }
     }
@@ -51,7 +52,10 @@ 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 +85,27 @@ public class View {
         ArrayList<Vector> points = new ArrayList<>();
 
         for (Ray ray : rays) {
-            if (ray.hasCollided()){
-                points.add(ray.getPoint());
+            if(ray.hasCollided()){
+                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;
+    }
 }