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particleRansac.py
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176 lines (154 loc) · 6.36 KB
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import math
import random
import matplotlib.pyplot as plt
import numpy as np
import timeit
def getDist(pt1, pt2):
return math.sqrt(math.pow(pt2[0] - pt1[0], 2) + math.pow(pt2[1] - pt1[1], 2))
#returns true if the angCheck is between ang1 and ang2 and accounts for 360 degree crossover
def angleInRange(ang1, ang2, angCheck):
ang1 = (ang1 + 360) % 360 #probably don't need these 2 lines but just in case
ang2 = (ang2 + 360) % 360
angle = ((ang2 - ang1) + 360) % 360
if angle >= 180:
ang1,ang2 = ang2,ang1
if ang1 <= ang2:
return angCheck >= ang1 and angCheck <= ang2
else:
return angCheck >= ang1 or angCheck <= ang2
#gets the angle of a vector denoted by pt which is (x,y)
def getAngle(pt):
if pt[0] == 0:
pt[0] = 0.0000000001
angle = math.degrees(math.atan(abs(pt[1] / pt[0])))
if pt[0] < 0 and pt[1] >= 0: #quadrant 2
return 180 - angle
elif pt[0] < 0 and pt[1] < 0: #quadrant 3
return 180 + angle
elif pt[0] > 0 and pt[1] < 0: #quadrant 4
return 360 - angle
else:
return angle #quadrant 1
def expectedRadius(pt, angleCheck): #pt is (x, y, angle of direction)
# #outside wall vertici angles (A is lower left going clockwise)
# angA = getAngle((0 - pt[0], 0 - pt[1])) - pt[2]
# angB = getAngle((0 - pt[0], 2440 - pt[1])) - pt[2]
# angC = getAngle((2440 - pt[0], 2440 - pt[1])) - pt[2]
# angD = getAngle((2440 - pt[0], 0 - pt[1])) - pt[2]
m = math.tan(math.radians(pt[2] + angleCheck))
if m == 0:
m = 0.0000000001
b = pt[1] - (m * pt[0])
#inside wall vertici angles (a is left most going clockwise)
ang_a = getAngle((1057 - pt[0], 1220 - pt[1])) - pt[2]
ang_b = getAngle((1220 - pt[0], 1383 - pt[1])) - pt[2]
ang_c = getAngle((1383 - pt[0], 1220 - pt[1])) - pt[2]
ang_d = getAngle((1220 - pt[0], 1057 - pt[1])) - pt[2]
if angleCheck + pt[2] != 90 and angleCheck + pt[2] != 270:
line1r = -pt[0] / math.cos(math.radians((angleCheck + pt[2])))
line3r = (2440 - pt[0]) / math.cos(math.radians((angleCheck + pt[2])))
else:
line1r = 9999999999999999
line3r = 9999999999999999
if pt[2] + angleCheck != 0 and pt[2] + angleCheck != 180:
line2r = (2440 - pt[1]) / math.sin(math.radians(angleCheck + pt[2]))
line4r = -pt[1] / math.sin(math.radians(angleCheck + pt[2]))
else:
line2r = 9999999999999999
line4r = 9999999999999999
rads = [line1r, line2r, line3r, line4r]
if pt[0] >= 1220 and pt[1] >= 1220: #quadrant I #checking if the point is in the upper right of the cordinate system (this is a specific color)
#time to do inner box
if angleInRange(ang_b, ang_c, pt[2] + angleCheck):
# print("1")
x = (2456.3 - b) / (m + 1)
y = m * x + b
line5r = getDist((x,y), pt)
rads.append(line5r)
if ang_a < ang_b and angleInRange(ang_a, ang_b, pt[2] + angleCheck):
# print("2")
x = (16.3 - b) / (m - 1)
y = m * x + b
line6r = getDist((x,y), pt)
rads.append(line6r)
if ang_d > ang_c and angleInRange(ang_d, ang_c, pt[2] + angleCheck):
# print("3")
# print(m,b)
x = (-16.3 - b) / (m - 1)
y = m * x + b
# print(x,y)
line7r = getDist((x,y), pt)
rads.append(line7r)
elif pt[0] <= 1220 and pt[1] >= 1220: #quadrant II #checking if the point is in the upper left of the cordinate system (this is a specific color)
#time to do inner box
if angleInRange(ang_a, ang_b, pt[2] + angleCheck):
# print("1")
x = (16.3 - b) / (m - 1)
y = m * x + b
line5r = getDist((x,y), pt)
rads.append(line5r)
if ang_a > ang_d and angleInRange(ang_a, ang_d, pt[2] + angleCheck):
# print("2")
x = (2423.7 - b) / (m + 1)
y = m * x + b
line6r = getDist((x,y), pt)
rads.append(line6r)
if ang_c > ang_b and angleInRange(ang_b, ang_c, pt[2] + angleCheck) and pt[1] > 1383:
# print("3")
# print(m,b)
x = (2456.3 - b) / (m + 1)
y = m * x + b
# print(x,y)
line7r = getDist((x,y), pt)
rads.append(line7r)
elif pt[0] <= 1220 and pt[1] <= 1220: #quadrant III #checking if the point is in the lower left of the cordinate system (this is a specific color)
#time to do inner box
if angleInRange(ang_a, ang_d, pt[2] + angleCheck):
# print("1")
x = (2456.3 - b) / (m + 1)
y = m * x + b
line5r = getDist((x,y), pt)
rads.append(line5r)
if ang_a < ang_b and angleInRange(ang_a, ang_b, pt[2] + angleCheck):
# print("2")
x = (16.3 - b) / (m - 1)
y = m * x + b
line6r = getDist((x,y), pt)
rads.append(line6r)
if ang_c < ang_d and angleInRange(ang_d, ang_c, pt[2] + angleCheck) and pt[1] < 1057:
# print("3")
# print(m,b)
x = (2456.3 - b) / (m + 1)
y = m * x + b
# print(x,y)
line7r = getDist((x,y), pt)
rads.append(line7r)
else: #quadrant IV #checking if the point is in the lower right of the cordinate system (this is a specific color)
#time to do inner box
if angleInRange(ang_c, ang_d, pt[2] + angleCheck):
# print("1")
x = (-16.3 - b) / (m - 1)
y = m * x + b
line5r = getDist((x,y), pt)
rads.append(line5r)
if ang_a > ang_d and angleInRange(ang_a, ang_d, pt[2] + angleCheck):
# print("2")
x = (2423.7 - b) / (m + 1)
y = m * x + b
line6r = getDist((x,y), pt)
rads.append(line6r)
if ang_c > ang_b and angleInRange(ang_b, ang_c, pt[2] + angleCheck):
# print("3")
# print(m,b)
x = (2456.3 - b) / (m + 1)
y = m * x + b
# print(x,y)
line7r = getDist((x,y), pt)
rads.append(line7r)
out = 9999999999999999
print(rads)
for r in rads:
if r < out and r > 0:
out = r
return out
print(expectedRadius((2430, 10, 0), 135))