├── .github
├── CONTRIBUTING.md
├── ISSUE_TEMPLATE.md
└── PULL_REQUEST_TEMPLATE.md
├── .gitignore
├── LICENSE
├── README.md
└── examples
└── line_extraction
├── README.md
├── data
└── example_1.js
├── index.html
├── js
├── components
│ ├── Data.js
│ ├── EventDispatcher.js
│ ├── Graphics.js
│ ├── Perception.js
│ ├── Plotting.js
│ ├── Processing.js
│ └── Utils.js
├── main.js
└── namespace.js
└── style
└── style-helper-utils.css
/.github/CONTRIBUTING.md:
--------------------------------------------------------------------------------
1 | # Help
2 | The [issues](https://github.com/scanse/sweep-learning-examples/issues) section is for bug reports and feature requests. If you need help with a project, please use the [community](http://community.scanse.io/) forum.
3 |
4 | ---
5 | # Bugs
6 | #### Before reporting a bug
7 |
8 | 1. Search [issue tracker](https://github.com/scanse/sweep-learning-examples/issues) for similar issues.
9 | 2. Make sure you are using the latest version of the code, and that you have thoroughly reviewed all provided documentation.
10 |
11 |
12 | #### How to report a bug
13 | 1. Create a new issue on the [issue tracker](https://github.com/scanse/sweep-learning-examples/issues).
14 | 2. Describe the problem in detail. Explain what happened, and what you expected would happen.
15 | 3. If it makes things more clear, include an annotated screenshot.
16 |
17 | ---
18 | # Contribution
19 | The `sweep-learning-examples` are a learning resource for the community. Learning material will evolve more quickly with community contribution! We will work hard to integrate valuable changes, improvements and features. To make the process more efficient, here are some general steps to contribute.
20 |
21 | #### How to contribute
22 |
23 | 1. Login or create a GitHub account.
24 | 2. Fork the repository on GitHub.
25 | 3. Make changes to your fork of the repository.
26 | 4. Check the [Contribution Guidelines](PULL_REQUEST_TEMPLATE.md) for pull requests and make sure your modifications adhere to the guidelines.
27 | 5. Submit your modifications as a new pull request [here](https://github.com/scanse/sweep-learning-examples/pulls).
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/.github/ISSUE_TEMPLATE.md:
--------------------------------------------------------------------------------
1 |
12 |
13 |
14 |
15 |
--------------------------------------------------------------------------------
/.github/PULL_REQUEST_TEMPLATE.md:
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1 |
13 |
14 |
15 | #### Scope of changes
16 |
21 |
22 | #### Known Limitations
23 |
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/.gitignore:
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1 | # Logs
2 | logs
3 | *.log
4 | npm-debug.log*
5 | yarn-debug.log*
6 | yarn-error.log*
7 |
8 | # Runtime data
9 | pids
10 | *.pid
11 | *.seed
12 | *.pid.lock
13 |
14 | # Directory for instrumented libs generated by jscoverage/JSCover
15 | lib-cov
16 |
17 | # Coverage directory used by tools like istanbul
18 | coverage
19 |
20 | # nyc test coverage
21 | .nyc_output
22 |
23 | # Grunt intermediate storage (http://gruntjs.com/creating-plugins#storing-task-files)
24 | .grunt
25 |
26 | # Bower dependency directory (https://bower.io/)
27 | bower_components
28 |
29 | # node-waf configuration
30 | .lock-wscript
31 |
32 | # Compiled binary addons (http://nodejs.org/api/addons.html)
33 | build/Release
34 |
35 | # Dependency directories
36 | node_modules/
37 | jspm_packages/
38 |
39 | # Typescript v1 declaration files
40 | typings/
41 |
42 | # Optional npm cache directory
43 | .npm
44 |
45 | # Optional eslint cache
46 | .eslintcache
47 |
48 | # Optional REPL history
49 | .node_repl_history
50 |
51 | # Output of 'npm pack'
52 | *.tgz
53 |
54 | # Yarn Integrity file
55 | .yarn-integrity
56 |
57 | # dotenv environment variables file
58 | .env
59 |
60 |
--------------------------------------------------------------------------------
/LICENSE:
--------------------------------------------------------------------------------
1 | MIT License
2 |
3 | Copyright (c) 2017 Scanse
4 |
5 | Permission is hereby granted, free of charge, to any person obtaining a copy
6 | of this software and associated documentation files (the "Software"), to deal
7 | in the Software without restriction, including without limitation the rights
8 | to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
9 | copies of the Software, and to permit persons to whom the Software is
10 | furnished to do so, subject to the following conditions:
11 |
12 | The above copyright notice and this permission notice shall be included in all
13 | copies or substantial portions of the Software.
14 |
15 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
16 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
17 | FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
18 | AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
19 | LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
20 | OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
21 | SOFTWARE.
22 |
--------------------------------------------------------------------------------
/README.md:
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1 | # sweep-learning-examples
2 | A collection of learning examples relevant to 2D LiDAR data.
3 |
4 |
5 | ## Examples:
6 | - [Line Extraction](/examples/line_extraction)
7 |
8 |
9 | ## See the [Wiki](https://github.com/scanse/sweep-learning-examples/wiki) for Documentation
10 |
--------------------------------------------------------------------------------
/examples/line_extraction/README.md:
--------------------------------------------------------------------------------
1 | # Line Extraction Learning Example
2 |
3 | ## See the [Wiki](https://github.com/scanse/sweep-learning-examples/wiki) for Documentation
4 |
5 | ## Quickstart:
6 |
7 | 1. Retrieve the source code
8 | ```
9 | git clone https://github.com/scanse/sweep-learning-examples
10 | ```
11 | 2. Open open `index.html` (`sweep-learning-examples/examples/line_extraction/index.html`) in a WebGL compatible browser such as google chrome.
12 |
13 | ## Compatibility:
14 | The example is designed to run in a web browser without requiring a server or any kind of modifications to file access. However, your web browser must be able to run WebGL. You can check that here: [https://get.webgl.org/](https://get.webgl.org/)
15 |
16 |
17 | ## File Structure:
18 | - `data/`: contains the recorded scan data used to visualize the algorithms (json data stored as string in js file).
19 | - `js`: the source code for the application
20 | - `components/`: the applications components/modules
21 | - `namespace.js`: defines the application namespace + structure of components/modules
22 | - `main.js`: control logic and entry point for the application
23 | - `lib`: third party libraries
24 | - `style`: css helpers
25 | - `index.html`: the HTML page
26 |
27 | ## Experimenting with Parameters
28 | The easiest way to explore the effects of various parameters is to tinker with them and visualize the effects. To alter the parameters used in the example, simply adjust the values specified in the `initLineExtractor()` method from the `LineExtractionApp.Visualizer` module. For descriptions of each parameter, see the section on [Line Extraction](https://github.com/scanse/sweep-learning-examples/wiki/Line-Extraction).
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/examples/line_extraction/data/example_1.js:
--------------------------------------------------------------------------------
1 | /*
2 | * Sample data recording to be played back by the application.
3 | *
4 | * This is a javascript file which defines a string variable containing the
5 | * contents of a JSON file exported from the Sweep Visualizer. Data is stored
6 | * this way to avoid cross origin requests, and allow this example to run without
7 | * any special access.
8 | *
9 | * To use a different recording:
10 | * 1. Export or convert the recording to .json format using the Sweep Visualizer.
11 | * 2. Copy the contents of the exported file.
12 | * 3. Replace the assignment value of EXAMPLE_RECORDING_1_JSON_DATA with the
13 | * copied contents of the recording file. Be sure the contents are pasted
14 | * as a string (ie: inside 'single' or "double" quotations).
15 | */
16 | var EXAMPLE_RECORDING_1_JSON_DATA = 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/examples/line_extraction/js/components/Data.js:
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1 | /************************************************************************************//**
2 | ** Data (Module):
3 | * A LineExtractionApp module that provides a collection of classes/structs/methods to assist
4 | * in the instantiation and storage of various data point representations.
5 | ****************************************************************************************/
6 | LineExtractionApp.Data = function () {
7 |
8 | /****************************************************************************************
9 | * Classes + Structs
10 | ****************************************************************************************/
11 | // a small struct to define an entire scan (360 degrees) worth of sensor readings
12 | let ScanDataStruct = function (sensorReadings, timeStamp) {
13 | this.sensorReadings = sensorReadings;
14 | this.timeStamp = (arguments.length < 2) ? Date.now() : timeStamp;
15 | };
16 |
17 | //a small struct to define polar coordinate
18 | function PolarCoordStruct(theAngle, theRadius) {
19 | this.angle = theAngle;
20 | this.radius = theRadius;
21 | };
22 |
23 | //a small struct to define a cartesian coordinate
24 | function CartesianCoordStruct(x, y, z) {
25 | this.x = x;
26 | this.y = y;
27 | this.z = z;
28 | };
29 |
30 | // (Class) An individual data point reading from the sensor.
31 | // Includes both polar and cartesian representations.
32 | function SensorReading(theAngle, theDistance, theSignalStrength) {
33 | //store both the polar and cartesian forms of the data point
34 | this.polarCoord = new PolarCoordStruct(theAngle, theDistance);
35 | this.cartesianCoord = polar2Cart(theAngle, theDistance);
36 |
37 | this.signalStrength = theSignalStrength;
38 | this.timeStamp = Date.now();
39 | };
40 |
41 | //returns true if the data point is within the provided radius range (inclusive)
42 | SensorReading.prototype.isInRadiusRange = function (min, max) {
43 | let bBigEnough = this.polarCoord.radius >= min;
44 | let bSmallEnough = this.polarCoord.radius <= max;
45 | return bBigEnough && bSmallEnough;
46 | };
47 |
48 | //returns true if the data point is within the provided angle range (inclusive)
49 | SensorReading.prototype.isInAngleRange = function (min, max) {
50 | let bBigEnough = this.polarCoord.angle >= min;
51 | let bSmallEnough = this.polarCoord.angle <= max;
52 | return bBigEnough && bSmallEnough;
53 | };
54 |
55 | //returns true if the data point registered a signal strength within the provided range (inclusive)
56 | SensorReading.prototype.isInSignalStrengthRange = function (min, max) {
57 | let bBigEnough = this.signalStrength >= min;
58 | let bSmallEnough = this.signalStrength <= max;
59 | return bBigEnough && bSmallEnough;
60 | };
61 |
62 | SensorReading.prototype.toString = function () {
63 | let msg =
64 | `DataPoint:
65 | TimeStamp: ${this.timeStamp}
66 | Signal Strength: ${this.signalStrength}
67 | PolarCoord: ${this.polarCoord.toString()}
68 | CartCoord: ${this.cartesianCoord.toString()}`;
69 | return msg;
70 | };
71 |
72 |
73 | /************************************************************************************//**
74 | ** DataPlayback (Class): A LineExtractionApp module class.
75 | * Controls the playback of data
76 | ****************************************************************************************/
77 | let DataPlayback = function () {
78 | /****************************************************************************************
79 | * Instance Variables
80 | ****************************************************************************************/
81 | this.data;
82 | this.numScans;
83 | this.currentIndex;
84 |
85 | /****************************************************************************************
86 | * Methods
87 | ****************************************************************************************/
88 | this.init = (recordingData) => {
89 | this.reset();
90 | if (typeof recordingData !== 'undefined') {
91 | this.setData(recordingData);
92 | }
93 | };
94 |
95 | //draw the scan at a specific index (as if it was received from the sensor)
96 | this.drawScan = (index) => {
97 | if (index >= this.numScans)
98 | return;
99 | // Fire an event to alert any subscribers that a new scan is to be drawn
100 | LineExtractionApp.EventDispatcher.trigger('event_CollectedCompleteScanData', this.data[index]);
101 | };
102 |
103 | this.cycle = () => {
104 | if (this.numScans <= 0)
105 | return;
106 |
107 | this.drawScan(this.currentIndex);
108 |
109 | let nextDeltaTime = this.timeUntilNextIndex(this.currentIndex);
110 |
111 | //check if the index will rollover
112 | if (nextDeltaTime < 0) {
113 | //reset the index to 0
114 | this.currentIndex = 0;
115 | }
116 | else {
117 | this.currentIndex++;
118 | }
119 | //call the next cycle in the appropriate amount of time
120 | setTimeout(() => { this.cycle(); }, nextDeltaTime);
121 | };
122 |
123 | this.timeUntilNextIndex = (theIndex) => {
124 | //example
125 | let nextIndex = (theIndex >= (this.numScans - 1)) ? 0 : theIndex + 1;
126 | let timeStamp_Index = this.data[theIndex].timeStamp;
127 | let timeStamp_nextIndex = this.data[nextIndex].timeStamp;
128 | let deltaMillis = timeStamp_nextIndex - timeStamp_Index;
129 | return deltaMillis;
130 | };
131 |
132 | this.setData = (newData) => {
133 | this.data = newData;
134 | this.numScans = this.data.length;
135 | };
136 |
137 | // resets the playback
138 | this.reset = () => {
139 | this.data = null;
140 | this.numScans = 0;
141 | this.currentIndex = 0;
142 | };
143 | };
144 |
145 |
146 | /****************************************************************************************
147 | * Methods
148 | ****************************************************************************************/
149 | //converts a polar coordinate to a 2D cartesian coordinate
150 | let polar2Cart = (theAngle_deg, theRadius) => {
151 | let x = theRadius * Math.cos(deg2Rad(theAngle_deg));
152 | let y = theRadius * Math.sin(deg2Rad(theAngle_deg));
153 | return new CartesianCoordStruct(x, y, 0);
154 | };
155 |
156 | //converts an anlge from degrees to radians
157 | let deg2Rad = (theAngle_deg) => {
158 | return theAngle_deg * (Math.PI / 180);
159 | };
160 |
161 | //compatability crutch in case the date.now is unsupported
162 | if (!Date.now) {
163 | Date.now = function () { return new Date().getTime(); }
164 | };
165 |
166 |
167 | //Comparators for sorting arrays of sensor readings
168 | let compareRadius = (a, b) => {
169 | if (a.polarCoord.radius < b.polarCoord.radius)
170 | return -1;
171 | if (a.polarCoord.radius > b.polarCoord.radius)
172 | return 1;
173 | return 0;
174 | };
175 |
176 | //Helper functions to help when filtering an array of sensor readings using array.filter
177 | let radiusCheck = (min, max) => {
178 | return function (element) { return element.isInRadiusRange(min, max); }
179 | };
180 |
181 | // removes sensor readings from a scan struct that are within a specified radius
182 | let removeSensorReadingsInsideRadius = (scan, radius) => {
183 | scan.sensorReadings = scan.sensorReadings.filter(radiusCheck(radius, Number.MAX_SAFE_INTEGER));
184 | };
185 |
186 |
187 |
188 | /****************************************************************************************
189 | Sub-Modules
190 | ****************************************************************************************/
191 |
192 | /************************************************************************************//**
193 | ** ScanFile (Module): A LineExtractionApp Data module.
194 | * Provides methods to interpret JSON objects into datapoints.
195 | ****************************************************************************************/
196 | let ScanFile = function () {
197 | /****************************************************************************************
198 | * Methods
199 | ****************************************************************************************/
200 | // interprets a json object into an array of scans according to the known scan data json format
201 | let interpretJSONData = (jsonObject) => {
202 | let numScans;
203 | let allScans = [];
204 | let bLogTimeStampPerScan = jsonObject.bLogTimeStampPerSweep;
205 |
206 | if (!bLogTimeStampPerScan) {
207 | console.error("Not handling this kind of recording yet");
208 | return null;
209 | }
210 |
211 | numScans = jsonObject.Sweeps.length;
212 | //loop through each scan
213 | for (let i = 0; i < numScans; i++) {
214 | //grab all the data for that scan
215 | let theTimeStamp = jsonObject.Sweeps[i].TimeStamp;
216 | let theAngles = jsonObject.Sweeps[i].SensorReading_Angles;
217 | let theRadii = jsonObject.Sweeps[i].SensorReading_Radii;
218 | let theSignalStrengths = jsonObject.Sweeps[i].SensorReading_SignalStrength;
219 |
220 | let numSensorReadings = theAngles.length;
221 | let allSensorReadings = [];
222 | //loop through each sensor reading in the scan
223 | for (let j = 0; j < numSensorReadings; j++) {
224 | //create a sensor reading class from the limited data and then store it
225 | allSensorReadings.push(new SensorReading(theAngles[j], theRadii[j], theSignalStrengths[j]));
226 | }
227 | //store all the sensor reading instances for this scan in a scan data struct
228 | allScans.push(new ScanDataStruct(allSensorReadings, theTimeStamp));
229 | }
230 | return allScans;
231 | };
232 |
233 |
234 | /************************************************************************************//**
235 | ** Public API
236 | * Return all the methods/variables that should be public.
237 | ****************************************************************************************/
238 | return {
239 | //public methods
240 | interpretJSONData: interpretJSONData
241 | };
242 | }();
243 |
244 |
245 | /************************************************************************************//**
246 | ** Public API
247 | * Return all the methods/variables that should be public.
248 | ****************************************************************************************/
249 | return {
250 | // public sub-modules
251 | ScanFile: ScanFile,
252 |
253 | // public classes/structs
254 | ScanDataStruct: ScanDataStruct,
255 | PolarCoordStruct: PolarCoordStruct,
256 | CartesianCoordStruct: CartesianCoordStruct,
257 | SensorReading: SensorReading,
258 | DataPlayback: DataPlayback,
259 |
260 | // public methods
261 | polar2Cart: polar2Cart,
262 | deg2Rad: deg2Rad,
263 | compareRadius: compareRadius,
264 | radiusCheck: radiusCheck,
265 | removeSensorReadingsInsideRadius: removeSensorReadingsInsideRadius
266 | };
267 |
268 | }();
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/examples/line_extraction/js/components/EventDispatcher.js:
--------------------------------------------------------------------------------
1 | /************************************************************************************//**
2 | ** EventDispatcher (Module):
3 | * Provides methods for subscribing/publishing events.
4 | * This allows decoupling of the app modules from the control logic.
5 | ****************************************************************************************/
6 | LineExtractionApp.EventDispatcher = function () {
7 |
8 | let eventSubscriptions = {};
9 |
10 | let subscribe = (eventName, callback) => {
11 | // Get any current subscribers for eventName
12 | let subscribers = eventSubscriptions[eventName];
13 |
14 | if (typeof subscribers === 'undefined') {
15 | // If the event has no subscribers, initialize the subscribers array
16 | subscribers = eventSubscriptions[eventName] = [];
17 | }
18 |
19 | // Add the given callback function to the end of the array with
20 | // eventSubscriptions for this event.
21 | subscribers.push(callback);
22 | };
23 |
24 | let trigger = (eventName, data) => {
25 | // Get any current subscribers for the triggered event
26 | let subscribers = eventSubscriptions[eventName];
27 |
28 | if (typeof subscribers === 'undefined') {
29 | //console.log(`[EventDispatcher] trigger: no subscribers for event ${eventName}`);
30 | // If the event has no subscribers, return early (ie: don't fire event)
31 | return;
32 | }
33 |
34 | // Send the data for each subscriber of this event
35 | subscribers.forEach(function (subscriber) {
36 | subscriber(data || {});
37 | });
38 |
39 | //console.log(`[EventDispatcher] trigger: event ${eventName} dispatched to ${subscribers.length} subscribers, with data: ${data}`);
40 | }
41 |
42 |
43 | /************************************************************************************//**
44 | ** Public API
45 | * Return all the methods/variables that should be public.
46 | ****************************************************************************************/
47 | return {
48 | // public methods
49 | subscribe: subscribe,
50 | trigger: trigger
51 | };
52 |
53 | }();
--------------------------------------------------------------------------------
/examples/line_extraction/js/components/Graphics.js:
--------------------------------------------------------------------------------
1 | /************************************************************************************//**
2 | ** Graphics (Module): A LineExtractionApp Module
3 | * Module for visualizing scan data graphically using webgl via THREE.js.
4 | ****************************************************************************************/
5 | LineExtractionApp.Graphics = function () {
6 | /****************************************************************************************
7 | * Module Includes
8 | ****************************************************************************************/
9 | const _EXTRACTION = LineExtractionApp.Perception.PrimitiveExtraction;
10 | const _FILTERING = LineExtractionApp.Processing.Filtering;
11 | const _HELPERS = LineExtractionApp.Utils.GenericHelpers;
12 |
13 | /************************************************************************************//**
14 | ** PointCloudObject (Class): A LineExtractionApp Graphics module class.
15 | * A point cloud object.
16 | ****************************************************************************************/
17 | let PointCloudObject = function (theNumPoints, parent, distanceScale) {
18 |
19 | this.distanceScale = distanceScale;
20 | // Base64 encoded png sprite of a small disc
21 | let discSprite = new Image();
22 | discSprite.src = 'data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAACAAAAAgCAYAAABzenr0AAAAAXNSR0IArs4c6QAAAAZiS0dEAAAAAAAA+UO7fwAAAAlwSFlzAAALEwAACxMBAJqcGAAAAAd0SU1FB9sHDgwCEMBJZu0AAAAdaVRYdENvbW1lbnQAAAAAAENyZWF0ZWQgd2l0aCBHSU1QZC5lBwAABM5JREFUWMO1V0tPG2cUPZ4Hxh6DazIOrjFNqJs0FIMqWFgWQkatsmvVbtggKlSVRVf5AWz4AWz4AUSKEChll19QJYSXkECuhFxsHjEhxCYm+DWGMZ5HF72DJq4bAzFXurI0M/I5997v3u9cC65vTJVn2lX/xHINQOYSBLTLEuIuCWw4Z3IGAEvf6ASmVHjNzHCXBG4A0AjACsAOwEbO0nsFQBnAGYASAIl+ZRMR7SolMEdsByD09fV5R0ZGgg8ePPjW5/N1iqLYpuu6RZblciKR2I9Go69evnwZnZ+fjwI4IS8AKBIRzeQfJWCANwKwh0KhtrGxsYehUOin1tbW+zzP23ietzY2NnIAoGmaLsuyUiqVyvl8XtrY2NiamZn589mzZxsAUgCOAeQAnFI2tI+VxIjaAeDzoaGh7xYWFuZOTk6OZVk+12uYqqq6JEnn0Wg0OT4+/geAXwGEAdwDIFJQXC1wO4DWR48e/RCPxxclSSroVzRFUbSDg4P848ePFwH8DuAhkWih83TRQWxFOXgAwvDwcOfo6OhvXV1d39tsNtuVBwTDWBwOh1UUxVsMw1hXVlbSdCgNV43uYSvrHg6H24aHh38eHBz85TrgF9FYLHA4HLzH43FvbW2d7u/vG+dANp8FpqIlbd3d3V8Fg8EfBUFw4BONZVmL3+9vHhkZCQL4AoAHgJPK8G+yzC0XDofdoVAo5PP5vkadTBAEtr+/39ff3x8gAp/RPOEqx2qjx+NpvXv3bk9DQ0NDvQgwDIOWlhZrMBj8kgi0UJdxRgYMArzL5XJ7vd57qLPZ7Xamp6fnNgBXtQxcjFuHw+Hyer3t9SYgCAITCAScAJoBNNEY/08GOFVVrfVMv7kMNDntFD1vjIAPrlRN0xjckOm6biFQ3jwNPwDMZrOnqVTqfb3Bi8Wivru7W/VCYkwPlKOjo0IikXh7EwQikYgE4Nw0CfXKDCipVCoTj8df3QABbW1tLUc6oUgkFPMkVACUNjc337148eKvw8PDbJ2jP1taWkoCyNDVXDSECmNSK4qiKNLq6urW8+fPI/UicHx8rD59+jSVy+WOAKSJhKENwFItLtoxk8mwsixzHR0dHe3t7c5PAU+n09rs7OzJkydPYqVSaQfANoDXALIk31S2smU1TWMPDg7K5XKZ7+3t9TudTut1U7+wsFCcmJiIpdPpbQBxADsAknQWymYCOukBHYCuKApisdhpMpnURFEU79y503TVyKenpzOTk5M7e3t7MQKPV0Zv1gNm+awB0MvlshqLxfLb29uyJElWURSbXC4XXyvqxcXFs6mpqeTc3Nzu3t7e3wQcA7BPZ8Cov1pNlJplmQtAG8MwHV6v95tAINA5MDBwPxAIuLu6upr8fr/VAN3c3JQjkcjZ+vp6fnl5+d2bN29SuVzuNYAEpf01CdRChUL+X1VskHACuA3Ay3Fcu9vt7nA6nZ7m5uYWQRCaNE3jVVW15PP580KhIGUymWw2m00DOAJwSP4WwPtq4LX2Ao6USxNlQyS/RcQcdLGwlNIz6vEMAaZpNzCk2Pll94LK/cDYimxERiBwG10sxjgvEZBE0UpE6vxj+0Ct5bTaXthgEhRmja8QWNkkPGsuIpfdjpkK+cZUWTC0KredVmtD/gdlSl6EG4AMvQAAAABJRU5ErkJggg=='
23 | let discTexture = new THREE.Texture();
24 | discSprite.onload = function () {
25 | discTexture.image = discSprite;
26 | discTexture.needsUpdate = true;
27 | };
28 |
29 | /****************************************************************************************
30 | * Methods
31 | ****************************************************************************************/
32 | this.createPointsObject = (numPoints) => {
33 | //creates a new points object which contains a pointcloud and
34 | //associated attributes for representing a scan
35 | let initialPositions = new Float32Array(numPoints * 3);
36 | let initialAlphas = new Float32Array(numPoints);
37 | for (let i = 0; i < numPoints; i++) {
38 | initialPositions[i * 3 + 0] = 0;
39 | initialPositions[i * 3 + 1] = 0;
40 | initialPositions[i * 3 + 2] = 0;
41 | initialAlphas[i] = 0.0;
42 | };
43 |
44 | let points_geometry = new THREE.BufferGeometry();
45 | points_geometry.addAttribute('position', new THREE.Float32BufferAttribute(initialPositions, 3));
46 | points_geometry.addAttribute('alpha', new THREE.Float32BufferAttribute(initialAlphas, 1));
47 | points_geometry.dynamic = true;
48 |
49 | let material = new THREE.ShaderMaterial({
50 | uniforms: {
51 | color: { value: new THREE.Color(0xff0000) },
52 | texture: { value: discTexture },
53 | sizeAtNominalDistance: { value: 4.0 }, // in pixels
54 | nominalDistance: { value: 50.0 }, // in world units
55 | minSize: { value: 4.0 } // in pixels
56 | },
57 | vertexShader: document.getElementById('vertexshader').textContent,
58 | fragmentShader: document.getElementById('fragmentshader').textContent,
59 | alphaTest: 0.9,
60 | transparent: true
61 | });
62 |
63 | return new THREE.Points(points_geometry, material);
64 | };
65 |
66 | this.setDataFromScan = (scan) => {
67 | let dataPoints = scan.sensorReadings;
68 | let numDataPoints = dataPoints.length;
69 |
70 | if (this.numPoints < numDataPoints) {
71 | console.log(`There are ${this.numPoints} vertices in the point cloud and ${numDataPoints} recordings in this scan. Adding more vertices to the point cloud.`);
72 | log.verbose(`There are ${this.numPoints} vertices in the point cloud and ${numDataPoints} recordings in this scan. Adding more vertices to the point cloud.`);
73 | this.changePointCloudSize(numDataPoints + Math.ceil(0.25 * numDataPoints));
74 | }
75 |
76 | //Change point positions and make them visible
77 | let dataPoint;
78 | let col;
79 | let attributes = this.points.geometry.attributes;
80 | for (let i = 0; i < numDataPoints; i++) {
81 | dataPoint = dataPoints[i];
82 | attributes.position.array[i * 3 + 0] = this.distanceScale * dataPoint.cartesianCoord.x;
83 | attributes.position.array[i * 3 + 1] = this.distanceScale * dataPoint.cartesianCoord.y;
84 | attributes.position.array[i * 3 + 2] = this.distanceScale * dataPoint.cartesianCoord.z;
85 |
86 | attributes.alpha.array[i] = 1.0;
87 | }
88 | this.points.geometry.computeBoundingSphere();
89 |
90 | //hide any unused points that were previously visible
91 | for (let i = numDataPoints; i < this.numVisiblePoints; i++) {
92 | attributes.position.array[i * 3 + 0] = 0;
93 | attributes.position.array[i * 3 + 1] = 0;
94 | attributes.position.array[i * 3 + 2] = 0;
95 | attributes.alpha.array[i] = 0.0;
96 | }
97 | this.numVisiblePoints = numDataPoints;
98 | this.updateVertFlags();
99 | };
100 |
101 | this.changePointCloudSize = (numPoints) => {
102 | // changes the size (quantity of data points) of the point cloud,
103 | // effectively permitting the display of numPoints sensor readings
104 | this.parent.remove(this.points);
105 | this.points = this.createPointsObject(numPoints);
106 | this.numPoints = numPoints;
107 | this.numVisiblePoints = 0;
108 | this.parent.add(this.points);
109 | };
110 |
111 | this.updateVertFlags = () => {
112 | //Flag the geometry attributes (Shader Attributes), indicating that values need an update
113 | let attributes = this.points.geometry.attributes;
114 | attributes.position.needsUpdate = true;
115 | attributes.alpha.needsUpdate = true;
116 | };
117 |
118 | this.getNumPoints = () => {
119 | return this.numPoints;
120 | };
121 |
122 | this.getNumVisiblePoints = () => {
123 | return this.numVisiblePoints;
124 | };
125 |
126 | this.getPoints = () => {
127 | return this.points;
128 | };
129 |
130 | this.clear = () => {
131 | let attributes = this.points.geometry.attributes;
132 | for (let i = 0; i < this.numPoints; i++) {
133 | attributes.position.array[i * 3 + 0] = 0;
134 | attributes.position.array[i * 3 + 1] = 0;
135 | attributes.position.array[i * 3 + 2] = 0;
136 | attributes.alpha.array[i] = 0.0;
137 | }
138 | this.numVisiblePoints = 0;
139 | this.updateVertFlags();
140 | };
141 |
142 | this.destroy = () => {
143 | this.parent.remove(this.points);
144 | this.parent = null;
145 | this.points = null;
146 | this.numPoints = null;
147 | this.numVisiblePoints = null;
148 | };
149 |
150 | /****************************************************************************************
151 | * Attributes
152 | ****************************************************************************************/
153 | this.parent = parent;
154 | this.points = this.createPointsObject(theNumPoints);
155 | this.numPoints = theNumPoints;
156 | this.numVisiblePoints = 0;
157 | this.parent.add(this.points);
158 | };
159 |
160 | /************************************************************************************//**
161 | ** Visualizer (Class): A LineExtractionApp Graphics module class.
162 | * Manages the graphical visualization of scan data.
163 | * Uses WebGL via THREE.js.
164 | ****************************************************************************************/
165 | let Visualizer = function () {
166 | this.distanceScale = 0.1;
167 |
168 | this.$container;
169 | this.WIDTH;
170 | this.HEIGHT;
171 |
172 | this.scene;
173 | this.renderer;
174 |
175 | this.camera;
176 | this.pointCloud;
177 |
178 | this.MAT_line =
179 | this.extractedLines;
180 | this.lineExtractor;
181 |
182 | this.init = (containerID) => {
183 |
184 | //adjust the canvas size whenever the window is resized
185 | window.addEventListener('resize', this.onCanvasResize, false);
186 |
187 | // get the DOM element to attach to.
188 | this.$container = $(`#${containerID}`);
189 |
190 | //grab the dimensions of the containing div
191 | this.WIDTH = this.$container.innerWidth();
192 | this.HEIGHT = this.$container.innerHeight();
193 |
194 | // create a scene
195 | this.scene = new THREE.Scene();
196 |
197 | // create a WebGL renderer
198 | try {
199 | this.renderer = new THREE.WebGLRenderer();
200 | }
201 | catch (err) {
202 | console.error(err);
203 | alert(err);
204 | return;
205 | }
206 |
207 | // start the renderer
208 | this.renderer.setSize(this.WIDTH, this.HEIGHT);
209 | // attach the render-supplied DOM element
210 | this.$container.append(this.renderer.domElement);
211 |
212 | // Init Camera
213 | this.camera = new THREE.PerspectiveCamera(75, window.innerWidth / window.innerHeight, 1, 10000);
214 | this.camera.position.z = 100;
215 |
216 | // Create an ambient light
217 | let ambientLight = new THREE.AmbientLight(0xFFFFFF);
218 | this.scene.add(ambientLight);
219 |
220 | // Create a point cloud object to draw scans
221 | this.pointCloud = new PointCloudObject(500, this.scene, this.distanceScale);
222 |
223 | // Create a line extractor
224 | this.initLineExtractor();
225 |
226 | // Create an array to hold lines
227 | this.extractedLines = [];
228 | // Create a line material
229 | this.MAT_line = new THREE.LineBasicMaterial({ color: 0xffffff });
230 | };
231 |
232 | this.initLineExtractor = () => {
233 | // Create the actual line extractor
234 | this.lineExtractor = new _EXTRACTION.LineExtractor(
235 | // Line extraction method
236 | _EXTRACTION.LineExtractionTechniqueEnum.SPLIT_MERGE,
237 | // SPLIT-MERGE line extractor params
238 | {
239 | distanceThreshold: 20,
240 | collinearityThreshold: 2000,
241 | bUseIntermediateLineFitting: false
242 | },
243 | // Sensor Reading Pre-Processor Params
244 | {
245 | minRadius: 50,
246 | filter: _FILTERING.FilterTechniqueEnum.MEDIAN_1D,
247 | filterParams: _HELPERS.checkParams({}, _FILTERING.FilterParameterDefaults.MEDIAN_1D)
248 | },
249 | // Line Post-Processor Params
250 | {
251 | minSetSize: 5
252 | }
253 | );
254 | };
255 |
256 | // extract lines from the scan data and draw it to the visualizer
257 | this.extractLines = (scan) => {
258 | // remove any existing lines
259 | this.removeExtractedLines();
260 |
261 | // extract the lines
262 | let lines = this.lineExtractor.extractLines(scan);
263 |
264 | // draw the extracted lines
265 | for (let i = 0, len = lines.length; i < len; i++) {
266 | let startPt = lines[i].lineSegmentStartPt;
267 | let endPt = lines[i].lineSegmentEndPt;
268 | this.drawExtractedLine(new THREE.Vector3(startPt.x, startPt.y, 0), new THREE.Vector3(endPt.x, endPt.y, 0));
269 | }
270 | };
271 |
272 | // remove extracted lines
273 | this.removeExtractedLines = () => {
274 | while (this.extractedLines.length > 0) {
275 | this.scene.remove(this.extractedLines.shift());
276 | }
277 | };
278 |
279 | // draws an extracted line
280 | this.drawExtractedLine = (startPt, endPt) => {
281 | let geometry = new THREE.BufferGeometry();
282 | let positions = new Float32Array(2 * 3);
283 | positions[0] = startPt.x * this.distanceScale;
284 | positions[1] = startPt.y * this.distanceScale;
285 | positions[2] = startPt.z * this.distanceScale;
286 | positions[3 + 0] = endPt.x * this.distanceScale;
287 | positions[3 + 1] = endPt.y * this.distanceScale;
288 | positions[3 + 2] = endPt.z * this.distanceScale;
289 |
290 | geometry.addAttribute('position', new THREE.BufferAttribute(positions, 3));
291 |
292 | let line = new THREE.Line(geometry, this.MAT_line);
293 | this.extractedLines.push(line);
294 | this.scene.add(line);
295 | };
296 |
297 | // check that a scan contains a sensor readings array with at least 1 reading
298 | this.checkScanIsValid = (scan) => {
299 | if (scan.sensorReadings === undefined || scan.sensorReadings.length === undefined || scan.sensorReadings.length < 1)
300 | return false;
301 | return true;
302 | };
303 |
304 | //draws a single new scan to the visualizer
305 | this.drawSingleScan = (scan) => {
306 | if (this.checkScanIsValid(scan) === false)
307 | return;
308 |
309 | // Update the data for the point cloud
310 | this.pointCloud.setDataFromScan(scan);
311 |
312 | this.extractLines(scan);
313 | };
314 |
315 | //update the canvas and camera whenever the window is resized
316 | this.onCanvasResize = () => {
317 | //retrieve the new dimensions of the canvas' parent div
318 | this.WIDTH = this.$container.innerWidth();
319 | this.HEIGHT = this.$container.innerHeight();
320 |
321 | //update the aspect ratio of the cameras
322 | if (this.camera) {
323 | this.camera.aspect = this.WIDTH / this.HEIGHT;
324 | this.camera.updateProjectionMatrix();
325 | }
326 |
327 | //update the size of the canvas to fill its parent div
328 | this.renderer.setSize(this.WIDTH, this.HEIGHT);
329 | };
330 |
331 | this.animate = () => {
332 | requestAnimationFrame(this.animate);
333 | this.render();
334 | };
335 |
336 | this.render = () => {
337 | //render the scene
338 | this.renderer.render(this.scene, this.camera);
339 | };
340 |
341 |
342 | };
343 |
344 | /************************************************************************************//**
345 | ** Public API
346 | * Return all the methods/variables that should be public.
347 | ****************************************************************************************/
348 | return {
349 | // Public Classes
350 | Visualizer: Visualizer
351 | };
352 | }();
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/examples/line_extraction/js/components/Perception.js:
--------------------------------------------------------------------------------
1 | /************************************************************************************//**
2 | ** Perception (Module):
3 | * A LineExtractionApp module that provides a collection of classes/structs/methods to assist
4 | * perception tasks from 2D lidar scans. Currently only basic boundary extraction is
5 | * implmented, using the Split-Merge line extraction algorithm.
6 | ****************************************************************************************/
7 | LineExtractionApp.Perception = function () {
8 | /****************************************************************************************
9 | * Includes and Constants
10 | ****************************************************************************************/
11 | const _HELPERS = LineExtractionApp.Utils.GenericHelpers;
12 | const _POINT_2D_UTILS = LineExtractionApp.Processing.Point2DUtils;
13 | const _SENSOR_READING_UTILS = LineExtractionApp.Processing.SensorReadingUtils;
14 | const _FILTERING = LineExtractionApp.Processing.Filtering;
15 |
16 | /****************************************************************************************
17 | Sub-Modules
18 | ****************************************************************************************/
19 |
20 | /************************************************************************************//**
21 | ** PrimitiveExtraction (Module):
22 | * A LineExtractionApp module that provides a collection of classes/structs/methods to assist
23 | * in extracting primitives from 2D scan data (currently only line extraction)
24 | ****************************************************************************************/
25 | let PrimitiveExtraction = function () {
26 | /****************************************************************************************
27 | * Enums
28 | ****************************************************************************************/
29 | const LineExtractionTechniqueEnum = {
30 | SPLIT_MERGE: 1,
31 |
32 | properties: {
33 | 1: { name: "SPLIT_MERGE", value: 1, displayName: "Iterative end point split-merge", bIsDefault: true }
34 | }
35 | };
36 |
37 | /****************************************************************************************
38 | * Defaults for various types of classes
39 | ****************************************************************************************/
40 | const PreProcessorParameterDefaults = {
41 | SENSOR_READINGS: {
42 | minRadius: 50,
43 | filter: _FILTERING.FilterTechniqueEnum.NO_FILTER,
44 | filterParams: _FILTERING.FilterParameterDefaults.NO_FILTER
45 | }
46 | };
47 |
48 | const PostProcessorParameterDefaults = {
49 | LINES: {
50 | minSetSize: 5
51 | }
52 | };
53 |
54 | const LineExtractorParameterDefaults = {
55 | SPLIT_MERGE: {
56 | distanceThreshold: 20,
57 | collinearityThreshold: 2000,
58 | bUseIntermediateLineFitting: false
59 | }
60 | };
61 |
62 | /****************************************************************************************
63 | * Methods
64 | ****************************************************************************************/
65 | // creates a line extractor of the specified type
66 | let createLineExtractor = (type, params) => {
67 | switch (type) {
68 | case LineExtractionTechniqueEnum.SPLIT_MERGE:
69 | return typeof params === 'undefined' ? new SplitMerge() : new SplitMerge(params);
70 | default:
71 | console.log(`The extraction method "${method}" does not exist, so defaulting to SPLIT MERGE`);
72 | return new SplitMerge();
73 | }
74 | };
75 |
76 | /****************************************************************************************
77 | * Classes
78 | ****************************************************************************************/
79 | // (Class) Pre Processes data points
80 | let SensorReadingsPreProcessor = function (params) {
81 | // verify and validate the processing parameters against the default values
82 | this.params = _HELPERS.checkParams(params, PreProcessorParameterDefaults.SENSOR_READINGS);
83 | // verify and validate the filter parameters against the default values for the specified filter
84 | let defaultFilterParamsKey = _FILTERING.FilterTechniqueEnum.properties[this.params.filter].parameterDefaultKey;
85 | this.params.filterParams = _HELPERS.checkParams(this.params.filterParams, _FILTERING.FilterParameterDefaults[defaultFilterParamsKey])
86 |
87 | // perform processing according to the parameters
88 | this.process = (sensorReadings) => {
89 | // remove points inside the specified minimum radius
90 | let processed = _SENSOR_READING_UTILS.removePointsInsideRadius(sensorReadings, this.params.minRadius);
91 | // remove points with impossible bearings (azimuth value less than its predecessor)
92 | _SENSOR_READING_UTILS.removeReadingsWithImpossibleBearings(processed);
93 | // filter the readings if requested
94 | switch (this.params.filter) {
95 | case _FILTERING.FilterTechniqueEnum.NO_FILTER:
96 | break;
97 | case _FILTERING.FilterTechniqueEnum.MEDIAN_1D:
98 | processed = _FILTERING.medianFilter1D(processed, this.params.filterParams);
99 | break;
100 | default:
101 | break;
102 | }
103 | // return the processed readings
104 | return processed;
105 | };
106 |
107 |
108 | this.setParams = (newParams) => {
109 | this.params = _HELPERS.checkParams(newParams, this.params);
110 | };
111 | };
112 |
113 |
114 | // (Class) Post Processes lines
115 | let LinePostProcessor = function (params) {
116 | // verify and validate the processing parameters against the default values
117 | this.params = _HELPERS.checkParams(params, PostProcessorParameterDefaults.LINES);
118 |
119 | // perform processing according to the parameters
120 | this.process = (lines) => {
121 | // remove any tiny sets (post-processing)
122 | for (let i = 0; i < lines.length; i++) {
123 | if (lines[i].sensorReadings.length < this.params.minSetSize) {
124 | lines.splice(i, 1);
125 | i--;
126 | }
127 | }
128 | return lines;
129 | };
130 |
131 | this.setParams = (newParams) => {
132 | this.params = _HELPERS.checkParams(newParams, this.params);
133 | };
134 | };
135 |
136 | // (Class) Extracts lines from data points
137 | let LineExtractor = function (extractorType, extractorParams, preProcessorParams, postProcessorParams) {
138 |
139 | // INSTANCE VARIABLES:
140 | this.extractor = null;
141 | if (typeof extractorType === 'undefined') {
142 | this.extractor = createLineExtractor(_HELPERS.getEnumDefault(LineExtractionTechniqueEnum));
143 | }
144 | else {
145 | this.extractor = typeof extractorParams === 'undefined' ? createLineExtractor(extractorType) : createLineExtractor(extractorType, extractorParams);
146 | }
147 |
148 | // create processors for pre/post processing (use defaults if the parameters are not specified)
149 | this.preProcessor = typeof preProcessorParams === 'undefined' ? new SensorReadingsPreProcessor() : new SensorReadingsPreProcessor(preProcessorParams);
150 | this.postProcessor = typeof postProcessorParams === 'undefined' ? new LinePostProcessor() : new LinePostProcessor(postProcessorParams);
151 |
152 | // METHODS:
153 | // Extracts lines given a ScanDataStruct
154 | // returns: an array of line objects
155 | this.extractLines = (scan) => {
156 | // convert the scan to a useable structure of points
157 | let sensorReadings = scan.sensorReadings;
158 |
159 | // pre-process the points
160 | sensorReadings = this.preProcessor.process(sensorReadings);
161 | if (sensorReadings.length <= 2)
162 | return [];
163 |
164 | // extract lines
165 | let lines = this.extractor.extractLines(sensorReadings);
166 |
167 | // post-process the lines
168 | lines = this.postProcessor.process(lines);
169 |
170 | return lines;
171 | };
172 |
173 | // SETTERS:
174 | this.setParams = (extractorParams, preProcessorParams, postProcessorParams) => {
175 | this.setExtractorParams(extractorParams);
176 | this.setPreProcessorParams(preProcessorParams);
177 | this.setPostProcessorParams(postProcessorParams);
178 | };
179 | this.setExtractorParams = (params) => {
180 | this.extractor.setParams(params);
181 | };
182 | this.setPreProcessorParams = (params) => {
183 | this.preProcessor.setParams(params);
184 | };
185 | this.setPostProcessorParams = (params) => {
186 | this.postProcessor.setParams(params);
187 | };
188 | };
189 |
190 |
191 | // (Class) Extracts lines from data points using a split-merge algorithm
192 | let SplitMerge = function (params) {
193 |
194 | // INSTANCE VARIABLES:
195 | // verify and validate the parameters against the default values
196 | this.params = _HELPERS.checkParams(typeof params === 'undefined' ? null : params, LineExtractorParameterDefaults.SPLIT_MERGE);
197 | this.params.distanceThresholdSquared = this.params.distanceThreshold * this.params.distanceThreshold;
198 | this.S;
199 |
200 |
201 | // METHODS:
202 |
203 | // extract lines from the current data points using the split-merge algorithm
204 | // return: an array of line objects
205 | this.extractLines = (sensorReadings) => {
206 |
207 | //initialize the set of lines to be empty
208 | this.S = [sensorReadings];
209 |
210 | let mostDistantPair = _SENSOR_READING_UTILS.findMostDistantPair(sensorReadings);
211 | if (!mostDistantPair) return;
212 |
213 | // Split (step)
214 | //this.split( sensorReadings, mostDistantPair.startPtIndex, mostDistantPair.endPtIndex );
215 | this.split(sensorReadings);
216 |
217 | // Merge (step)
218 | this.merge();
219 |
220 | return this.S;
221 | };
222 |
223 | // recursive split step of the SplitMerge algorithm
224 | //this.split = ( sensorReadings, startPtIndex, endPtIndex ) => {
225 | this.split = (sensorReadings) => {
226 | let numReadings = sensorReadings.length;
227 | if (numReadings === undefined || numReadings < 2)
228 | return;
229 |
230 | let lineStart, lineEnd;
231 | if (this.params.bUseIntermediateLineFitting) {
232 | let fit = _SENSOR_READING_UTILS.linearRegression(sensorReadings);
233 | let xLimits = _SENSOR_READING_UTILS.findXLimits(sensorReadings);
234 | lineStart = { x: xLimits.min, y: xLimits.min * fit.gradient + fit.intercept };
235 | lineEnd = { x: xLimits.max, y: xLimits.max * fit.gradient + fit.intercept };
236 | }
237 | else {
238 | let mostDistantPair = _SENSOR_READING_UTILS.findMostDistantPair(sensorReadings);
239 | if (!mostDistantPair)
240 | return;
241 | lineStart = sensorReadings[mostDistantPair.startPtIndex].cartesianCoord;
242 | lineEnd = sensorReadings[mostDistantPair.endPtIndex].cartesianCoord;
243 | }
244 |
245 |
246 | // Find the most distant point to the line
247 | let distanceResults = _SENSOR_READING_UTILS.findMostDistantPtToLine(sensorReadings, lineStart, lineEnd);
248 |
249 | let setIndex = this.S.indexOf(sensorReadings);
250 |
251 | // if distance > threshold, split and repeat with left and right point sets
252 | if (distanceResults.distSqrd > this.params.distanceThresholdSquared) {
253 | if (numReadings <= 2)
254 | return;
255 |
256 | // split
257 | let S1, S2;
258 | switch (distanceResults.index) {
259 | case 0:
260 | S1 = sensorReadings.slice(0, 1);
261 | S2 = sensorReadings.slice(1);
262 | break;
263 | case (numReadings - 1):
264 | S1 = sensorReadings.slice(0, distanceResults.index);
265 | S2 = sensorReadings.slice(distanceResults.index - 1);
266 | break;
267 | default:
268 | S1 = sensorReadings.slice(0, distanceResults.index + 1);
269 | S2 = sensorReadings.slice(distanceResults.index);
270 | break;
271 | }
272 |
273 | // replace the set in S with the two new sets
274 | this.S.splice(setIndex, 1, S1, S2);
275 |
276 | // recursively repeat with left and right point sets
277 | this.split(S1);
278 | this.split(S2);
279 | }
280 | else {
281 | let newSet = {
282 | sensorReadings: sensorReadings,
283 | lineSegmentStartPt: lineStart,
284 | lineSegmentEndPt: lineEnd
285 | };
286 | let setIndex = this.S.indexOf(sensorReadings);
287 | this.S.splice(setIndex, 1, newSet);
288 | }
289 | return;
290 | };
291 |
292 | // check if two segments are collinear and should be merged
293 | this.checkIfShouldMerge = (S1, S2) => {
294 | let collinearityMetric, mergedSensorReadings, fit, segStart, segEnd, distanceResults;
295 |
296 | // measure the two line's collinearity
297 | collinearityMetric = _POINT_2D_UTILS.collinearityTest(
298 | S1.lineSegmentStartPt,
299 | S1.lineSegmentEndPt,
300 | S2.lineSegmentStartPt,
301 | S2.lineSegmentEndPt);
302 |
303 | // if two consecutive segments are close/collinear enough
304 | if (collinearityMetric <= this.params.collinearityThreshold) {
305 | // temporarily merge the sets
306 | mergedSensorReadings = S1.sensorReadings.concat(S2.sensorReadings);
307 | // obtain the common line between the sets
308 | fit = _SENSOR_READING_UTILS.linearRegression(mergedSensorReadings);
309 | let xLimits = _SENSOR_READING_UTILS.findXLimits(mergedSensorReadings);
310 | segStart = { x: xLimits.min, y: xLimits.min * fit.gradient + fit.intercept };
311 | segEnd = { x: xLimits.max, y: xLimits.max * fit.gradient + fit.intercept };
312 |
313 | // Find the most distant point to the line
314 | distanceResults = _SENSOR_READING_UTILS.findMostDistantPtToLine(mergedSensorReadings, segStart, segEnd);
315 |
316 | //merge the segments if they're close
317 | if (distanceResults.distSqrd <= this.params.distanceThresholdSquared) {
318 | return {
319 | bShouldMerge: true,
320 | mergedObject: {
321 | sensorReadings: mergedSensorReadings,
322 | lineEquation: fit,
323 | lineSegmentStartPt: segStart,
324 | lineSegmentEndPt: segEnd
325 | }
326 | };
327 | }
328 | }
329 | return { bShouldMerge: false };
330 | };
331 |
332 | // merge step of the SplitMerge algorithm
333 | this.merge = () => {
334 | // remove any sets without a line
335 | for (let i = this.S.length - 1; i >= 0; i--) {
336 | if (!this.S[i].hasOwnProperty("sensorReadings"))
337 | this.S.splice(i, 1);
338 | }
339 |
340 | let S1, S2;
341 | let i = 0;
342 | while (i < this.S.length - 1) {
343 | // take two consecutive segments
344 | S1 = this.S[i];
345 | S2 = this.S[i + 1];
346 |
347 | let mergeCheck = this.checkIfShouldMerge(S1, S2);
348 | if (mergeCheck.bShouldMerge) {
349 | //replace the first set with the merged set
350 | this.S[i] = mergeCheck.mergedObject;
351 | //remove the second set
352 | this.S.splice(i + 1, 1);
353 | }
354 | else {
355 | i++;
356 | }
357 | }
358 |
359 | // check for collinearity of the two rollover consecutive segments (to either side of the 0/360 angle)
360 | if (this.S.length >= 2) {
361 | // take first and last segments
362 | S1 = this.S[0];
363 | S2 = this.S[this.S.length - 1];
364 |
365 | let mergeCheck = this.checkIfShouldMerge(S1, S2);
366 | if (mergeCheck.bShouldMerge) {
367 | //replace the first set with the merged set
368 | this.S[0] = mergeCheck.mergedObject;
369 | //remove the second set
370 | this.S.splice(this.S.length - 1, 1);
371 | }
372 | }
373 | };
374 |
375 | // SETTERS:
376 | // specify any new parameters
377 | this.setParams = (newParams) => {
378 | this.params = _HELPERS.checkParams(newParams, this.params);
379 | this.params.distanceThresholdSquared = this.params.distanceThreshold * this.params.distanceThreshold;
380 | };
381 |
382 | };
383 |
384 |
385 | /************************************************************************************//**
386 | ** Public API --- primitive extraction sub-module
387 | * Return all the methods/variables that should be public.
388 | ****************************************************************************************/
389 | return {
390 | // public enums
391 | LineExtractionTechniqueEnum: LineExtractionTechniqueEnum,
392 |
393 | // public classes
394 | LineExtractor: LineExtractor,
395 | SensorReadingsPreProcessor: SensorReadingsPreProcessor,
396 | LinePostProcessor: LinePostProcessor
397 | };
398 | }();
399 |
400 |
401 |
402 | /************************************************************************************//**
403 | ** Public API --- perception module
404 | * Return all the methods/variables that should be public.
405 | ****************************************************************************************/
406 | return {
407 | // public sub-modules
408 | PrimitiveExtraction: PrimitiveExtraction
409 | };
410 | }();
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/examples/line_extraction/js/components/Plotting.js:
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1 | /************************************************************************************//**
2 | ** Plotting (Module): A LineExtractionApp module.
3 | * Structures relevant ot plotting 2D graphs of sensor data.
4 | ****************************************************************************************/
5 | LineExtractionApp.Plotting = function () {
6 | /****************************************************************************************
7 | * Includes
8 | ****************************************************************************************/
9 | const _FILTERING = LineExtractionApp.Processing.Filtering;
10 |
11 | /************************************************************************************//**
12 | ** Graph Manager (Class): A LineExtractionApp Graph module class.
13 | * Manages the graphs which display data
14 | ****************************************************************************************/
15 | let GraphManager = function () {
16 | /****************************************************************************************
17 | * Instance Variables
18 | ****************************************************************************************/
19 | // holds the previous drawn scan
20 | this.lastScan;
21 | // defines configuration options for the plotly graphs
22 | this.plotlyConfigurationOptions
23 | // the id for the HTML div elements that serve as containers for the plots
24 | this.cartesianPlotContainerID;
25 | this.polarPlotContainerID;
26 | // the data and layout for both plots
27 | this.polarData;
28 | this.polarLayout;
29 | this.cartesianData;
30 | this.cartesianLayout;
31 |
32 | /****************************************************************************************
33 | * Methods
34 | ****************************************************************************************/
35 | // initialize the graph manager
36 | this.init = (cartesianPlotContainerID, polarPlotContainerID) => {
37 | this.lastScan = null;
38 | this.cartesianPlotContainerID = cartesianPlotContainerID;
39 | this.polarPlotContainerID = polarPlotContainerID;
40 | //create and initialize some settings
41 | this.initPlotlyConfigOptions();
42 | //initialize the graphs
43 | this.initPlotlyGraphs(cartesianPlotContainerID, polarPlotContainerID);
44 | };
45 |
46 | // init plotly config options to some default values
47 | this.initPlotlyConfigOptions = () => {
48 | this.plotlyConfigurationOptions = {
49 | // no interactivity, for export or image generation
50 | staticPlot: true,
51 | // new users see some hints about interactivity
52 | showTips: false,
53 | // enable axis pan/zoom drag handles
54 | showAxisDragHandles: false,
55 | // enable direct range entry at the pan/zoom drag points (drag handles must be enabled above)
56 | showAxisRangeEntryBoxes: false,
57 | // display the mode bar (true, false, or 'hover')
58 | displayModeBar: false,
59 | // add the plotly logo on the end of the mode bar
60 | displaylogo: false
61 | };
62 | };
63 |
64 | this.initPlotlyGraphs = () => {
65 | let tracePolar = {
66 | x: [],
67 | y: [],
68 | mode: 'lines+markers',
69 | type: 'scatter'
70 | };
71 | this.polarData = [tracePolar];
72 | this.polarLayout = { title: `Polar Coordinates`, xaxis: { title: 'azimuth (degrees)' }, yaxis: { title: 'range (cm)' } };
73 | Plotly.newPlot(this.polarPlotContainerID, this.polarData, this.polarLayout, this.plotlyConfigurationOptions);
74 | let traceCartesian = {
75 | x: [],
76 | y: [],
77 | mode: 'lines+markers',
78 | type: 'scatter'
79 | };
80 | this.cartesianData = [traceCartesian];
81 | this.cartesianLayout = { title: `2D Cartesian Coordinates`, xaxis: { title: 'x (cm)' }, yaxis: { title: 'y (cm)' } };
82 | Plotly.newPlot(this.cartesianPlotContainerID, this.cartesianData, this.cartesianLayout, this.plotlyConfigurationOptions);
83 | };
84 |
85 | this.clear = () => {
86 | this.plotSensorReadings([], false);
87 | this.plotSensorReadings([], true);
88 | };
89 |
90 | // Updates the graphs with data from the specified scan
91 | this.update = (scan) => {
92 | //store the scan
93 | this.lastScan = scan;
94 |
95 | // check the scan is valid
96 | if (!scan.sensorReadings) {
97 | this.clear();
98 | return;
99 | }
100 |
101 | let filterParams = { bPadBoundaries: false, windowSize: 3 };
102 | let filteredReadings = _FILTERING.medianFilter1D(scan.sensorReadings, filterParams);
103 |
104 | this.plotSensorReadings(filteredReadings, false /*plot polar*/);
105 | this.plotSensorReadings(filteredReadings, true /*plot cartesian*/);
106 | };
107 |
108 | // Refresh the graphs (used when filters are updated) with the existing data
109 | this.refreshGraphs = () => {
110 | if (this.lastScan)
111 | this.update(this.lastScan);
112 | };
113 |
114 | this.getPlotlyData = (sensorReadings, bCartesian) => {
115 | let abscissa = []; // horizontal axis -> x (cartesian) or azimuth (polar)
116 | let ordinate = []; // vertical axis -> y (cartesian) or radius (polar)
117 | for (let i = 0, len = sensorReadings.length; i < len; i++) {
118 | abscissa.push(bCartesian ? sensorReadings[i].cartesianCoord.x : sensorReadings[i].polarCoord.angle);
119 | ordinate.push(bCartesian ? sensorReadings[i].cartesianCoord.y : sensorReadings[i].polarCoord.radius);
120 | }
121 | return { abscissa: abscissa, ordinate: ordinate };
122 | };
123 |
124 | this.plotSensorReadings = (sensorReadings, bCartesian) => {
125 | let coords = this.getPlotlyData(sensorReadings, bCartesian);
126 | let trace = {
127 | x: coords.abscissa,
128 | y: coords.ordinate,
129 | mode: 'lines+markers',
130 | type: 'scatter'
131 | };
132 | if (bCartesian) {
133 | this.cartesianData[0] = trace;
134 | Plotly.redraw(this.cartesianPlotContainerID);
135 | }
136 | else {
137 | this.polarData[0] = trace;
138 | Plotly.redraw(this.polarPlotContainerID);
139 | }
140 | };
141 | };
142 |
143 | /************************************************************************************//**
144 | ** Public API
145 | * Return all the methods/variables that should be public.
146 | ****************************************************************************************/
147 | return {
148 | // Public Classes
149 | GraphManager: GraphManager
150 | };
151 |
152 | }();
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/examples/line_extraction/js/components/Processing.js:
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1 | /************************************************************************************//**
2 | ** Processing (Module):
3 | * A LineExtractionApp module that provides a collection of classes/structs/methods to assist
4 | * in processing 2D lidar data.
5 | ****************************************************************************************/
6 | LineExtractionApp.Processing = function () {
7 | /****************************************************************************************
8 | * Includes
9 | ****************************************************************************************/
10 | const _HELPERS = LineExtractionApp.Utils.GenericHelpers;
11 | const _DATA = LineExtractionApp.Data;
12 |
13 | /****************************************************************************************
14 | Sub-Modules
15 | ****************************************************************************************/
16 |
17 | /************************************************************************************//**
18 | ** Point2DUtils (Module):
19 | * A LineExtractionApp module that provides a collection of classes/structs/methods to assist
20 | * in operations with basic 2D point objects (objects with x and y fields)
21 | ****************************************************************************************/
22 | let Point2DUtils = function () {
23 | /****************************************************************************************
24 | * Methods
25 | ****************************************************************************************/
26 |
27 | let sqr = (x) => { return x * x };
28 | let dist2 = (v, w) => { return sqr(v.x - w.x) + sqr(v.y - w.y) };
29 |
30 | // returns the squared distance from a point (p) to the line segment defined by end pts (v, w)
31 | let distToSegmentSquared = (p, v, w) => {
32 | let l2 = dist2(v, w);
33 | if (l2 == 0) return dist2(p, v);
34 | let t = ((p.x - v.x) * (w.x - v.x) + (p.y - v.y) * (w.y - v.y)) / l2;
35 | t = Math.max(0, Math.min(1, t));
36 | return dist2(p, {
37 | x: v.x + t * (w.x - v.x),
38 | y: v.y + t * (w.y - v.y)
39 | });
40 | };
41 |
42 | // returns a rough metric for the collinearity of 2 segments defined by end pts (A->B, C->D)
43 | let collinearityTest = (A, B, C, D) => {
44 | let temp1 = (Math.abs((A.x - B.x) * (C.y - D.y) - (C.x - D.x) * (A.y - B.y)));
45 | let temp2 = (Math.abs((A.x - C.x) * (B.y - D.y) - (B.x - D.x) * (A.y - C.y)));
46 | let temp3 = (Math.abs((A.x - D.x) * (C.y - B.y) - (C.x - B.x) * (A.y - D.y)));
47 | return (temp1 + temp2 + temp3) / 3;
48 | };
49 |
50 | // returns the square of the distance between two points
51 | let squaredDistBetweenPts = (A, B) => {
52 | return (B.x - A.x) * (B.x - A.x) + (B.y - A.y) * (B.y - A.y);
53 | }
54 |
55 | /************************************************************************************//**
56 | ** Public API --- points sub-module
57 | * Return all the methods/variables that should be public.
58 | ****************************************************************************************/
59 | return {
60 | // public methods
61 | distToSegmentSquared: distToSegmentSquared,
62 | collinearityTest: collinearityTest,
63 | squaredDistBetweenPts: squaredDistBetweenPts,
64 | };
65 |
66 | }();
67 |
68 | /************************************************************************************//**
69 | ** SensorReadingUtils (Module):
70 | * A LineExtractionApp module that provides a collection of classes/structs/methods to assist
71 | * in operations with basic SensorReading objects.
72 | ****************************************************************************************/
73 | let SensorReadingUtils = function () {
74 | /****************************************************************************************
75 | * Methods
76 | ****************************************************************************************/
77 | // remove readings from an array of readings based on the radius
78 | let removePointsInsideRadius = (readings, radius) => {
79 | return readings.filter(_DATA.radiusCheck(radius, Number.MAX_SAFE_INTEGER));
80 | };
81 |
82 | // removes error readings whose bearings are less than the previous
83 | // return: none, performed in place on array
84 | let removeReadingsWithImpossibleBearings = (readings) => {
85 | let bearing;
86 | let lastBearing = -1;
87 | for (let i = 0, len = readings.length; i < len; i++) {
88 | bearing = readings[i].polarCoord.angle;
89 |
90 | if (bearing <= lastBearing) {
91 | //let nextBearing = (typeof readings[i+1] === 'undefined') ? `no more bearing this scan`: readings[i+1].polarCoord.angle;
92 | //console.log(`Error at index ${i}: bearing window [${lastBearing}, ${bearing}, ${nextBearing}]`);
93 | readings.splice(i, 1);
94 | len--;
95 | }
96 | else {
97 | lastBearing = bearing;
98 | }
99 | }
100 | };
101 |
102 | // returns the median radius from an array of sensor readings
103 | let findMedianRadius = (sensorReadings, middleIndex) => {
104 | sensorReadings.sort(_DATA.compareRadius);
105 | return sensorReadings[middleIndex].polarCoord.radius;
106 | };
107 |
108 | // returns the indices and distance between the two most distant points in the array of sensorReadings
109 | let findMostDistantPair = (sensorReadings) => {
110 | let result = {
111 | startPtIndex: null,
112 | endPtIndex: null,
113 | squaredDistance: -1
114 | }
115 | let tempDistSqrd;
116 |
117 | // for each pair of segments in L
118 | for (let i = 0, len = sensorReadings.length; i < len; i++) {
119 | for (let j = i + 1; j < len; j++) {
120 | let tempDistSqrd = Point2DUtils.squaredDistBetweenPts(sensorReadings[i].cartesianCoord, sensorReadings[j].cartesianCoord);
121 | if (tempDistSqrd > result.squaredDistance) {
122 | result.startPtIndex = i;
123 | result.endPtIndex = j;
124 | result.squaredDistance = tempDistSqrd;
125 | }
126 | }
127 | }
128 | return (result.squaredDistance >= 0) ? result : null;
129 | };
130 |
131 | // returns the index and distance of the most distant reading to a line segmenet defined by end pts
132 | let findMostDistantPtToLine = (sensorReadings, lineSegStart, lineSegEnd) => {
133 | // Find the most distant point to the line
134 | let biggestSoFar = 0;
135 | let indexOfBiggestSoFar = -1;
136 | let tempDist;
137 | for (let i = 0, len = sensorReadings.length; i < len; i++) {
138 | tempDist = Point2DUtils.distToSegmentSquared(sensorReadings[i].cartesianCoord, lineSegStart, lineSegEnd);
139 | if (tempDist > biggestSoFar) {
140 | biggestSoFar = tempDist;
141 | indexOfBiggestSoFar = i;
142 | }
143 | }
144 |
145 | return {
146 | index: indexOfBiggestSoFar,
147 | distSqrd: biggestSoFar
148 | }
149 | };
150 |
151 | // returns the min and max X values in an array of sensorReadings
152 | let findXLimits = (sensorReadings) => {
153 | let limits = {
154 | min: Number.MAX_SAFE_INTEGER,
155 | max: -Number.MAX_SAFE_INTEGER
156 | }
157 | let xCoord;
158 | for (let i = 0, len = sensorReadings.length; i < len; i++) {
159 | xCoord = sensorReadings[i].cartesianCoord.x;
160 | if (xCoord < limits.min)
161 | limits.min = xCoord;
162 | if (xCoord > limits.max)
163 | limits.max = xCoord;
164 | }
165 | return limits;
166 | };
167 |
168 | // performs a basic linear regression
169 | // returns a slope & intercept eqn of a line (y = mx+b) that best describes the sensor readings
170 | let linearRegression = (data) => {
171 | let sum = [0, 0, 0, 0], n = 0, results = [];
172 | for (; n < data.length; n++) {
173 | if (data[n].cartesianCoord.x != null) {
174 | sum[0] += data[n].cartesianCoord.x;
175 | sum[1] += data[n].cartesianCoord.y;
176 | sum[2] += data[n].cartesianCoord.x * data[n].cartesianCoord.x;
177 | sum[3] += data[n].cartesianCoord.x * data[n].cartesianCoord.y;
178 | //sum[4] += data[n].y * data[n].y;
179 | }
180 | }
181 | let gradient = (n * sum[3] - sum[0] * sum[1]) / (n * sum[2] - sum[0] * sum[0]);
182 | let intercept = (sum[1] / n) - (gradient * sum[0]) / n;
183 | return { gradient: gradient, intercept: intercept };
184 | };
185 |
186 |
187 | /************************************************************************************//**
188 | ** Public API --- sensor reading utils sub-module
189 | * Return all the methods/variables that should be public.
190 | ****************************************************************************************/
191 | return {
192 | // public methods
193 | removePointsInsideRadius: removePointsInsideRadius,
194 | removeReadingsWithImpossibleBearings: removeReadingsWithImpossibleBearings,
195 |
196 | findMedianRadius: findMedianRadius,
197 |
198 | findMostDistantPair: findMostDistantPair,
199 | findMostDistantPtToLine: findMostDistantPtToLine,
200 | linearRegression: linearRegression,
201 | findXLimits: findXLimits
202 | };
203 | }();
204 |
205 | /************************************************************************************//**
206 | ** Filtering (Module):
207 | * A LineExtractionApp module that provides a collection of classes/structs/methods to assist
208 | * in filtering 2D lidar data.
209 | ****************************************************************************************/
210 | let Filtering = function () {
211 | /****************************************************************************************
212 | * Enums
213 | ****************************************************************************************/
214 | const FilterTechniqueEnum = {
215 | NO_FILTER: 0,
216 | MEDIAN_1D: 1,
217 |
218 | properties: {
219 | 0: { name: "NO_FILTER", value: 0, parameterDefaultKey: 'NO_FILTER', displayName: "No Filter", bIsDefault: true },
220 | 1: { name: "MEDIAN_1D", value: 1, parameterDefaultKey: 'MEDIAN_1D', displayName: "Median 1D", bIsDefault: false }
221 | }
222 | };
223 |
224 | /****************************************************************************************
225 | * Defaults for various types of classes
226 | ****************************************************************************************/
227 | const FilterParameterDefaults = {
228 | NO_FILTER: {
229 |
230 | },
231 | MEDIAN_1D: {
232 | bPadBoundaries: false, // True-> assume discontiguous readings, False-> assume contiguous readings
233 | windowSize: 3
234 | }
235 | };
236 |
237 | /****************************************************************************************
238 | * Methods
239 | ****************************************************************************************/
240 | // verifies an odd filter size >= 3
241 | let _checkFilterSize = (filterSize) => {
242 | // if the filter is too small, make it 3
243 | if (filterSize < 3)
244 | return 3;
245 | // if the filter is even sized, make it odd
246 | if ((filterSize % 2) === 0)
247 | return filterSize - 1;
248 | return filterSize;
249 | };
250 |
251 | // performs a 1D median filter on the input sensor readings
252 | // returns an array of sensor readings (filtered)
253 | let medianFilter1D = (sensorReadings, params) => {
254 | let filterType = FilterTechniqueEnum.MEDIAN_1D;
255 | let defaultParams = FilterParameterDefaults[FilterTechniqueEnum.properties[filterType].parameterDefaultKey];
256 | params = (typeof params === 'undefined' || !params) ? defaultParams : _HELPERS.checkParams(params, defaultParams);
257 |
258 | // example:
259 | // len=9
260 | // k=5 (sliding window is 5 elements wide)
261 | // offset=2 (a sliding window of size 5 has 2 spaces to either side of its center)
262 | // firstOverlapIndex=2
263 | // lastOverlapIndex=6
264 | let len = sensorReadings.length;
265 | // Guarantee that the size of the sliding window is odd and >=3
266 | let k = _checkFilterSize(params.windowSize);
267 | // The number of spaces to either side of the center of the sliding window
268 | let offset = Math.floor(k / 2);
269 | // The first index where the sliding window is completely overlapping the sensorReadings array
270 | let firstOverlapIndex = offset;
271 | // The last index where the sliding window is completely overlapping the sensorReadings array
272 | let lastOverlapIndex = len - offset - 1;
273 |
274 | if (len < k)
275 | return sensorReadings;
276 |
277 |
278 | let filteredReadings = [];
279 | let window;
280 |
281 | // handle array indices where the left side of the sliding window is not yet overlapping the array
282 | for (let i = 0; i < firstOverlapIndex; i++) {
283 | window = [];
284 |
285 | // fill the portion of window that is NOT overlapping
286 | for (let j = i - offset; j < 0; j++) {
287 | window.push(params.bPadBoundaries ?
288 | sensorReadings[0] : // pad the missing elements with the value at index 0
289 | sensorReadings[len + j] // or assume array is contiguous/circular and pull values from the high indices
290 | );
291 | }
292 | // fill the portion of the window that IS overlapping the sensor readings array
293 | for (let j = 0; j <= i + offset; j++)
294 | window.push(sensorReadings[j]);
295 |
296 | let newSensorReading = new _DATA.SensorReading(
297 | sensorReadings[i].polarCoord.angle,
298 | SensorReadingUtils.findMedianRadius(window, offset),
299 | sensorReadings[i].signalStrength);
300 |
301 | filteredReadings.push(newSensorReading);
302 | }
303 | // handle the array indices where the entire sliding window is overlapping the array
304 | for (let i = offset; i <= lastOverlapIndex; i++) {
305 | window = [];
306 | for (let j = i - offset; j <= i + offset; j++)
307 | window.push(sensorReadings[j]);
308 |
309 | let newSensorReading = new _DATA.SensorReading(
310 | sensorReadings[i].polarCoord.angle,
311 | SensorReadingUtils.findMedianRadius(window, offset),
312 | sensorReadings[i].signalStrength);
313 |
314 | filteredReadings.push(newSensorReading);
315 | }
316 | // handle array indices where the right side of the sliding window is not overlapping the array
317 | for (let i = lastOverlapIndex + 1; i < len; i++) {
318 | window = [];
319 | // fill the portion of the window that IS overlapping the sensor readings array
320 | for (let j = i - offset; j < len; j++)
321 | window.push(sensorReadings[j]);
322 | //fill the portion of window that is NOT overlapping
323 | for (let j = len; j <= i + offset; j++) {
324 | window.push(params.bPadBoundaries ?
325 | sensorReadings[len - 1] : // pad the missing elements with the value at index (len-1)
326 | sensorReadings[j - len] // or assume array is contiguous/circular and pull values from the early indices
327 | );
328 | }
329 |
330 | let newSensorReading = new _DATA.SensorReading(
331 | sensorReadings[i].polarCoord.angle,
332 | SensorReadingUtils.findMedianRadius(window, offset),
333 | sensorReadings[i].signalStrength);
334 |
335 | filteredReadings.push(newSensorReading);
336 | }
337 | return filteredReadings;
338 | };
339 |
340 | /************************************************************************************//**
341 | ** Public API --- filtering sub-module
342 | * Return all the methods/variables that should be public.
343 | ****************************************************************************************/
344 | return {
345 | // Public enums
346 | FilterTechniqueEnum: FilterTechniqueEnum,
347 | FilterParameterDefaults: FilterParameterDefaults,
348 |
349 | // Public methods
350 | medianFilter1D: medianFilter1D,
351 | };
352 | }();
353 |
354 |
355 | /************************************************************************************//**
356 | ** Public API --- processing module
357 | * Return all the methods/variables that should be public.
358 | ****************************************************************************************/
359 | return {
360 | // Public sub-modules
361 | Point2DUtils: Point2DUtils,
362 | SensorReadingUtils: SensorReadingUtils,
363 | Filtering: Filtering
364 | };
365 | }();
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/examples/line_extraction/js/components/Utils.js:
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1 | /************************************************************************************//**
2 | ** Utils (Module): LineExtractionApp module.
3 | * Contains helpful classes and methods
4 | ****************************************************************************************/
5 | LineExtractionApp.Utils = function () {
6 |
7 | /****************************************************************************************
8 | * Sub-Modules
9 | ****************************************************************************************/
10 |
11 | /************************************************************************************//**
12 | ** GenericHelpers (Module):
13 | * Provides generic helper functions useful to other modules.
14 | ****************************************************************************************/
15 | let GenericHelpers = function () {
16 |
17 | /****************************************************************************************
18 | * Methods
19 | ****************************************************************************************/
20 | //creates an array of length "len" and filled with the specified itm value
21 | var createPopulatedArray = function (len, itm) {
22 | var arr1 = [itm],
23 | arr2 = [];
24 | while (len > 0) {
25 | if (len & 1)
26 | arr2 = arr2.concat(arr1);
27 | arr1 = arr1.concat(arr1);
28 | len >>>= 1;
29 | }
30 | return arr2;
31 | };
32 |
33 | //Returns the default value of any enum with a properties list containing a default parameter
34 | var getEnumDefault = function (theEnum) {
35 | for (let key in theEnum) {
36 | //don't consider the properties key
37 | if (key === 'properties')
38 | break;
39 | if (theEnum.properties[theEnum[key]].bIsDefault) {
40 | return theEnum[key];
41 | }
42 | }
43 | return null;
44 | };
45 |
46 | // compares a parameter object to its default, adding in any missed parameters using default values
47 | var checkParams = function (params, defaults) {
48 | if (!params)
49 | return defaults;
50 |
51 | let merged = {};
52 | // check each parameter in the defaults object
53 | for (let key in defaults) {
54 | // make sure the parameter key doesn't come from the prototype
55 | if (!defaults.hasOwnProperty(key))
56 | continue;
57 | if (!params.hasOwnProperty(key)) {
58 | // if the params object is missing a necessary key,
59 | // pull its default from the defaults object
60 | merged[key] = defaults[key];
61 | }
62 | else {
63 | // otherwise, use the one from the params object
64 | merged[key] = params[key];
65 | }
66 | }
67 | return merged;
68 | };
69 |
70 | /************************************************************************************//**
71 | ** Public API
72 | * Return all the methods/variables that should be public.
73 | ****************************************************************************************/
74 | return {
75 | // public methods
76 | createPopulatedArray: createPopulatedArray,
77 | getEnumDefault: getEnumDefault,
78 | checkParams: checkParams
79 | };
80 | }();
81 |
82 | /************************************************************************************//**
83 | ** Public API
84 | * Return all the methods/variables that should be public.
85 | ****************************************************************************************/
86 | return {
87 | // public sub-modules
88 | GenericHelpers: GenericHelpers
89 | };
90 | }();
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/examples/line_extraction/js/main.js:
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1 | /****************************************************************************************
2 | * Module Includes
3 | ****************************************************************************************/
4 | const _EVENTS = LineExtractionApp.EventDispatcher;
5 | const _DATA = LineExtractionApp.Data;
6 | const _PLOTTING = LineExtractionApp.Plotting;
7 | const _GRAPHICS = LineExtractionApp.Graphics;
8 |
9 | /****************************************************************************************
10 | * Global Variables
11 | ****************************************************************************************/
12 | let graphManager = new _PLOTTING.GraphManager();
13 | let visualizer = new _GRAPHICS.Visualizer();
14 | let dataPlayback = new _DATA.DataPlayback();
15 |
16 | /****************************************************************************************
17 | * Methods
18 | ****************************************************************************************/
19 | // Once the document is ready, initialize various components of the application
20 | $(document).ready(function () {
21 | // init components
22 | initializeGraphManager();
23 | initializeVisualizer();
24 | initCustomEventSubscriptions();
25 |
26 | // begin playback
27 | playbackData();
28 | });
29 |
30 | function initializeGraphManager() {
31 | graphManager.init('div_Cartesian_Plot_Container', 'div_Polar_Plot_Container');
32 | }
33 |
34 | function initializeVisualizer() {
35 | visualizer.init('div_Visualizer_Container');
36 | visualizer.animate();
37 | }
38 |
39 | function playbackData() {
40 | let jsonObject = JSON.parse(EXAMPLE_RECORDING_1_JSON_DATA);
41 | let recordingData = _DATA.ScanFile.interpretJSONData(jsonObject);
42 | dataPlayback.init(recordingData);
43 | dataPlayback.cycle();
44 | }
45 |
46 | function initCustomEventSubscriptions() {
47 | // Draw a scan whenever the event fires
48 | _EVENTS.subscribe('event_CollectedCompleteScanData', function (scanData) {
49 | visualizer.drawSingleScan(scanData);
50 | graphManager.update(scanData);
51 | });
52 | }
53 |
54 |
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/examples/line_extraction/js/namespace.js:
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1 | // create the root namespace and making sure we're not overwriting it
2 | var LineExtractionApp = {};
3 |
4 | /************************************************************************************//**
5 | ** General purpose namespace method.
6 | ** This will allow us to create namespace a bit easier.
7 | ****************************************************************************************/
8 | LineExtractionApp.createNameSpace = function (namespace) {
9 | let nsparts = namespace.split(".");
10 | let parent = LineExtractionApp;
11 |
12 | // we want to be able to include or exclude the root namespace
13 | // So we strip it if it's in the namespace
14 | if (nsparts[0] === "LineExtractionApp") {
15 | nsparts = nsparts.slice(1);
16 | }
17 |
18 | // loop through the parts and create
19 | // a nested namespace if necessary
20 | for (let i = 0; i < nsparts.length; i++) {
21 | let partname = nsparts[i];
22 | // check if the current parent already has
23 | // the namespace declared, if not create it
24 | if (typeof parent[partname] === "undefined") {
25 | parent[partname] = {};
26 | }
27 | // get a reference to the deepest element
28 | // in the hierarchy so far
29 | parent = parent[partname];
30 | }
31 | // the parent is now completely constructed
32 | // with empty namespaces and can be used.
33 | return parent;
34 | };
35 |
36 |
37 | /************************************************************************************//**
38 | ** Create various namespaces for the app
39 | ****************************************************************************************/
40 | LineExtractionApp.createNameSpace("LineExtractionApp.EventDispatcher");
41 | LineExtractionApp.createNameSpace("LineExtractionApp.Utils");
42 | LineExtractionApp.createNameSpace("LineExtractionApp.Data");
43 | LineExtractionApp.createNameSpace("LineExtractionApp.Processing");
44 | LineExtractionApp.createNameSpace("LineExtractionApp.Perception");
45 | LineExtractionApp.createNameSpace("LineExtractionApp.Plotter");
46 | LineExtractionApp.createNameSpace("LineExtractionApp.Graphics");
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/examples/line_extraction/style/style-helper-utils.css:
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1 | .visualizer-vertical-space-fill {
2 | height: -webkit-calc(100vh - 175px);
3 | height: -moz-calc(100vh - 175px);
4 | height: calc(100vh - 175px);
5 | }
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