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Merge pull request BarbourSmith#17 from BarbourSmith/Update-calibrati…
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…on-system

Update calibration system
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@BarbourSmith
BarbourSmith authored Apr 9, 2024
2 parents ab6847d + 91ab902 commit 00936bd
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293 changes: 53 additions & 240 deletions www/js/calculatesCalibrationStuff.js
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Original file line number Diff line number Diff line change
Expand Up @@ -2,23 +2,13 @@
const initialWidth = 3048 + 12
const initialHeight = 2200 - 14

//These are the true corners of the machine that we want to solve for (only used for simulated measurments)
const trueTLX = -0.6948090610228441
const trueTLY = 2131.275233532367
const trueTRX = 3034.4072793128926
const trueTRY = 2127.1780972406527
const trueBLX = 0
const trueBLY = 0
const trueBRX = 3034.960970894897
const trueBRY = 0

//Establish initial guesses for the corners
var initialGuess = {
tl: { x: 0, y: initialHeight },
tr: { x: initialWidth, y: initialHeight },
bl: { x: 0, y: 0 },
br: { x: initialWidth, y: 0 },
fitness: 0,
fitness: 100000000,
}

const centerX = initialWidth / 2
Expand All @@ -37,25 +27,6 @@ let result
*------------------------------------------------------------------------------
*/

/**
* Simulates a measurement at a given location with random and constant errors.
* @param {number} x - The x-coordinate of the location to measure.
* @param {number} y - The y-coordinate of the location to measure.
* @param {number} randomError - The maximum amount of random error to add to the measurement.
* @param {number} constantError - The constant error to add to the measurement.
* @returns {Object} - An object containing the simulated measurements at the given location.
*/
function takeSimulatedMeasurement(x, y, randomError, constantError) {
const tl =
distanceBetweenPoints(trueTLX, trueTLY, x, y) + (Math.random() * randomError * 2 - randomError) + constantError
const tr =
distanceBetweenPoints(trueTRX, trueTRY, x, y) + (Math.random() * randomError * 2 - randomError) + constantError
const bl =
distanceBetweenPoints(trueBLX, trueBLY, x, y) + (Math.random() * randomError * 2 - randomError) + constantError
const br =
distanceBetweenPoints(trueBRX, trueBRY, x, y) + (Math.random() * randomError * 2 - randomError) + constantError
return { tl: tl, tr: tr, bl: bl, br: br }
}

/**
* Computes the distance between two points.
Expand Down Expand Up @@ -419,38 +390,7 @@ function calculateAverage(array) {
return total / count
}

/**
* Prints the difference between the real values and the computed values for the corners. Only useful when using simulated
* measurements.
* @param {Object} guess - An object containing the x and y coordinates of the top left, top right, bottom left, and bottom right corners of a trapazoid.
* @returns {void}
*/
function printResults(guess) {
// console.log("tlX error: " + (guess.tl.x - trueTLX) + "mm at: " + guess.tl.x);
// console.log("tlY error: " + (guess.tl.y - trueTLY) + "mm at: " + guess.tl.y);
// console.log("trX error: " + (guess.tr.x - trueTRX) + "mm at: " + guess.tr.x);
// console.log("trY error: " + (guess.tr.y - trueTRY) + "mm at: " + guess.tr.y);
// console.log("brX error: " + (guess.br.x - trueBRX) + "mm at: " + guess.br.x);
// console.log(
// '(' +
// guess.tl.x +
// ', ' +
// guess.tl.y +
// '), (' +
// guess.tr.x +
// ', ' +
// guess.tr.y +
// ')\n (' +
// guess.bl.x +
// ', ' +
// guess.bl.y +
// '), (' +
// guess.br.x +
// ', ' +
// guess.br.y +
// ')'
// )
}


/**
* Projects the measurements to the plane of the machine. This is needed
Expand Down Expand Up @@ -549,67 +489,62 @@ function scaleMeasurementsBasedOnTension(measurements, guess) {
return newMeasurements
}


function findMaxFitness(measurements) {
let currentGuess = JSON.parse(JSON.stringify(initialGuess));
let stagnantCounter = 0;
let totalCounter = 0;
var bestGuess = JSON.parse(JSON.stringify(initialGuess));

var messagesBox = document.querySelector('#messages');

function loop() {
//Clear the canvass
clearCanvas();

currentGuess = computeLinesFitness(measurements, currentGuess);

if (1/currentGuess.fitness > 1/bestGuess.fitness) {
bestGuess = JSON.parse(JSON.stringify(currentGuess));
stagnantCounter = 0;
} else {
stagnantCounter++;
}
totalCounter++;

var maxFitness = -1;
var newFitness = 0;
var stagnantCounter = 0;
const maxCycles = 300000;
var currentCycles = 0;

function runCycle() {
if (stagnantCounter < 14 && currentCycles < maxCycles) {
maxFitness = newFitness;

var maxFitnessThisRun = 0;
//Run 100 steps
for (let i = 0; i < 100; i++) {
initialGuess = computeLinesFitness(measurements, initialGuess);
maxFitnessThisRun = Math.max(1 / initialGuess.fitness, maxFitnessThisRun);
}

currentCycles += 100;

newFitness = maxFitnessThisRun;
var messagesBox = document.querySelector('#messages');
messagesBox.value += '\nFitness: ' + newFitness + ' in ' + currentCycles + ' cycles';
messagesBox.scrollTop = messagesBox.scrollHeight;

if (stagnantCounter > 1) {
console.log("Stagnant Counter: " + stagnantCounter);
}

if (newFitness <= maxFitness) {
stagnantCounter++;
} else {
stagnantCounter = 0;
}

setTimeout(runCycle, 0); // schedule the next cycle
} else {
var messagesBox = document.querySelector('#messages');
if(maxFitness < 0.5){
messagesBox.value += '\nWARNING FITNESS TOO LOW. DO NOT USE THESE CALIBRATION VALUES!';
}
messagesBox.value += '\nCalibration complete \nCalibration values:';
messagesBox.value += '\nMaslow_tlX: ' + initialGuess.tl.x.toFixed(1);
messagesBox.value += '\nMaslow_tlY: ' + initialGuess.tl.y.toFixed(1);
messagesBox.value += '\nMaslow_trX: ' + initialGuess.tr.x.toFixed(1);
messagesBox.value += '\nMaslow_trY: ' + initialGuess.tr.y.toFixed(1);
messagesBox.value += '\nMaslow_blX: ' + initialGuess.bl.x.toFixed(1);
messagesBox.value += '\nMaslow_blY: ' + initialGuess.bl.y.toFixed(1);
messagesBox.value += '\nMaslow_brX: ' + initialGuess.br.x.toFixed(1);
messagesBox.value += '\nMaslow_brY: ' + initialGuess.br.y.toFixed(1);
messagesBox.scrollTop
messagesBox.scrollTop = messagesBox.scrollHeight;
if(totalCounter % 100 == 0) {
messagesBox.value += '\nFitness: ' + 1/bestGuess.fitness.toFixed(7) + ' in ' + totalCounter;
messagesBox.scrollTop
messagesBox.scrollTop = messagesBox.scrollHeight;
}

if (stagnantCounter < 100 && totalCounter < 200000) {
requestAnimationFrame(loop);
} else {

if(1/bestGuess.fitness < 0.5){
messagesBox.value += '\nWARNING FITNESS TOO LOW. DO NOT USE THESE CALIBRATION VALUES!';
}
messagesBox.value += '\nCalibration complete \nCalibration values:';
messagesBox.value += '\nMaslow_tlX: ' + bestGuess.tl.x.toFixed(1);
messagesBox.value += '\nMaslow_tlY: ' + bestGuess.tl.y.toFixed(1);
messagesBox.value += '\nMaslow_trX: ' + bestGuess.tr.x.toFixed(1);
messagesBox.value += '\nMaslow_trY: ' + bestGuess.tr.y.toFixed(1);
messagesBox.value += '\nMaslow_blX: ' + bestGuess.bl.x.toFixed(1);
messagesBox.value += '\nMaslow_blY: ' + bestGuess.bl.y.toFixed(1);
messagesBox.value += '\nMaslow_brX: ' + bestGuess.br.x.toFixed(1);
messagesBox.value += '\nMaslow_brY: ' + bestGuess.br.y.toFixed(1);
messagesBox.scrollTop
messagesBox.scrollTop = messagesBox.scrollHeight;
}
}

runCycle(); // start the first cycle

return initialGuess;
loop();
return bestGuess;
}



//This is where the program really begins. The above is all function definitions
//The way that the progam works is that we basically guess where the four corners are and then
//check to see how good that guess was. To see how good a guess was we "draw" circles from the four corner points
Expand All @@ -619,127 +554,5 @@ function findMaxFitness(measurements) {
//Once we've figured out how good our guess was we try a different guess. We keep the good guesses and throw away the bad guesses
//using a genetic algorithm

calculateTensions(centerX, centerY, initialGuess)

//Un-comment this code to use the simulated measurements

// const randomMeasurementError = 6;
// const constantMeasurementError = 3;
// var measurements = [];
// measurements.push(takeSimulatedMeasurement(centerX,centerY,randomMeasurementError, constantMeasurementError));
// measurements.push(takeSimulatedMeasurement(centerX-800,centerY + 400,randomMeasurementError, constantMeasurementError));
// measurements.push(takeSimulatedMeasurement(centerX-800,centerY,randomMeasurementError, constantMeasurementError));
// measurements.push(takeSimulatedMeasurement(centerX-800,centerY - 400,randomMeasurementError, constantMeasurementError));
// measurements.push(takeSimulatedMeasurement(centerX,centerY + 400,randomMeasurementError, constantMeasurementError));
// measurements.push(takeSimulatedMeasurement(centerX,centerY - 400,randomMeasurementError, constantMeasurementError));
// measurements.push(takeSimulatedMeasurement(centerX + 800,centerY + 400,randomMeasurementError, constantMeasurementError));
// measurements.push(takeSimulatedMeasurement(centerX + 800,centerY,randomMeasurementError, constantMeasurementError));
// measurements.push(takeSimulatedMeasurement(centerX + 800,centerY - 400,randomMeasurementError, constantMeasurementError));

var measurements = [
{ bl: 1560.141, br: 2734.873, tr: 2433.119, tl: 883.419 },
{ bl: 1471.909, br: 2683.675, tr: 2461.234, tl: 956.507 },
{ bl: 1383.243, br: 2635.983, tr: 2492.822, tl: 1034.411 },
{ bl: 1295.276, br: 2590.421, tr: 2528.066, tl: 1116.038 },
// {bl:1210.792, br:2548.830, tr:2566.603, tl:1200.482},
// {bl:1126.427, br:2510.942, tr:2608.576, tl:1287.002},
// {bl:1046.081, br:2476.385, tr:2653.523, tl:1375.421},
// {bl:968.967, br:2447.814, tr:2701.411, tl:1465.449},
// {bl:895.371, br:2415.316, tr:2752.257, tl:1556.480},
// {bl:1025.801, br:2249.586, tr:2605.334, tl:1632.330},
// {bl:1089.195, br:2279.324, tr:2551.535, tl:1546.243},
// {bl:1157.331, br:2312.907, tr:2500.786, tl:1461.313},
// {bl:1230.047, br:2350.481, tr:2452.903, tl:1378.344},
// {bl:1306.512, br:2391.785, tr:2408.270, tl:1297.697},
// {bl:1386.383, br:2435.540, tr:2367.108, tl:1220.022},
// {bl:1468.597, br:2482.805, tr:2329.333, tl:1145.787},
// {bl:1551.947, br:2533.735, tr:2295.611, tl:1075.769},
// {bl:1634.958, br:2587.313, tr:2265.767, tl:1010.598},
// {bl:1728.145, br:2442.730, tr:2098.714, tl:1149.872},
// {bl:1648.569, br:2386.661, tr:2130.453, tl:1207.549},
// {bl:1570.891, br:2333.461, tr:2166.883, tl:1270.178},
// {bl:1495.139, br:2283.130, tr:2207.264, tl:1337.410},
// {bl:1422.099, br:2235.959, tr:2251.335, tl:1408.609},
// {bl:1353.098, br:2193.873, tr:2298.926, tl:1483.094},
// {bl:1286.170, br:2156.136, tr:2349.820, tl:1560.493},
// {bl:1223.028, br:2122.924, tr:2403.933, tl:1640.200},
// {bl:1166.862, br:2083.917, tr:2460.788, tl:1722.146},
// {bl:1315.195, br:1919.338, tr:2321.692, tl:1824.686},
// {bl:1366.049, br:1953.146, tr:2261.355, tl:1748.288},
// {bl:1421.447, br:1992.961, tr:2203.810, tl:1673.544},
// {bl:1482.321, br:2035.583, tr:2149.463, tl:1601.580},
// {bl:1546.732, br:2082.350, tr:2098.183, tl:1532.925},
// {bl:1613.913, br:2133.137, tr:2050.946, tl:1467.754},
// {bl:1684.494, br:2185.872, tr:2007.277, tl:1406.677},
// {bl:1757.250, br:2242.180, tr:1967.898, tl:1350.162},
// {bl:1832.770, br:2301.704, tr:1932.702, tl:1298.897},
// {bl:1946.723, br:2166.676, tr:1769.127, tl:1452.641},
// {bl:1878.595, br:2104.039, tr:1806.392, tl:1498.943},
// {bl:1810.246, br:2043.960, tr:1849.317, tl:1549.660},
// {bl:1743.664, br:1986.833, tr:1896.564, tl:1605.308},
// {bl:1681.212, br:1932.377, tr:1947.762, tl:1665.084},
// {bl:1622.794, br:1883.023, tr:2002.583, tl:1728.571},
// {bl:1567.820, br:1837.771, tr:2060.805, tl:1795.234},
// {bl:1517.503, br:1796.507, tr:2122.194, tl:1865.132},
// {bl:1471.375, br:1761.139, tr:2186.377, tl:1937.447},
// {bl:1634.411, br:1592.062, tr:2058.424, tl:2059.036},
// {bl:1674.032, br:1633.565, tr:1990.108, tl:1991.675},
// {bl:1719.851, br:1680.015, tr:1924.478, tl:1926.607},
// {bl:1769.114, br:1731.473, tr:1862.048, tl:1864.367},
// {bl:1823.390, br:1786.009, tr:1802.766, tl:1805.707},
// {bl:1880.629, br:1845.171, tr:1747.402, tl:1750.693},
// {bl:1940.614, br:1906.219, tr:1695.987, tl:1699.785},
// {bl:2003.563, br:1970.506, tr:1649.189, tl:1653.349},
// {bl:2068.878, br:2037.140, tr:1607.122, tl:1611.822},
// {bl:2200.589, br:1916.372, tr:1448.891, tl:1772.941},
// {bl:2139.036, br:1845.195, tr:1494.522, tl:1811.030},
// {bl:2079.239, br:1776.763, tr:1546.010, tl:1853.384},
// {bl:2023.803, br:1709.998, tr:1602.073, tl:1900.086},
// {bl:1970.343, br:1646.824, tr:1662.247, tl:1950.736},
// {bl:1920.302, br:1586.890, tr:1726.220, tl:2005.197},
// {bl:1875.213, br:1530.346, tr:1793.396, tl:2063.086},
// {bl:1833.670, br:1478.300, tr:1863.655, tl:2124.159},
// {bl:1796.638, br:1432.025, tr:1936.468, tl:2187.990},
// {bl:1960.304, br:1278.271, tr:1824.665, tl:2322.787},
// {bl:1992.856, br:1330.110, tr:1747.282, tl:2263.325},
// {bl:2031.970, br:1386.286, tr:1672.226, tl:2206.252},
// {bl:2074.118, br:1448.005, tr:1599.910, tl:2152.207},
// {bl:2120.323, br:1514.140, tr:1530.566, tl:2101.452},
// {bl:2169.395, br:1582.346, tr:1464.955, tl:2054.350},
// {bl:2222.525, br:1654.466, tr:1403.102, tl:2011.226},
// {bl:2278.323, br:1727.369, tr:1346.141, tl:1972.133},
// {bl:2336.156, br:1802.336, tr:1294.329, tl:1937.490},
// {bl:2476.785, br:1701.694, tr:1146.413, tl:2102.654},
// {bl:2423.263, br:1622.515, tr:1203.448, tl:2134.798},
// {bl:2370.519, br:1543.248, tr:1266.882, tl:2170.895},
// {bl:2321.040, br:1465.953, tr:1334.756, tl:2210.970},
// {bl:2274.754, br:1391.316, tr:1406.551, tl:2254.666},
// {bl:2231.957, br:1320.479, tr:1481.419, tl:2301.889},
// {bl:2192.091, br:1251.742, tr:1559.309, tl:2352.587},
// {bl:2155.932, br:1188.804, tr:1639.628, tl:2406.153},
// {bl:2124.218, br:1131.202, tr:1721.845, tl:2462.710},
// {bl:2289.548, br:992.052, tr:1633.098, tl:2606.764},
// {bl:2318.090, br:1058.084, tr:1546.224, tl:2554.037},
// {bl:2352.018, br:1127.769, tr:1460.926, tl:2503.489},
// {bl:2389.037, br:1201.926, tr:1377.300, tl:2455.968},
// {bl:2428.650, br:1281.083, tr:1296.253, tl:2411.657},
// {bl:2473.283, br:1361.113, tr:1218.022, tl:2370.777},
// {bl:2520.680, br:1443.875, tr:1142.934, tl:2333.437},
// {bl:2570.439, br:1528.110, tr:1072.146, tl:2299.951},
// {bl:2621.682, br:1613.040, tr:1006.344, tl:2270.363},
// {bl:2770.967, br:1541.329, tr:878.953, tl:2437.888},
// {bl:2720.736, br:1451.503, tr:952.865, tl:2465.791},
// {bl:2673.296, br:1361.403, tr:1031.907, tl:2497.052},
// {bl:2629.197, br:1273.123, tr:1114.285, tl:2531.945},
// {bl:2587.745, br:1187.167, tr:1199.266, tl:2570.259},
// {bl:2549.635, br:1102.365, tr:1286.454, tl:2611.834},
// {bl:2514.450, br:1019.056, tr:1375.496, tl:2656.550},
// {bl:2484.029, br:940.403, tr:1465.790, tl:2704.186},
// {bl:2458.091, br:866.263, tr:1557.264, tl:2754.657},
]

//Do projection and scaling
// measurements = scaleMeasurements(measurements, 0.9945);
measurements = projectMeasurements(measurements)

computeLinesFitness(measurements, initialGuess)


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