laser_calibration.R

# Load required libraries
library(ggplot2)
library(ggforce)
library(gridExtra)

plot_laser_points <- function() {
  plots <- vector("list", length = 9)
  circle_radius <- 18  # Fixed circle radius of 18 mm
  max_distance_from_center <- 10
  
  for (i in 1:9) {
    # Set the seed for reproducibility
    set.seed(i+3)
    
    repeat {
      # Generate random points within 5mm of the circle center
      x1 <- runif(1, -max_distance_from_center, max_distance_from_center)
      y1 <- runif(1, -max_distance_from_center, max_distance_from_center)
      x2 <- runif(1, -max_distance_from_center, max_distance_from_center)
      y2 <- runif(1, -max_distance_from_center, max_distance_from_center)
      
      # Calculate Δd and d
      Δd <- 300
      d <- 50
      
      # Avoid division by zero
      if (d == 0) next
      
      deltaX <- x2 - x1;
      deltaY <- y2 - y1;
      
      x_true <- x1 - (deltaX * d) / Δd;
      y_true <- y1 - (deltaY * d) / Δd;
      
      # Check if the true point is within the circle
      if (sqrt(x_true^2 + y_true^2) <= circle_radius) {
        break
      }
    }
    
    # Data frame for points
    points_df <- data.frame(x = c(x1, x2, x_true), y = c(y1, y2, y_true), 
                            type = c('Near', 'Far', 'True'))
    
    # Create plot
    plots[[i]] <- ggplot() +
      geom_circle(aes(x0 = 0, y0 = 0, r = circle_radius), linetype = "solid", color = "blue") +
      geom_point(data = points_df, aes(x = x, y = y, color = type), size = 4) +
      scale_color_manual(values = c('Near' = 'blue', 'Far' = 'black', 'True' = 'red')) +
      theme_minimal() +
      coord_fixed() +
      xlim(c(-circle_radius, circle_radius)) + 
      ylim(c(-circle_radius, circle_radius)) +
      theme(legend.position = "none", 
            axis.text.x = element_blank(),
            axis.text.y = element_blank(),
            axis.ticks = element_blank(),
            plot.title = element_blank(),
            axis.title.x = element_blank(),
            axis.title.y = element_blank())
  }
  
  # Arrange plots in a grid
  do.call(grid.arrange, c(plots, ncol = 3))
}

# Call the function
plot_laser_points()