From 0536d353b14be2f772e38447c839076bd30a29ba Mon Sep 17 00:00:00 2001
From: Paul Lacroix <paul.lacroix@ecl21.ec-lyon.fr>
Date: Tue, 7 Mar 2023 16:00:44 +0100
Subject: [PATCH] tjygnhfgtr
---
.../TensorFlow-2.x-YOLOv3-master/MCL.py | 26 ++++++++++---------
1 file changed, 14 insertions(+), 12 deletions(-)
diff --git a/PAR 152/Yolo V3/TensorFlow-2.x-YOLOv3-master/MCL.py b/PAR 152/Yolo V3/TensorFlow-2.x-YOLOv3-master/MCL.py
index 2f77450..edd4f87 100644
--- a/PAR 152/Yolo V3/TensorFlow-2.x-YOLOv3-master/MCL.py
+++ b/PAR 152/Yolo V3/TensorFlow-2.x-YOLOv3-master/MCL.py
@@ -98,6 +98,18 @@ def distance_Chamfer(A_x, A_y, B_x, B_y):
return res
+def orientation_voiture(x,y):
+ x1,y1 = x-centre_x, y-centre_y
+ if x<0:
+ x2,y2 = x1+diametre/2, y1
+ theta = atan(y2/x2)
+ return theta-3.1415/2
+ else:
+ x2,y2 = x1-diametre/2, y1
+ theta = atan(y2/x2)
+ return theta-3.1415/2
+
+
def motion_update(commande, position):
vitesse, direction, FPS = commande
x,y,theta = position
@@ -121,7 +133,7 @@ def motion_update(commande, position):
centre_rotation_y = y + R*cos(theta)
new_x, new_y = rotation((x,y),(centre_rotation_x, centre_rotation_y), angle_rotation)
- new_theta = theta + angle_rotation
+ new_theta = orientation_voiture(new_x, new_y)
new_x += rd.gauss(0, sigma_position)
new_y += rd.gauss(0, sigma_position)
@@ -242,17 +254,7 @@ def get_position(boxes,commande,pos):
cone_y.append(y+pos_calc[1])
return pos_calc, pos, cone_x, cone_y
-
-def orientation_voiture(x,y):
- x1,y1 = x-centre_x, y-centre_y
- if x<0:
- x2,y2 = x1+diametre/2, y1
- theta = atan(y2/x2)
- return theta-3.1415/2
- else:
- x2,y2 = x1-diametre/2, y1
- theta = atan(y2/x2)
- return theta-3.1415/2
+
if __name__ == "__main__":
--
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