azdfe

PAR 152/Yolo V3/TensorFlow-2.x-YOLOv3-master/MCL.py

@@ -91,7 +91,7 @@ def boite2coord(x1,y1,x2,y2):
     d = F*h_reel/abs(y1-y2) - 0.3982
     
     ypmax=960/2
-    ymax=0.54
+    ymax=0.6
     #y_r = -((x1+x2)/2 - ypmax)*d/F
     tan_theta=((x1+x2)/2-ypmax)/ypmax*ymax
     theta = -atan(tan_theta)
@@ -132,16 +132,16 @@ 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 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):