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Commit a49e4fa7 authored by Ouhouuhu's avatar Ouhouuhu
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angle = f(x,y)

parent c9905b12
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......@@ -10,7 +10,7 @@ import matplotlib.pyplot as plt
import numpy as np
import random as rd
from math import cos, sin, tan
from math import cos, sin, tan, atan
#yolo = Load_Yolo_model()
......@@ -243,6 +243,18 @@ def get_position(boxes,commande,pos):
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__":
# detection = [[2.18939087e+03, 1.48177417e+03, 2.86449023e+03, 2.54427783e+03, 9.66490030e-01, 0.00000000e+00],
# [4.22634644e+02, 1.44312561e+03, 1.08822302e+03, 2.31131567e+03, 9.36378121e-01, 0.00000000e+00],
......
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