update MCL

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

@@ -40,7 +40,6 @@ h_reel = 0.234  #Hauteur d'un plot
 y_0 = 1500      #Milieu de l'image
 
 dist_roue = 0.25    #Distance entre les roues avant et les roues arrieres
-dt = 0.1            #Frequence de calcul
 
 
 # class position:
@@ -95,8 +94,10 @@ def distance_Chamfer(A_x, A_y, B_x, B_y):
 
 
 def motion_update(commande, position):
-    vitesse, direction = commande
+    vitesse, direction, FPS = commande
     x,y,theta = position
+    dt = 1/FPS
+    
     
     if direction ==0:
         new_x = x + dt*vitesse*cos(theta)

PAR 152/Yolo V3/TensorFlow-2.x-YOLOv3-master/yolov3/utils.py

@@ -203,7 +203,7 @@ def draw_bbox(image, bboxes,liste_pos_car, CLASSES=YOLO_COCO_CLASSES, show_label
     
     #Determination de la position de la voiture
     #speed with 10= 3.8/40
-    pos_car, liste_pos_car_temp = get_position(bboxes, (previous_command[0]*3.7/170, previous_command[1]/200*35/360*2*3.1415), liste_pos_car.liste)
+    pos_car, liste_pos_car_temp = get_position(bboxes, (previous_command[0]*3.7/170, previous_command[1]/200*35/360*2*3.1415, previous_command[2]), liste_pos_car.liste)
     liste_pos_car.update_liste(liste_pos_car_temp)
 
     """Algorithme de conduite"""
@@ -633,7 +633,7 @@ def detect_realtime(Yolo, output_path, input_size=416, show=False, CLASSES=YOLO_
         
         print("Time: {:.2f}ms, {:.1f} FPS".format(ms, fps))
 
-        frame, command, liste_pos_car = draw_bbox(original_frame, bboxes,liste_pos_car, CLASSES=CLASSES, rectangle_colors=rectangle_colors, ser=ser, previous_command=(10, command))
+        frame, command, liste_pos_car = draw_bbox(original_frame, bboxes,liste_pos_car, CLASSES=CLASSES, rectangle_colors=rectangle_colors, ser=ser, previous_command=(10, command, fps))
         # CreateXMLfile("XML_Detections", str(int(time.time())), original_frame, bboxes, read_class_names(CLASSES))
         image = cv2.putText(frame, "Time: {:.1f}FPS".format(fps), (0, 30),
                           cv2.FONT_HERSHEY_COMPLEX_SMALL, 1, (0, 0, 255), 2)