diff --git a/Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/analysis.py b/Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/analysis.py
index 4b28c7f5d5cb34426e5f04eda8d14bd0022e09a4..f1ed06de08bbcb7d8a3230582a9be209f2c2faaa 100644
--- a/Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/analysis.py
+++ b/Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/analysis.py
@@ -1,5 +1,5 @@
import xml.etree.ElementTree as ET
-from track_2_generator import create_track, create_double_circles
+from track_2_generator import create_track
from shapely.geometry import Polygon, Point, LineString
import numpy as np
diff --git a/PAR 152/Yolo V3/TensorFlow-2.x-YOLOv3-master/yolov3/pid_controller.py b/PAR 152/Yolo V3/TensorFlow-2.x-YOLOv3-master/yolov3/pid_controller.py
new file mode 100644
index 0000000000000000000000000000000000000000..74483f308415ef31a1bf51c068dc8cd413b9b2f4
--- /dev/null
+++ b/PAR 152/Yolo V3/TensorFlow-2.x-YOLOv3-master/yolov3/pid_controller.py
@@ -0,0 +1,18 @@
+import numpy as np
+
+
+class PidController:
+ def __init__(self, p_gain, i_gain, d_gain, set_point=0):
+ self.p_gain = p_gain
+ self.i_gain = i_gain
+ self.d_gain = d_gain
+ self.set_point = set_point
+ self.integrated_error = 0
+ self.previous_error = 0
+
+ def get_control(self, process_value):
+ error = self.set_point - process_value
+ control = self.p_gain * error + self.i_gain * self.integrated_error + self.d_gain * (error - self.previous_error)
+ self.previous_error = error
+ self.integrated_error += error
+ return np.sign(control) * abs(control)
diff --git a/PAR 152/Yolo V3/TensorFlow-2.x-YOLOv3-master/yolov3/track_2_generator.py b/PAR 152/Yolo V3/TensorFlow-2.x-YOLOv3-master/yolov3/track_2_generator.py
new file mode 100644
index 0000000000000000000000000000000000000000..856c4102ced928fb58baf29dcc8e43b35182e7f5
--- /dev/null
+++ b/PAR 152/Yolo V3/TensorFlow-2.x-YOLOv3-master/yolov3/track_2_generator.py
@@ -0,0 +1,75 @@
+from math import cos, sin, pi
+def create_track(r, start_point_distance_y, end_point_distance_y, tot_shift):
+ laps = 1 #nombre de tours
+ resolution_circle = 10 #resolution du cercle en degre
+ resolution_line = 10
+
+ #contruire les points qui vont former le chemin
+ points = [(0, start_point_distance_y)]
+ current_x, current_y = 0, start_point_distance_y
+ if current_y<0:
+ #faire les points de la première ligne droite
+ while current_y<0:
+ current_y += resolution_line
+ points.append((current_x, current_y))
+
+ #faire les points des cercles
+ current_angle = 0 #angle en degree
+ for i in range(laps):
+ while current_angle<720:
+ rad = current_angle/360*2*pi
+ if 0<current_angle<360:
+ current_x, current_y = r-r*cos(rad), r*sin(rad)
+ else:
+ current_x, current_y = -(r-r*cos(rad)), r*sin(rad)
+ current_angle+=resolution_circle
+ points.append((current_x, current_y))
+
+ if current_y<end_point_distance_y:
+ current_x=0
+ while current_y<end_point_distance_y:
+ current_y += resolution_line
+ points.append((current_x, current_y))
+
+
+ #on decale les points
+ shift_x = -min([x[0] for x in points])
+ shift_y = -min([x[1] for x in points])
+
+ points = [(x+shift_x+tot_shift[0],y+shift_y+tot_shift[1]) for x,y in points]
+
+ #print(points)
+ return points
+
+def create_double_circles(r, left_center, right_center):
+ resolution_circle = 10 #resolution du cercle en degre
+ current_angle=0
+ l_l = []
+ l_r = []
+ while current_angle<360:
+ rad = current_angle/360*2*pi
+ current_x_left, current_y_left = left_center[0]+r*cos(rad), left_center[1]+r*sin(rad)
+ current_x_right, current_y_right = right_center[0]+r*cos(rad), right_center[1]+r*sin(rad)
+ #if current_x_left<(left_center[0]+right_center[0])/2:
+ l_l.append((current_x_left, current_y_left))
+ #if current_x_right>(left_center[0]+right_center[0])/2:
+ l_r.append((current_x_right, current_y_right))
+ current_angle+=resolution_circle
+
+ return l_l+l_r
+
+if __name__ =="__main__":
+ points = create_track(1, -20, 20)
+ #construire le svg
+ mid = ""
+ #prendre le code autour du chemin
+ f = open("basic_track.svg", "r")
+ t = f.read().split('CUT_HERE')
+ for i,point in enumerate(points):
+ mid += f'<circle \n id="path{i}" \n style="fill:#000000;stroke:none" \n cx="{point[0]}" \n cy="{point[1]}" \n r="0.1" /> \n'
+ t = t[0]+mid+t[1]
+
+ f = open("track_11.svg", "w")
+ f.write(t)
+ f.close()
+
\ No newline at end of file
diff --git a/PAR 152/Yolo V3/TensorFlow-2.x-YOLOv3-master/yolov3/utils.py b/PAR 152/Yolo V3/TensorFlow-2.x-YOLOv3-master/yolov3/utils.py
index 0cc8f6b66d497353d2aee47bb0f31de2a76b745e..95874aa4c256f3abc6ab7041c6aac1f36d744d45 100644
--- a/PAR 152/Yolo V3/TensorFlow-2.x-YOLOv3-master/yolov3/utils.py
+++ b/PAR 152/Yolo V3/TensorFlow-2.x-YOLOv3-master/yolov3/utils.py
@@ -18,6 +18,9 @@ import tensorflow as tf
from yolov3.configs import *
from yolov3.yolov4 import *
from tensorflow.python.saved_model import tag_constants
+from track_2_generator import create_track
+from pid_controller import PidController
+from shapely.geometry import Polygon, Point, LineString
def load_yolo_weights(model, weights_file):
tf.keras.backend.clear_session() # used to reset layer names
@@ -152,7 +155,13 @@ def draw_bbox(image, bboxes, CLASSES=YOLO_COCO_CLASSES, show_label=True, show_co
# put object rectangle
cv2.rectangle(image, (x1, y1), (x2, y2), bbox_color, bbox_thick*2)
+
+ print((x1, y1),(x2, y2))
+ """Determinate position"""
+
+
+
if show_label:
# get text label
score_str = " {:.2f}".format(score) if show_confidence else ""
@@ -174,6 +183,25 @@ def draw_bbox(image, bboxes, CLASSES=YOLO_COCO_CLASSES, show_label=True, show_co
# put text above rectangle
cv2.putText(image, label, (x1, y1-4), cv2.FONT_HERSHEY_COMPLEX_SMALL,
fontScale, Text_colors, bbox_thick, lineType=cv2.LINE_AA)
+
+
+ """Algorithme de conduite"""
+ """x_car, y_car"""
+
+ """loading trajectory"""#TODO: load it only once
+ track_points = create_track(0.5,0,0, (0,0))[:-1]+[(1,0.5)]
+ track = Polygon(track_points)
+
+ """calculate distance"""
+ front_center = Point(np.array([x_car,y_car]))
+ error = track.distance(front_center)
+
+ """calculate PID response"""
+ pid = PidController(1,1,1) #P, I, D
+ commande = pid.get_control(error)
+
+ """sending info to car"""
+
return image
diff --git a/PAR 152/carte_cones.py b/PAR 152/carte_cones.py
new file mode 100644
index 0000000000000000000000000000000000000000..15b45c0fc89ff587863f8f7efecad1f644e33305
--- /dev/null
+++ b/PAR 152/carte_cones.py
@@ -0,0 +1,7 @@
+pixel_x_ext, pixel_y_ext = [242, 220, 165, 110, 63, 33, 22, 34, 63, 110, 165, 220, 243, 310, 334, 388, 443, 490, 521, 531, 520, 489, 443, 388, 333, 310], [76, 64, 52, 64, 95, 141, 196, 252, 298, 330, 340, 328, 318, 316, 328, 339, 329, 298, 251, 196, 142, 95, 64, 53, 64, 77]
+pixel_x_int, pixel_y_int = [245, 238, 222, 196, 166, 134, 108, 91, 85, 90, 109, 134, 165, 196, 222, 239, 308, 314, 332, 358, 388, 419, 445, 462, 468, 462, 445, 419, 388, 359, 332, 314], [201, 167, 140, 123, 116, 123, 140, 165, 195, 228, 253, 270, 277, 270, 253, 227, 200, 226, 253, 270, 277, 270, 253, 228, 197, 166, 140, 122, 117, 123, 140, 166]
+diametre = 225
+centre_x, centre_y = 278, 200
+coord_x_ext, coord_y_ext = [i/diametre for i in pixel_x_ext], [i/diametre for i in pixel_y_ext]
+coord_x_int, coord_y_int = [i/diametre for i in pixel_x_int], [i/diametre for i in pixel_y_int]
+print(coord_x_int, coord_x_int)
\ No newline at end of file
diff --git a/PAR 152/positionnement.py b/PAR 152/positionnement.py
index 0445014b10ba916a59a4b33b55975dc1c2581a2f..7843c1f22530a29fc55ae02e38b4d9e580b6a142 100644
--- a/PAR 152/positionnement.py
+++ b/PAR 152/positionnement.py
@@ -134,16 +134,25 @@ def positionnement(new_pos_cone, liste_ind_cone):
if __name__ == '__main__':
#initialisation
+ car_pos = (0,0)
+ car_angle = 0
pos = [0,0,0]
old_pos_cone = []
ind_cone = []
#boucle
- pos_cone = []
+ pos_cones = []
for i in boxes:
- pos_cone = boite2coord(i[0],i[1],i[2],i[3])
- pos, liste_ind_cone = identification_cones(pos, old_pos_cone, pos_cone, ind_cone)
- old_pos_cone = pos_cone
+ pos_cones.append(boite2coord(i[0],i[1],i[2],i[3]))
+
+ pos2=[]
+ for c in pos_cones:
+ pos2.append((car_pos[0]+np.cos(car_angle)*c[0]+np.sin(car_angle)*c[1], car_pos[1]+np.cos(car_angle)*c[1]-np.sin(car_angle)*c[0]))
+ print(pos2)
+
+
+ #pos, liste_ind_cone = identification_cones(pos, old_pos_cone, pos_cone, ind_cone)
+ #old_pos_cone = pos_cone
\ No newline at end of file