625.final

.idea/.gitignore

@@ -1,8 +0,0 @@
-# 默认忽略的文件
-/shelf/
-/workspace.xml
-# 基于编辑器的 HTTP 客户端请求
-/httpRequests/
-# Datasource local storage ignored files
-/dataSources/
-/dataSources.local.xml

.idea/inspectionProfiles/Project_Default.xml

@@ -1,10 +0,0 @@
-<component name="InspectionProjectProfileManager">
-  <profile version="1.0">
-    <option name="myName" value="Project Default" />
-    <inspection_tool class="DuplicatedCode" enabled="true" level="WEAK WARNING" enabled_by_default="true">
-      <Languages>
-        <language minSize="95" name="Python" />
-      </Languages>
-    </inspection_tool>
-  </profile>
-</component>

.idea/inspectionProfiles/profiles_settings.xml

@@ -1,6 +0,0 @@
-<component name="InspectionProjectProfileManager">
-  <settings>
-    <option name="USE_PROJECT_PROFILE" value="false" />
-    <version value="1.0" />
-  </settings>
-</component>

.idea/measure_lib.iml

@@ -1,8 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<module type="PYTHON_MODULE" version="4">
-  <component name="NewModuleRootManager">
-    <content url="file://$MODULE_DIR$" />
-    <orderEntry type="inheritedJdk" />
-    <orderEntry type="sourceFolder" forTests="false" />
-  </component>
-</module>

.idea/misc.xml

@@ -1,7 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<project version="4">
-  <component name="Black">
-    <option name="sdkName" value="Python 3.12" />
-  </component>
-  <component name="ProjectRootManager" version="2" project-jdk-name="Python 3.12" project-jdk-type="Python SDK" />
-</project>

.idea/modules.xml

@@ -1,8 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<project version="4">
-  <component name="ProjectModuleManager">
-    <modules>
-      <module fileurl="file://$PROJECT_DIR$/.idea/measure_lib.iml" filepath="$PROJECT_DIR$/.idea/measure_lib.iml" />
-    </modules>
-  </component>
-</project>

.idea/vcs.xml

@@ -1,6 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<project version="4">
-  <component name="VcsDirectoryMappings">
-    <mapping directory="" vcs="Git" />
-  </component>
-</project>

py/get_data.py

@@ -54,6 +54,8 @@ def get_data(txt_name):
     with open(txt_name, 'r', encoding='utf-8') as f:
         lines = f.readlines()
     data = []
+    if not data:
+        return None, None, None, None
     for i, line in enumerate(lines, 1):
         data.append(line.split())
     x = []
@@ -65,7 +67,7 @@ def get_data(txt_name):
     x = np.array(x)
     y = np.array(y)
     slope, intercept, r_2 = calc_slope_line.linear_regression(x, y)
-    print(r_2)
+    # print(r_2)
     x_bot = []
     y_bot = []
     x_top = []
@@ -83,7 +85,7 @@ def get_data(txt_name):
     y_top = np.array(y_top)
     slope_bot, intercept_bot, r2_bot = calc_slope_line.linear_regression(x_bot, y_bot)
     slope_top, intercept_top, r2_top = calc_slope_line.linear_regression(x_top, y_top)
-    print(f"r2_bot = {r2_bot},r2_top = {r2_top}")
+    # print(f"r2_bot = {r2_bot},r2_top = {r2_top}")
     if ((1-r2_bot) > 1e-2) or ((1-r2_bot) > 1e-2):
         return None, None, None, None
 
@@ -91,7 +93,7 @@ def get_data(txt_name):
     for i in range(len(x_bot)):
         if abs(y_bot[i] - slope_bot * x_bot[i] - intercept_bot) > 10:
             delet.append(i)
-    print(f"len(x_bot): {len(x_bot)},delet: {delet})")
+    # print(f"len(x_bot): {len(x_bot)},delet: {delet})")
     x_bot = np.delete(x_bot, delet)
     y_bot = np.delete(y_bot, delet)
     # y_pred = slope_bot * x_bot + intercept_bot

py/measure_lib.py

@@ -173,13 +173,13 @@ output_folder = 'C:\\Users\\Administrator\\Desktop\\BYD\\Visual measurement\\pic
 #         Y = Y + Yw
 #     return Z/len(x_bot),-max_Yw
 
-def vs_measurement(txt_name,position):
+def vs_measurement(txt_name, position = 900):
     if not os.path.exists(txt_name):
-        return 0, None,None,None,None
+        return 0, None,None
     # 获取数据
     x_bot, y_bot, x_top, y_top = get_data.get_data(txt_name)
     if x_bot.any() == None:
-        return 0, None, None, None, None
+        return -1, None, None
     # x_bot = np.array(x_bot)
     # y_bot = np.array(y_bot)
     # x_top = np.array(x_top)
@@ -236,7 +236,7 @@ def vs_measurement(txt_name,position):
     x, y = calc_slope_line.find_intersection((k, -1, b), (slope_top, -1, intercept_top))
     Zw_intersection = calc_way.calc_height(x_intersection, y_intersection, x, y, alpha, beta)
     Xw_intersection, Yw_intersection = calc_way.calc_distance(x_intersection, y_intersection, alpha, beta)
-
+    print(Xw_intersection, Yw_intersection)
     # #位置修正
     # Yw_intersection = Yw_intersection + model.y
     Xw_bot = []
@@ -265,7 +265,7 @@ def vs_measurement(txt_name,position):
     distance = - Yw_intersection * math.cos(angle)
     distance_pos = -(Yw_pos + model.y) * math.cos(angle)
     # distance_pos = ((-intercept_Xw / slope_Xw) - position) / ((-intercept_Xw / slope_Xw) - Xw_intersection) * distance
-    return 1, Zw_intersection, distance, Zw_pos, distance_pos
+    return 1, Zw_pos, distance_pos
 
 
 if __name__ == '__main__':

py/readme.txt

@@ -1,11 +0,0 @@
-函数说明：vs_measurement(txt_name,position)
-txt_name : 路沿数据文件路径
-position ：车身某点P距离摄像头在X轴（车行进方向）的偏移，车头为正，车尾为负。
-	        如不输入该参数，默认为900，指向前车轮中心位置。
-
-返回值：state，Zw_pos, distance_pos
-
-state : -1 , Zw_pos, distance_pos都为None，表示txt_name 所传输的数据为空或无法使用
-state :  0  , Zw_pos, distance_pos都为None，表示txt_name路径不存在
-state :  1  
-Zw_pos返回P点对应路沿的高度，distance_pos返回P点距离路沿的距离

py/test.py

@@ -221,5 +221,4 @@ def vs_measurement(txt_name,position):
     return Zw_intersection, distance, Zw_pos , distance_pos
 
 
-
+#
-vs_measurement(txt_name,877)