diff --git a/py/9600_2.jpg b/py/9600_2.jpg deleted file mode 100644 index ad25c18..0000000 Binary files a/py/9600_2.jpg and /dev/null differ diff --git a/py/new.txt b/py/new.txt deleted file mode 100644 index 2d283ab..0000000 --- a/py/new.txt +++ /dev/null @@ -1,199 +0,0 @@ -261 123 -258 120 -255 120 -234 141 -228 141 -219 132 -219 129 -216 126 -216 123 -213 120 -210 120 -207 123 -207 126 -204 129 -204 132 -195 141 -195 144 -192 147 -189 147 -186 150 -186 153 -180 159 -180 162 -177 165 -177 168 -171 174 -171 177 -162 186 -162 189 -159 192 -159 195 -156 198 -156 204 -147 213 -147 216 -132 231 -132 234 -123 243 -123 246 -120 249 -120 252 -114 258 -114 261 -108 267 -108 270 -105 273 -105 276 -102 279 -102 282 -99 285 -99 288 -93 294 -93 297 -87 303 -87 306 -84 309 -84 312 -81 315 -81 318 -78 321 -78 324 -75 327 -75 330 -72 333 -72 336 -63 345 -63 348 -60 351 -60 354 -51 363 -51 366 -48 369 -48 372 -36 384 -36 387 -30 393 -30 396 -24 402 -24 405 -12 417 -12 420 -3 429 -0 429 -0 465 -3 465 -9 459 -9 456 -15 450 -15 447 -21 441 -21 438 -24 435 -24 432 -27 429 -30 429 -30 426 -33 423 -33 420 -45 408 -45 405 -48 402 -48 399 -60 387 -60 378 -66 372 -69 372 -72 369 -72 366 -78 360 -81 360 -93 348 -99 348 -114 333 -114 330 -120 324 -123 324 -123 321 -138 306 -138 303 -141 300 -141 297 -144 294 -147 294 -147 291 -150 288 -150 282 -162 270 -162 264 -168 258 -171 258 -171 255 -174 252 -174 249 -186 237 -186 234 -189 231 -189 228 -192 225 -195 225 -198 222 -198 213 -204 207 -207 207 -207 204 -210 201 -210 198 -222 186 -222 180 -228 174 -231 174 -234 171 -234 168 -243 159 -243 156 -249 150 -249 144 -258 135 -258 126 -261 123 -267 114 -267 111 -279 99 -291 78 -294 78 -294 75 -300 66 -303 66 -306 63 -306 57 -312 51 -315 51 -315 48 -333 30 -333 24 -336 21 -336 15 -324 15 -321 18 -318 18 -315 21 -312 21 -309 24 -306 24 -306 36 -309 39 -309 42 -306 45 -306 48 -303 51 -303 54 -300 57 -300 66 -294 75 -291 75 -291 78 -279 99 -279 99 -267 111 -267 114 diff --git a/py/setup_folder/setup.py b/py/setup_folder/setup.py index ba8e050..eca5140 100644 --- a/py/setup_folder/setup.py +++ b/py/setup_folder/setup.py @@ -6,4 +6,6 @@ setup(ext_modules=cythonize(["../calc_way.py"])) setup(ext_modules=cythonize(["../calc_slope_line.py"])) setup(ext_modules=cythonize(["../get_data.py"])) setup(ext_modules=cythonize(["../model.py"])) -setup(ext_modules=cythonize(["../main_test.py"])) \ No newline at end of file +setup(ext_modules=cythonize(["../main_test.py"])) + +#python setup.py build_ext --inplace \ No newline at end of file diff --git a/py/test.py b/py/test.py deleted file mode 100644 index fc719d8..0000000 --- a/py/test.py +++ /dev/null @@ -1,186 +0,0 @@ -import math - -import numpy as np -import matplotlib.pyplot as plt -import calc_way -import get_data -import calc_slope_line -import cv2 -import model -import os -# model = model.Model() -# x,y=calc_way.calc_distance(model.tire_x, model.tire_y,model.alpha,model.beta) -# print(x,y) -# img_path = r'C:\Users\Administrator\Desktop\BYD\20250520\frame_7800_2_yolo.jpg' -# x_zero, y_zero = calc_way.calc_zeros_xto0() -# x_zero = np.array(x_zero) -# y_zero = np.array(y_zero) -# print(x_zero,y_zero) -# image = cv2.imread(img_path) # 默认读取BGR格式 -# point1 = (int(x_zero[0]), int(960 - y_zero[0])) -# point2 = (int(x_zero[-1]), int(960 - y_zero[-1])) -# cv2.line(image, point1, point2, (0, 0, 255), 2) -# cv2.imshow("Image with Line", image) -# cv2.waitKey(0) # 按任意键关闭窗口 -# cv2.destroyAllWindows() - -model = model.Model() -alpha = model.alpha -beta = model.beta - -img_path = r'C:\Users\Administrator\Desktop\BYD\20250520\frame_7800_2_yolo.jpg' -txt_name = "C:\\Users\\Administrator\\Desktop\\BYD\\20250520\\frame_7800_2.jpg_zuobiao.txt" -output_folder = 'C:\\Users\\Administrator\\Desktop\\BYD\\Visual measurement\\pic\\7800' - - -def vs_measurement(txt_name): - os.makedirs(output_folder, exist_ok=True) - # 获取数据 - x_bot, y_bot, x_top, y_top = get_data.get_data(txt_name) - x_bot = np.array(x_bot) - y_bot = np.array(y_bot) - x_top = np.array(x_top) - y_top = np.array(y_top) - - # 拟合路沿上下直线方程 - 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) - - # 拟合车轮垂线方程 - x_zero_xto0, y_zero_xto0 = calc_way.calc_zeros_xto0() - x_zero_xto0 = np.array(x_zero_xto0) - y_zero_xto0 = np.array(y_zero_xto0) - slope_zero_xto0, intercept_zero_xto0,r2_zero_xto0 = calc_slope_line.linear_regression(x_zero_xto0, y_zero_xto0) - - # 拟合X轴线方程 - x_zero, y_zero = calc_way.calc_zeros_yto0() - x_zero = np.array(x_zero) - y_zero = np.array(y_zero) - print(x_zero,y_zero) - slope_zero, intercept_zero, r2_zero = calc_slope_line.linear_regression(x_zero, y_zero) - - # 计算路沿底部与车轮垂线得交点 - x_jiao, y_jiao =calc_slope_line.find_intersection((slope_bot,-1,intercept_bot),(slope_zero_xto0,-1,intercept_zero_xto0)) - - - # # 绘制原始数据 - # plt.scatter(x_top,y_top, color='blue', label='orgin') - # - # # 绘制拟合线 - # y_pred = slope_top * x_top + intercept_top - # plt.plot(x_top, y_pred, color='red', label='fix') - # - # plt.xlabel('X') - # plt.ylabel('Y') - # plt.legend() - # plt.show() - - Z = 0 - Y = 0 - max_Zw = 0 - max_Zw_index = 0 - min_Zw = 0 - min_Zw_index = 0 - max_Yw = 0 - max_Yw_index = 0 - min_Yw = 0 - min_Yw_index = 0 - Xw_bot = [] - Yw_bot = [] - - for i in range(len(x_bot)): - image = cv2.imread(img_path) # 默认读取BGR格式 - if image is None: - print("Error: 无法读取图像，请检查路径！") - exit() - - # 定义点的坐标 (x, y) - point = (int(x_jiao), 960-int(y_jiao)) - - # 画一个红色圆点（半径5，颜色BGR格式，线宽-1表示填充） - cv2.circle(image, point, 5, (0, 0, 255), -1) - - point1 = (int(x_zero[0]), int(960 - y_zero[0])) - point2 = (int(x_zero[-1]), int(960 - y_zero[-1])) - cv2.line(image, point1, point2, (0, 0, 255), 2) - - - point1 = (int(x_zero_xto0[0]), int(960 - y_zero_xto0[0])) - point2 = (int(x_zero_xto0[-1]), int(960 - y_zero_xto0[-1])) - cv2.line(image, point1, point2, (0, 255, 255), 2) - - k = calc_slope_line.get_k(alpha,beta,x_bot[i],y_bot[i]) - b = calc_slope_line.get_b(x_bot[i],y_bot[i],k) - x = (intercept_top - b) / (k - slope_top) - y = k * x + b - Zw = calc_way.calc_height(x_bot[i],y_bot[i], x, y, alpha, beta) - Xw, Yw = calc_way.calc_distance(x_bot[i],y_bot[i], alpha, beta) - Xw_bot.append(Xw) - Yw_bot.append(Yw) - if i == 0: - max_Zw = Zw - min_Zw = Zw - max_Yw = Yw - min_Yw = Yw - else: - if Zw > max_Zw: - max_Zw = Zw - max_Zw_index = i - if Zw < min_Zw: - min_Zw = Zw - min_Zw_index = i - if Yw > max_Yw: - max_Yw = Yw - max_Yw_index = i - if Yw < min_Yw: - min_Yw = Yw - min_Yw_index = i - point1 = (x_bot[i], 960-y_bot[i]) - point2 = (int(x), 960-int(y)) - cv2.line(image, point1, point2, (0, 255, 0), 1) - text = f"Xw,Yw:{int(Xw),int(Yw)},Zw:{int(Zw)}" - position = (int(x), 960-int(y)) - font = cv2.FONT_HERSHEY_SIMPLEX - font_scale = 1 - color = (0, 0, 255) - thickness = 2 - cv2.putText(image, text, position, font, font_scale, color, thickness, cv2.LINE_AA) - output_path = os.path.join(output_folder, f'{i+1}.jpg') - cv2.imwrite(output_path, image) - Z = Z + Zw - Y = Y + Yw - file_path = os.path.join(output_folder, 'data.txt') - - with open(file_path, 'w', encoding='utf-8') as file: - file.write("该图片数据如下\n") - file.write(f"路沿平均高度为：{Z/len(x_bot)}\n") - file.write(f"最大高度为图{max_Zw_index+1},高度为：{max_Zw}\n") - file.write(f"最小高度为图{min_Zw_index+1},高度为：{min_Zw}\n") - file.write(f"路沿距离车辆平均距离为：{-Y/len(x_bot)}\n") - file.write(f"最远距离为图{min_Yw_index + 1},距离为：{min_Yw}\n") - file.write(f"最近距离为图{max_Yw_index + 1},距离为：{max_Yw}\n") - # 计算路沿与车的夹角 - slope_Xw ,intercept_Xw ,r2_Xw = calc_slope_line.linear_regression(Xw_bot, Yw_bot) - angle = math.atan(slope_Xw) - Xw , Yw = calc_way.calc_distance(x_jiao, y_jiao, alpha, beta) - distance = -Yw * math.cos(angle) - distance_door = (-intercept_Xw/slope_Xw)/ ((-intercept_Xw/slope_Xw)-Xw)*distance - - image = cv2.imread(img_path) # 默认读取BGR格式 - if image is None: - print("Error: 无法读取图像，请检查路径！") - exit() - - cv2.circle(image, point, 5, (0, 0, 255), -1) - text = f"Xw,Yw:{int(Xw), int(Yw)},distance:{int(distance)},distance_door:{int(distance_door)}" - position = (int(x_jiao), 960 - int(y_jiao)) - font = cv2.FONT_HERSHEY_SIMPLEX - font_scale = 0.5 - color = (0, 0, 255) - thickness = 2 - cv2.putText(image, text, position, font, font_scale, color, thickness, cv2.LINE_AA) - cv2.imshow("Image with Line", image) - cv2.waitKey(0) # 按任意键关闭窗口 - cv2.destroyAllWindows() - -vs_measurement(txt_name) \ No newline at end of file