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import math
import model
import calc_way
from scipy import stats
model = model . Model ( )
alpha = model . alpha
beta = model . beta
"""
计算地面点的竖直垂线在图像中的斜率
参数： ，
返回值：
"""
def get_k ( alpha , beta , x , y ) :
gamma = math . atan ( 1 / ( math . tan ( alpha ) * math . tan ( beta ) ) )
seta = math . atan ( 1 / math . sqrt ( pow ( math . tan ( beta ) , 2 ) + 1 / pow ( math . tan ( alpha ) , 2 ) ) )
Xw , Yw = calc_way . calc_distance ( x , y , alpha , beta )
u = Xw * math . cos ( gamma ) - Yw * math . sin ( gamma )
v = Xw * math . sin ( gamma ) + Yw * math . cos ( gamma )
tanlamda = - v / u / math . sqrt ( 1 + ( math . tan ( math . pi / 2 - seta ) ) * * 2 )
lamda = math . atan ( tanlamda )
k = math . tan ( math . pi / 2 - lamda )
return k
"""
计算地面点的竖直垂线在图像中的截距
参数： ，
返回值：
"""
def get_b ( x , y , k ) :
b = y - x * k
return b
"""
将检测到的路沿上侧数据点拟合为一条直线
参数：
返回值：
"""
def linear_regression ( x , y ) :
slope , intercept , r_value , p_value , std_err = stats . linregress ( x , y )
return slope , intercept , r_value * * 2
