byd/get_data.py

# 车胎横向分界线
k = 0.62849534
b = 21.8122503

"""
读取yolo网络识别路沿的坐标数据,筛选出目标区域的数据点，并将路沿上下侧数据分离
参数：保存数据的txt文件路径
返回值：在目标区域内的下侧数据点坐标x_bot、y_bot，上侧数据点坐标x_top,y_top
"""
def get_data(txt_name):
    with open(txt_name, 'r', encoding='utf-8') as f:
        lines = f.readlines()
    data = []
    for i, line in enumerate(lines, 1):
        data.append(line.split())
    x_bot = []
    y_bot = []
    x_top = []
    y_top = []
    k_num = 0
    for i in range(len(data)):
        data[i][1] = 960 - int(data[i][1])
    for i in range(len(data)):
        if k * int(data[i][0]) + b - int(data[i][1]) < 0:
            continue
        if i > 1:
            if (int(data[i][0]) - int(data[i-1][0]))*(int(data[i+2][0]) - int(data[i][0]))<0:
                k_num = i
                break;
    for i in range(len(data)):
        if k * int(data[i][0]) + b - int(data[i][1]) < 0:
            continue
        if i < k_num:
            x_bot.append(int(data[i][0]))
            y_bot.append(int(data[i][1]))
        else:
            x_top.append(int(data[i][0]))
            y_top.append(int(data[i][1]))
    return x_bot, y_bot, x_top, y_top