fix_boundaries

Fix the boundaries of a given raceline.

from_image_to_raceline(point, origin, inc, height, is_y=False)

This function converts image points into coordinates of the 2D space.

It takes in input a point in our image reference frame and it converts it into a point in our raceline reference frame by scaling and shifting it according to the parameters of the yaml file.

Parameters:

Name	Type	Description	Default
point	float	the point coordinate	required
origin	list	the origin parameter of the yaml file	required
inc	float	the resolution parameter of the yaml file	required
height	int	the height of the image	required
is_y	boolean	if the point is the y coordinate	False

Returns:

Name	Type	Description
float	float	the corresponding raceline coordinate

from_raceline_to_image(point, origin, inc, height, width, is_y=False)

This function converts a point into an usable coordinate for the image.

It takes in input a point in our raceline reference frame ad it converts it into a point our image reference frame by scaling and shifting it according to the parameters of the yaml file.

Parameters:

Name	Type	Description	Default
point	float	the point coordinate	required
origin	list	the origin parameter of the yaml file	required
inc	float	the resolution parameter of the yaml file	required
height	int	the height of the image	required
width	float	the width of the image	required
is_y	boolean	if the point is the y coordinate	False

Returns:

Name	Type	Description
int	int	the corresponding image coordinate

update_borders(raceline_csv, yaml_path, image_path)

This function computes (given a raceline) the correct left and right border.

It achieve this task by using a "line casting" algorithms. More informations can be found in the "fix_boundaries_implementations_details" folder.

Parameters:

Name	Type	Description	Default
raceline_csv	ndarray	the raceline data	required
yaml_path	str	the path to the corresponding yaml file	required
image_path	str	the path to the corresponding raceline image	required

Returns:

Type	Description
ndarray	np.ndarray: the updated raceline