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Copy pathPython.py
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Python.py
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import numpy as np
import cv2 as cv
import time
import imutils
import array
import cv2.aruco as aruco
import math
import serial
n=9
cap = cv.VideoCapture(1)
ret, frame = cap.read()
roi = cv.selectROI(frame)
imcrop = frame[int(roi[1]):int(roi[1] + roi[3]), int(roi[0]):int(roi[0] + roi[2])]
cv.imshow('Cropped Image', imcrop)
#frame = cv.resize(frame, (600, 600), interpolation=cv.INTER_AREA)
print(roi)
#cv.imshow('frame', frame)
cv.waitKey(1000)
a=20
dis=10
tk=10
dk=10
areay=30
areab=1500
areaw=200
arear=100
areag=100
x_1=int(roi[0])
x_2=int(roi[0]+roi[2])
y_1=int(roi[1])
y_2=int(roi[1]+roi[3])
dim=540
bluedis=30#distance of two blue
gd=25#green crop
wd=25
"""x_1=186
x_2=296+186
y_1=96
y_2=96+296"""
font = cv.FONT_HERSHEY_COMPLEX
lr=np.array([29,21,123])
ur=np.array([140,104,255])
lg=np.array([145,131,57])
ug=np.array([191,164,101])
lb=np.array([207,152,44])
ub=np.array([255,213,134])
ly=np.array([0,169,235])
uy=np.array([225,255,255])
lw=np.array([204,234,199])
uw=np.array([255,255,255])
"""lg = np.array([160, 133, 76])
ug = np.array([181, 141, 101])"""
ser = serial.Serial('COM9',9600)
def stop():
ser.write(b's')
def left():
ser.write(b'l')
def right():
ser.write(b'r')
def left2():
ser.write(b'a')
def right2():
ser.write(b'z')
def forward():
ser.write(b'f')
def servoup():
ser.write(b'u')
def servodown():
ser.write(b'd')
def stop():
ser.write(b's')
def delay():
ser.write(b'd')
def right1():
ser.write(b'r')
time.sleep(2)
def servoup1():
ser.write(b'k')
def servodown1():
ser.write(b'j')
def end():
ser.write(b'e')
array = [int("99")] * (n*n)
class Graph:
def minDistance(self, dist, queue):
minimum = float("Inf")
min_index = -1
for i in range(len(dist)):
if dist[i] < minimum and i in queue:
minimum = dist[i]
min_index = i
return min_index
def printPath(self, parent, j,z):
if parent[j] == -1:
#print(j)
return
self.printPath(parent, parent[j],z-1)
#print(j)
array[z]=j
def printSolution(self, dist, parent,des):
#print("\n%d --> %d \t\t%d \t\t\t\t\t" % (src, des, dist[des])),
self.printPath(parent, des,n*n-1)
def dijkstra(self, graph, src,des):
#array = [int("99")] * (n * n)
row = len(graph)
col = len(graph[0])
dist = [float("Inf")] * row
parent = [-1] * row
dist[src] = 0
queue = []
for i in range(row):
queue.append(i)
while queue:
u = self.minDistance(dist, queue)
queue.remove(u)
for i in range(col):
if graph[u][i] and i in queue:
if dist[u] + graph[u][i] < dist[i]:
dist[i] = dist[u] + graph[u][i]
parent[i] = u
self.printSolution(dist, parent,des)#
#cap=cv.VideoCapture(1)
#cap = cv.VideoCapture('http://172.17.18.192:4747/mjpegfeed?640x480')
while True:
ret, im = cap.read()
cropped = im[y_1:y_2,x_1:x_2]
img = cv.resize(cropped, (dim , dim), interpolation=cv.INTER_AREA)
cv.imwrite("hjk.png",img)
#img = cv.resize(im, (540,540), interpolation = cv.INTER_AREA)
hsv = cv.cvtColor(img, cv.COLOR_BGR2HSV)
mr1 = cv.inRange(img, ly, uy)
contour1, hierarchy = cv.findContours(mr1, cv.RETR_TREE, cv.CHAIN_APPROX_SIMPLE)
mu_1 = [None] * (len(contour1))
mc_1 = [None] * (len(contour1))
county = 0
for i in range(len(contour1)):
area = cv.contourArea(contour1[i])
if area > areay:
county = county + 1
else:
contour1[i][0][0][0] = 10000
for i in range(len(contour1)):
if contour1[i][0][0][0] != 10000:
mu_1[i] = cv.moments(contour1[i])
# mc_1[i] = (mu_1[i]['m10'] / (mu_1[i]['m00'] + 1e-5), mu_1[i]['m01'] / (mu_1[i]['m00'] + 1e-5), "y")
mu1 = [None] * (county)
mc1 = [None] * (county)
county = 0
for i in range(len(contour1)):
if contour1[i][0][0][0] != 10000:
area = cv.contourArea(contour1[i])
if area > areay:
approx = cv.approxPolyDP(contour1[i], 0.015 * cv.arcLength(contour1[i], True), True)
if len(approx) < 8:
mc_1[i] = (mu_1[i]['m10'] / (mu_1[i]['m00'] + 1e-5), mu_1[i]['m01'] / (mu_1[i]['m00'] + 1e-5), "ys")
mc1[county] = mc_1[i]
county = county + 1
else:
mc_1[i] = (mu_1[i]['m10'] / (mu_1[i]['m00'] + 1e-5), mu_1[i]['m01'] / (mu_1[i]['m00'] + 1e-5), "yc")
mc1[county] = mc_1[i]
county = county + 1
for i in range(county):
cv.putText(img, '.', (int(mc1[i][0]), int(mc1[i][1])), font, 0.5, (0, 0, 0))
print(county)
mr2 = cv.inRange(img, lb, ub)
contour2, hierarchy = cv.findContours(mr2, cv.RETR_TREE, cv.CHAIN_APPROX_SIMPLE)
mu_2 = [None] * (len(contour2))
mc_2 = [None] * (len(contour2))
countb = 0
for i in range(len(contour2)):
area = cv.contourArea(contour2[i])
if area > areab:
countb = countb + 1
else:
contour2[i][0][0][0] = 10000
for i in range(len(contour2)):
if contour2[i][0][0][0] != 10000:
mu_2[i] = cv.moments(contour2[i])
mc_2[i] = (mu_2[i]['m10'] / (mu_2[i]['m00'] + 1e-5), mu_2[i]['m01'] / (mu_2[i]['m00'] + 1e-5), "b")
mu2 = [None] * (countb)
mc2 = [None] * (countb+2)
countb = 0
for i in range(len(contour2)):
if contour2[i][0][0][0] != 10000:
mc2[countb] = mc_2[i]
countb = countb + 1
mc2[countb] =(mc2[0][0]+bluedis, mc2[0][1], "b")
print(mc2[countb])
mc2[countb+1] =(mc2[0][0]-bluedis, mc2[0][1], "b")
print(mc2[countb+1])
countb=countb+2
for i in range(countb):
cv.putText(img, '.', (int(mc2[i][0]), int(mc2[i][1])), font, 0.5, (255, 255, 255))
print(countb)
mr3 = cv.inRange(img, lw, uw)
contour3, hierarchy = cv.findContours(mr3, cv.RETR_TREE, cv.CHAIN_APPROX_SIMPLE)
mu_3 = [None] * (len(contour3))
mc_3 = [None] * (len(contour3))
count = 0
for i in range(len(contour3)):
area = cv.contourArea(contour3[i])
if area > areaw:
count = count + 1
else:
contour3[i][0][0][0] = 10000
for i in range(len(contour3)):
if contour3[i][0][0][0] != 10000:
mu_3[i] = cv.moments(contour3[i])
mc_3[i] = (mu_3[i]['m10'] / (mu_3[i]['m00'] + 1e-5), mu_3[i]['m01'] / (mu_3[i]['m00'] + 1e-5), "w")
mu3 = [None] * (count)
mc3 = [None] * (count)
count = 0
for i in range(len(contour3)):
if contour3[i][0][0][0] != 10000:
mc3[count] = mc_3[i]
count = count + 1
for i in range(count):
cv.putText(img, '.', (int(mc3[i][0]), int(mc3[i][1])), font, 0.5, (0, 0, 0))
# cv.drawContours(img, contour3, -1, (0, 255, 0), 2)
print(count)
mr4 = cv.inRange(img, lr, ur)
contour4, hierarchy = cv.findContours(mr4, cv.RETR_TREE, cv.CHAIN_APPROX_SIMPLE)
mu_4 = [None] * (len(contour4))
mc_4 = [None] * (len(contour4))
countr = 0
for i in range(len(contour4)):
area = cv.contourArea(contour4[i])
if area > arear:
countr = countr + 1
else:
contour4[i][0][0][0] = 10000
for i in range(len(contour4)):
if contour4[i][0][0][0] != 10000:
mu_4[i] = cv.moments(contour4[i])
# mc_1[i] = (mu_1[i]['m10'] / (mu_1[i]['m00'] + 1e-5), mu_1[i]['m01'] / (mu_1[i]['m00'] + 1e-5), "y")
mu4 = [None] * (countr)
mc4 = [None] * (countr)
countr = 0
for i in range(len(contour4)):
if contour4[i][0][0][0] != 10000:
area = cv.contourArea(contour4[i])
if area > arear:
approx = cv.approxPolyDP(contour4[i], 0.02 * cv.arcLength(contour4[i], True), True)
if len(approx) < 8:
mc_4[i] = (mu_4[i]['m10'] / (mu_4[i]['m00'] + 1e-5), mu_4[i]['m01'] / (mu_4[i]['m00'] + 1e-5), "rs")
mc4[countr] = mc_4[i]
countr= countr + 1
else:
mc_4[i] = (mu_4[i]['m10'] / (mu_4[i]['m00'] + 1e-5), mu_4[i]['m01'] / (mu_4[i]['m00'] + 1e-5), "rc")
mc4[countr] = mc_4[i]
countr = countr + 1
for i in range(countr):
cv.putText(img, '.', (int(mc4[i][0]), int(mc4[i][1])), font, 0.5, (0, 0, 0))
print(countr)
for i in range(count):
x1 = int(mc3[i][0] - gd)
x2 = int(mc3[i][0] + gd)
y1 = int(mc3[i][1] - gd)
y2 = int(mc3[i][1] + gd)
print(x1, x2, y1, y2)
cimg = img[y1:y2, x1:x2]
hsv = cv.cvtColor(cimg, cv.COLOR_BGR2HSV)
mr7 = cv.inRange(cimg, lg, ug)
contour7, hierarchy = cv.findContours(mr7, cv.RETR_TREE, cv.CHAIN_APPROX_SIMPLE)
if len(contour7) > 0:
#print(mc3[i][2])
l1 = list(mc3[i])
l1[2] = "wh"
mc3[i] = tuple(l1)
print(mc3[i][2])
else:
#print(mc3[i][2])
l1 = list(mc3[i])
l1[2] = "ww"
mc3[i] = tuple(l1)
print(mc3[i][2])
print(mc3)
i=0
mc = [None]*(county+countb+count+countr)
while(i< county):
mc[i]=mc1[i]
i=i+1
k=i
while(i< (countb+county)) :
mc[i]=mc2[i-k]
i=i+1
k=i
while(i< (county+countb+count)):
mc[i]=mc3[i-k]
i=i+1
k=i
while(i< (county+countb+count+countr)) :
mc[i]=mc4[i-k]
i=i+1
#print(mc)
u=(county+countb+count+countr)
for l in range(u):
for j in range(u):
if int(mc[l][1])<int(mc[j][1]):
t=(mc[l])
(mc[l]) = (mc[j])
(mc[j]) = t
j=0
i=0
while(i<u and j<=u):
while (j<u and int(mc[i][1])-25<int (mc[j][1])< int(mc[i][1])+25):
j=j+1
j=j-1
k=i
while(k<=j):
if int(mc[i][0])>int(mc[k][0]):
t=(mc[i])
(mc[i]) = (mc[k])
(mc[k]) = t
k=k+1
i=i+1
j = j + 1
"""for i in range(u):
print(int(mc[i][0]), int(mc[i][1]),mc[i][2])"""
print (u)
#print(mc1)
ax = [[mc[i][0] for i in range(u)] for j in range(1)]
ay = [[mc[i][1] for i in range(u)] for j in range(1)]
ac = [[mc[i][2]for i in range(u)] for j in range(1)]
horcruxes = [-1,-1,-1,-1]
weapon = [-1,-1 ,-1,-1]
jail = [-1, -1,-1,-1]
weap=0
horc=0
ja=0
for i in range(n*n):
if ac[0][i]=="ww":
weapon[weap]=i
weap=weap+1
if ac[0][i]=="wh":
horcruxes[horc]=i
horc=horc+1
if ac[0][i] == "b":
if 200 < ax[0][i] < 400 and 200 < ay[0][i] < 400:
jail[len(jail) - 1] = i
else:
jail[ja] = i
ja = ja + 1
print(ac)
print(mc)
print(horcruxes)
print(weapon)
print(jail)
g = Graph()
count=0
chcarr2 = [int("99")] * (n * n) # yellow square
for i in range(n * n):
if ac[0][i] == "b":
chcarr2[i] = i
for i in range(n * n):
if chcarr2[i] != 99:
count = count + 1
print(count)
updarr2 = [int("99")] * (count)
k = 0
for i in range(n * n):
if chcarr2[i] != 99:
updarr2[k] = chcarr2[i]
k = k + 1
count=0
chcarr3 = [int("99")] * (n * n) # yellow square
for i in range(n * n):
if ac[0][i] == "ww" or ac[0][i] == "wh":
chcarr3[i] = i
for i in range(n * n):
if chcarr3[i] != 99:
count = count + 1
# print(count)
updarr3 = [int("99")] * (count)
k = 0
for i in range(n * n):
if chcarr3[i] != 99:
updarr3[k] = chcarr3[i]
k = k + 1
print(updarr2)
print(updarr3)
arr = [[0 for i in range(n*n)] for j in range(n*n)]
for i in range(n*n):
for j in range(n*n):
if j==i+1 or j==i+n or j==i-1 or j==i-n:
arr[i][j]=9
else:
arr[i][j]=0
for k in range(len(updarr2)):
if i == updarr2[k]:
if j == i + 1 or j == i + n or j == i - 1 or j == i - n:
arr[i][j] = 15
for k in range(len(updarr3)):
if i == updarr3[k]:
if j == i + 1 or j == i + n or j == i - 1 or j == i - n:
arr[i][j] = 15
if i%n==n-1 and i+1<n*n:
arr[i][i+1]=0
if i%n==0:
arr[i][i-1]=0
graph =arr
print(graph)
cv.imshow('first_frame', img)
cv.imwrite('img.png',img)
cv.waitKey(100)
break
detected=0
path = [int("99")] * (2)
for raj in range(2*(len(jail))):
print("raj changed")
if raj<(2*(len(jail))):
if raj%2==0:
if raj==0:
while True:
#cap = cv.VideoCapture(1)
ret, im = cap.read()
cropped = im[y_1:y_2,x_1:x_2]
img = cv.resize(cropped, (dim, dim), interpolation=cv.INTER_AREA)
aruco_dict = aruco.Dictionary_get(aruco.DICT_5X5_250)
parameters = aruco.DetectorParameters_create()
gray = cv.cvtColor(img, cv.COLOR_BGR2GRAY)
corners, ids, rejectedImgPoints = aruco.detectMarkers(gray, aruco_dict, parameters=parameters)
#print(size(corners))
#cap.release()
try:
print(corners)
c1x = (corners[0][0][0][0] + corners[0][0][1][0]) / 2
c2x = (corners[0][0][2][0] + corners[0][0][3][0]) / 2
c1y = (corners[0][0][0][1] + corners[0][0][1][1]) / 2
c2y = (corners[0][0][2][1] + corners[0][0][3][1]) / 2
cenx = (c1x + c2x) / 2
ceny = (c1y + c2y) / 2
print(cenx,ceny)
distblue=[-1,-1,-1,-1]
for i in range(len(distblue)):
distblue[i] = math.sqrt(((ax[0][jail[i]] - cenx) ** 2) + ((ay[0][jail[i]] - ceny) ** 2))
print(distblue)
minpos = distblue.index(min(distblue))
print(minpos)
source=jail[minpos]
break
except:
stop()
print('s')
continue
else:
source = path[len(path) - 2]
for i in range(n * n):
if array[i] != 99:
array[i] = 99
des= horcruxes[int(raj/2)]
g.dijkstra(graph, source, des)
count = 0
for i in range(n * n):
if array[i] != 99:
count = count + 1
path = [int("99")] * (count + 1)
path[0] = source
for i in range(1, count + 1):
path[i] = array[n * n - count + i - 1]
print(path)
motion = [int("99")] * (2)
for i in range(len(path) - 1):
while True:
#cap = cv.VideoCapture(1)
print(i,raj)
ret, im = cap.read()
cropped = im[y_1:y_2,x_1:x_2]
img = cv.resize(cropped, (dim, dim), interpolation=cv.INTER_AREA)
aruco_dict = aruco.Dictionary_get(aruco.DICT_5X5_250)
parameters = aruco.DetectorParameters_create()
gray = cv.cvtColor(img, cv.COLOR_BGR2GRAY)
corners, ids, rejectedImgPoints = aruco.detectMarkers(gray, aruco_dict, parameters=parameters)
#print(size(corners))
#cap.release()
try:
#print(corners)
c1x = (corners[0][0][0][0] + corners[0][0][1][0]) / 2
c2x = (corners[0][0][2][0] + corners[0][0][3][0]) / 2
c1y = (corners[0][0][0][1] + corners[0][0][1][1]) / 2
c2y = (corners[0][0][2][1] + corners[0][0][3][1]) / 2
cenx = (c1x + c2x) / 2
ceny = (c1y + c2y) / 2
#print(cenx, ceny)
motion[0] = path[i]
motion[1] = path[i + 1]
p0 = [ax[0][path[i]], ay[0][path[i]]]
p1 = [ax[0][path[i + 1]], ay[0][path[i + 1]]]
pc = [cenx, ceny]
p2 = [c1x, c1y]
p3 = [c2y, c2y]
vsd = complex(p1[0] - pc[0], p1[1] - pc[1])
varu = complex(p2[0] - pc[0], p2[1] - pc[1])
angle = np.angle(varu / vsd, deg=True)
print(angle)
distance = math.sqrt(((p1[0] - pc[0]) ** 2) + ((p1[1] - pc[1]) ** 2))
print(distance)
if (angle) < -a:
print('r')
right()
ang = np.degrees(angle)
if distance < dis:
break
#time.sleep(t)
if (angle) > a :
print('l')
left()
ang = np.degrees(angle)
if distance < dis:
break
#time.sleep(t)
if -a< (angle) < a:
if i == len(path) - 2:
if angle<-5:
right2()
if angle>5:
left2()
if -5<angle<5:
print('f')
forward()
# time.sleep(t)
servodown()
print("servodown")
break
else:
if distance>dis:
print('f')
forward()
if distance<dis:
break
cv.imshow('0', img)
cv.waitKey(200)
except:
stop()
print('s')
continue
print("raj to be changed")
else:
print("raj changed")
for i in range(n * n):
if array[i] != 99:
array[i]=99
source = path[len(path) - 2]
des = jail[int((raj-1)/2)]
g.dijkstra(graph, source, des)
count = 0
# print(array)
#print(array)
for i in range(n * n):
if array[i] != 99:
#print(array[i])
count = count + 1
#print(count)
path = [int("99")] * (count + 1)
#print(path1)
path[0] = source
for i in range(1, count + 1):
path[i] = array[n * n - count + i - 1]
print(path)
motion = [int("99")] * (2)
for i in range(len(path) - 1):
while True:
# cap = cv.VideoCapture(1)
print(i,raj)
ret, im = cap.read()
cropped = im[y_1:y_2,x_1:x_2]
img = cv.resize(cropped, (dim, dim), interpolation=cv.INTER_AREA)
aruco_dict = aruco.Dictionary_get(aruco.DICT_5X5_250)
parameters = aruco.DetectorParameters_create()
gray = cv.cvtColor(img, cv.COLOR_BGR2GRAY)
corners, ids, rejectedImgPoints = aruco.detectMarkers(gray, aruco_dict, parameters=parameters)
# print(size(corners))
# cap.release()
try:
# print(corners)
c1x = (corners[0][0][0][0] + corners[0][0][1][0]) / 2
c2x = (corners[0][0][2][0] + corners[0][0][3][0]) / 2
c1y = (corners[0][0][0][1] + corners[0][0][1][1]) / 2
c2y = (corners[0][0][2][1] + corners[0][0][3][1]) / 2
cenx = (c1x + c2x) / 2
ceny = (c1y + c2y) / 2
# print(cenx, ceny)
motion[0] = path[i]
motion[1] = path[i + 1]
p0 = [ax[0][path[i]], ay[0][path[i]]]
p1 = [ax[0][path[i + 1]], ay[0][path[i + 1]]]
pc = [cenx, ceny]
p2 = [c1x, c1y]
p3 = [c2y, c2y]
vsd = complex(p1[0] - pc[0], p1[1] - pc[1])
varu = complex(p2[0] - pc[0], p2[1] - pc[1])
angle = np.angle(varu / vsd, deg=True)
print(angle)
distance = math.sqrt(((p1[0] - pc[0]) ** 2) + ((p1[1] - pc[1]) ** 2))
print(distance)
if (angle) < -a:
print('r')
right()
ang = np.degrees(angle)
if distance < dis:
break
# time.sleep(t)
if (angle) > a:
print('l')
left()
ang = np.degrees(angle)
if distance < dis:
break
# time.sleep(t)
if -a < (angle) < a:
if i == len(path) - 2:
print('f')
#forward()
# time.sleep(t)
servoup()
print("servoup")
break
else:
if distance > dis:
print('f')
forward()
# time.sleep(t)
if distance < dis:
break
cv.imshow('0', img)
cv.waitKey(200)
except:
stop()
print('s')
continue
detected1=['rs','rs','rs','rs']
for check in range(len(horcruxes)):
print(check)
d = horcruxes[check]
x = ax[0][d]
y = ay[0][d]
x1 = int(ax[0][d] - wd)
x2 = int(ax[0][d] + wd)
y1 = int(ay[0][d] - wd)
y2 = int(ay[0][d] + wd)
print(x1, x2, y1, y2)
ret, im = cap.read()
cropped = im[y_1:y_2, x_1:x_2]
img = cv.resize(cropped, (dim, dim), interpolation=cv.INTER_AREA)
cimg = img[y1:y2, x1:x2]
cv.imshow("cropped", cimg)
cv.imwrite("crp.png", cimg)
cv.waitKey(1000)
hsv = cv.cvtColor(cimg, cv.COLOR_BGR2HSV)
mr5 = cv.inRange(cimg, ly, uy)
cv.imshow('d', mr5)
cv.waitKey(1000)
contour5, hierarchy = cv.findContours(mr5, cv.RETR_TREE, cv.CHAIN_APPROX_SIMPLE)
print(len(contour5))
mu_5 = [None] * (len(contour5))
mc_5 = [None] * (len(contour5))
county = 0
for i in range(len(contour5)):
area = cv.contourArea(contour5[i])
if area > areay:
county = county + 1
else:
contour5[i][0][0][0] = 10000
for i in range(len(contour5)):
if contour5[i][0][0][0] != 10000:
mu_5[i] = cv.moments(contour5[i])
# mc_1[i] = (mu_1[i]['m10'] / (mu_1[i]['m00'] + 1e-5), mu_1[i]['m01'] / (mu_1[i]['m00'] + 1e-5), "y")
mu5 = [None] * (county)
mc5 = [None] * (county)
county = 0
for i in range(len(contour5)):
if contour5[i][0][0][0] != 10000:
area = cv.contourArea(contour5[i])
if area > areay:
approx = cv.approxPolyDP(contour5[i], 0.02 * cv.arcLength(contour5[i], True), True)
if len(approx) < 8:
mc_5[i] = (mu_5[i]['m10'] / (mu_5[i]['m00'] + 1e-5), mu_5[i]['m01'] / (mu_5[i]['m00'] + 1e-5), "ys")
mc5[county] = mc_5[i]
detected1[check] = mc5[county][2]
county = county + 1
print(county)
else:
mc_5[i] = (mu_5[i]['m10'] / (mu_5[i]['m00'] + 1e-5), mu_5[i]['m01'] / (mu_5[i]['m00'] + 1e-5), "yc")
mc5[county] = mc_5[i]
detected1[check] = mc5[county][2]
county = county + 1
print(county)
for i in range(county):
cv.putText(cimg, '.', (int(mc5[i][0]), int(mc5[i][1])), font, 0.5, (0, 0, 0))
mr6 = cv.inRange(cimg, lr, ur)
cv.imshow('d', mr6)
cv.waitKey(1000)
contour6, hierarchy = cv.findContours(mr6, cv.RETR_TREE, cv.CHAIN_APPROX_SIMPLE)
print(len(contour6))
mu_6 = [None] * (len(contour6))
mc_6 = [None] * (len(contour6))
countr = 0
for i in range(len(contour6)):
area = cv.contourArea(contour6[i])
if area > arear:
countr = countr + 1
else:
contour6[i][0][0][0] = 10000
for i in range(len(contour6)):
if contour6[i][0][0][0] != 10000:
mu_6[i] = cv.moments(contour6[i])
# mc_1[i] = (mu_1[i]['m10'] / (mu_1[i]['m00'] + 1e-5), mu_1[i]['m01'] / (mu_1[i]['m00'] + 1e-5), "y")
mu6 = [None] * (countr)
mc6 = [None] * (countr)
countr = 0
for i in range(len(contour6)):
if contour6[i][0][0][0] != 10000:
area = cv.contourArea(contour6[i])
if area > arear:
approx = cv.approxPolyDP(contour6[i], 0.02 * cv.arcLength(contour6[i], True), True)
if len(approx) < 8:
mc_6[i] = (mu_6[i]['m10'] / (mu_6[i]['m00'] + 1e-5), mu_6[i]['m01'] / (mu_6[i]['m00'] + 1e-5), "rs")
mc6[countr] = mc_6[i]
detected1[check] = mc6[countr][2]
countr = countr + 1
print(countr)
else:
mc_6[i] = (mu_6[i]['m10'] / (mu_6[i]['m00'] + 1e-5), mu_6[i]['m01'] / (mu_6[i]['m00'] + 1e-5), "rc")
mc6[countr] = mc_6[i]
detected1[check] = mc6[countr][2]
countr = countr + 1
print(countr)
for i in range(countr):
cv.putText(cimg, '.', (int(mc6[i][0]), int(mc6[i][1])), font, 0.5, (0, 0, 0))
print(detected1[check])
cv.imshow("cropped", cimg)
cv.imwrite("green.png",cimg)
cv.waitKey(100)
print("khatam horcruxes")
print(detected1)
for raj in range(2*len(jail)):
if raj%2==0:
for i in range(n * n):
if array[i] != 99:
array[i]=99
source = path[len(path) - 2]
#source=14
des = weapon[int(raj/2)]
g.dijkstra(graph, source, des)
count = 0
for i in range(n * n):
if array[i] != 99:
count = count + 1
path = [int("99")] * (count + 1)
path[0] = source
for i in range(1, count + 1):
path[i] = array[n * n - count + i - 1]
print(path)
motion = [int("99")] * (2)
for i in range(len(path) - 1):
while True:
# cap = cv.VideoCapture(1)
print(i)
ret, im = cap.read()
cropped = im[y_1:y_2, x_1:x_2]
img = cv.resize(cropped, (dim, dim), interpolation=cv.INTER_AREA)
aruco_dict = aruco.Dictionary_get(aruco.DICT_5X5_250)
parameters = aruco.DetectorParameters_create()
gray = cv.cvtColor(img, cv.COLOR_BGR2GRAY)
corners, ids, rejectedImgPoints = aruco.detectMarkers(gray, aruco_dict, parameters=parameters)
# print(size(corners))
# cap.release()
try:
# print(corners)
c1x = (corners[0][0][0][0] + corners[0][0][1][0]) / 2
c2x = (corners[0][0][2][0] + corners[0][0][3][0]) / 2
c1y = (corners[0][0][0][1] + corners[0][0][1][1]) / 2
c2y = (corners[0][0][2][1] + corners[0][0][3][1]) / 2
cenx = (c1x + c2x) / 2
ceny = (c1y + c2y) / 2
# print(cenx, ceny)
motion[0] = path[i]
motion[1] = path[i + 1]
p0 = [ax[0][path[i]], ay[0][path[i]]]
p1 = [ax[0][path[i + 1]], ay[0][path[i + 1]]]
pc = [cenx, ceny]
p2 = [c1x, c1y]
p3 = [c2y, c2y]
vsd = complex(p1[0] - pc[0], p1[1] - pc[1])
varu = complex(p2[0] - pc[0], p2[1] - pc[1])
angle = np.angle(varu / vsd, deg=True)
print(angle)
distance = math.sqrt(((p1[0] - pc[0]) ** 2) + ((p1[1] - pc[1]) ** 2))
print(distance)
if (angle) < -a:
print('r')
right()
ang = np.degrees(angle)
if distance < dis:
break
# time.sleep(t)
if (angle) > a:
print('l')
left()
ang = np.degrees(angle)
if distance < dis:
break
# time.sleep(t)
if -a < (angle) < a:
if i == len(path) - 2:
if angle < -5:
right2()
if angle > 5:
left2()
if -5 < angle < 5:
print('f')
forward()
# time.sleep(t)
servodown1()
print("servodown")
break
else:
if distance > dis:
print('f')
forward()
if distance < dis:
break
cv.imshow('0', img)
cv.waitKey(200)
except:
stop()
print('s')
continue
detected="non"
while True:
right1()
print("r")
time.sleep(1)
right1()
print("r")
stop()
# time.sleep(t)
# k=22
d = weapon[int(raj/2)]
print("ghum gaya")
x=ax[0][d]
y=ay[0][d]
x1 = int(ax[0][d] - wd)
x2 = int(ax[0][d] + wd)
y1 = int(ay[0][d] - wd)
y2 = int(ay[0][d] + wd)
print(x1,x2,y1,y2)
ret, im = cap.read()
cropped = im[y_1:y_2,x_1:x_2]
img = cv.resize(cropped, (dim, dim), interpolation=cv.INTER_AREA)
cimg = img[y1:y2,x1:x2]
cv.imshow("cropped",cimg)
cv.imwrite("crp.png",cimg)
cv.waitKey(1000)
hsv = cv.cvtColor(cimg, cv.COLOR_BGR2HSV)
mr5 = cv.inRange(cimg, ly, uy)
cv.imshow('d', mr5)
cv.waitKey(1000)
contour5, hierarchy = cv.findContours(mr5, cv.RETR_TREE, cv.CHAIN_APPROX_SIMPLE)
print(len(contour5))
mu_5 = [None] * (len(contour5))
mc_5 = [None] * (len(contour5))
county = 0
for i in range(len(contour5)):
area = cv.contourArea(contour5[i])
if area > areay:
county= county + 1
else:
contour5[i][0][0][0] = 10000
for i in range(len(contour5)):