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Copy pathSolve_Rubik_main.py
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Solve_Rubik_main.py
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import cv2
import sys
import time
import numpy as np
import math
from scipy import stats
import kociemba
from datetime import datetime
def concat(up_face,right_face,front_face,down_face,left_face,back_face):
# solution = [up_face,right_face,front_face,down_face,left_face,back_face]
solution = np.concatenate((up_face, right_face), axis=None)
solution = np.concatenate((solution, front_face), axis=None)
solution = np.concatenate((solution, down_face), axis=None)
solution = np.concatenate((solution, left_face), axis=None)
solution = np.concatenate((solution, back_face), axis=None)
return solution
def rotate_cw(face):
final = np.copy(face)
final[0, 0] = face[0, 6]
final[0, 1] = face[0, 3]
final[0, 2] = face[0, 0]
final[0, 3] = face[0, 7]
final[0, 4] = face[0, 4]
final[0, 5] = face[0, 1]
final[0, 6] = face[0, 8]
final[0, 7] = face[0, 5]
final[0, 8] = face[0, 2]
return final
def rotate_ccw(face):
final = np.copy(face)
final[0, 8] = face[0, 6]
final[0, 7] = face[0, 3]
final[0, 6] = face[0, 0]
final[0, 5] = face[0, 7]
final[0, 4] = face[0, 4]
final[0, 3] = face[0, 1]
final[0, 2] = face[0, 8]
final[0, 1] = face[0, 5]
final[0, 0] = face[0, 2]
return final
def right_cw(video,videoWriter,up_face,right_face,front_face,down_face,left_face,back_face):
print("Next Move: R Clockwise")
temp = np.copy(front_face)
front_face[0, 2] = down_face[0, 2]
front_face[0, 5] = down_face[0, 5]
front_face[0, 8] = down_face[0, 8]
down_face[0, 2] = back_face[0, 6]
down_face[0, 5] = back_face[0, 3]
down_face[0, 8] = back_face[0, 0]
back_face[0, 0] = up_face[0, 8]
back_face[0, 3] = up_face[0, 5]
back_face[0, 6] = up_face[0, 2]
up_face[0, 2] = temp[0, 2]
up_face[0, 5] = temp[0, 5]
up_face[0, 8] = temp[0, 8]
right_face = rotate_cw(right_face)
#front_face = temp
print(front_face)
faces = []
while True:
is_ok, bgr_image_input = video.read()
if not is_ok:
print("Cannot read video source")
sys.exit()
face, blob_colors = detect_face(bgr_image_input)
# print(len(face))
if len(face) == 9:
faces.append(face)
if len(faces) == 10:
face_array = np.array(faces)
# face_array = np.transpose(face_array)
detected_face = stats.mode(face_array)[0]
up_face = np.asarray(up_face)
front_face = np.asarray(front_face)
detected_face = np.asarray(detected_face)
faces = []
if np.array_equal(detected_face, front_face) == True:
print("MOVE MADE")
return up_face,right_face,front_face,down_face,left_face,back_face
elif np.array_equal(detected_face,temp) == True:
centroid1 = blob_colors[8]
centroid2 = blob_colors[2]
point1 = (int(centroid1[5]+(centroid1[7]/2)), int(centroid1[6]+(centroid1[7]/2)))
point2 = (int(centroid2[5]+(centroid2[8]/2)), int(centroid2[6]+(centroid2[8]/2)))
cv2.arrowedLine(bgr_image_input, point1, point2, (0, 0, 0), 7, tipLength = 0.2)
cv2.arrowedLine(bgr_image_input, point1, point2, (0, 0, 255), 4, tipLength=0.2)
videoWriter.write(bgr_image_input)
cv2.imshow("Output Image", bgr_image_input)
key_pressed = cv2.waitKey(1) & 0xFF
if key_pressed == 27 or key_pressed == ord('q'):
break
def right_ccw(video, videoWriter, up_face,right_face,front_face,down_face,left_face,back_face):
print("Next Move: R CounterClockwise")
temp = np.copy(front_face)
front_face[0, 2] = up_face[0, 2]
front_face[0, 5] = up_face[0, 5]
front_face[0, 8] = up_face[0, 8]
up_face[0, 2] = back_face[0, 6]
up_face[0, 5] = back_face[0, 3]
up_face[0, 8] = back_face[0, 0]
back_face[0, 0] = down_face[0, 8]
back_face[0, 3] = down_face[0, 5]
back_face[0, 6] = down_face[0, 2]
down_face[0, 2] = temp[0, 2]
down_face[0, 5] = temp[0, 5]
down_face[0, 8] = temp[0, 8]
right_face = rotate_ccw(right_face)
# front_face = temp
print(front_face)
faces = []
while True:
is_ok, bgr_image_input = video.read()
if not is_ok:
print("Cannot read video source")
sys.exit()
face, blob_colors = detect_face(bgr_image_input)
# print(len(face))
if len(face) == 9:
faces.append(face)
if len(faces) == 10:
face_array = np.array(faces)
# face_array = np.transpose(face_array)
detected_face = stats.mode(face_array)[0]
up_face = np.asarray(up_face)
front_face = np.asarray(front_face)
detected_face = np.asarray(detected_face)
faces = []
if np.array_equal(detected_face, front_face) == True:
print("MOVE MADE")
return up_face,right_face,front_face,down_face,left_face,back_face
elif np.array_equal(detected_face,temp) == True:
centroid1 = blob_colors[2]
centroid2 = blob_colors[8]
point1 = (int(centroid1[5]+(centroid1[7]/2)), int(centroid1[6]+(centroid1[7]/2)))
point2 = (int(centroid2[5]+(centroid2[8]/2)), int(centroid2[6]+(centroid2[8]/2)))
cv2.arrowedLine(bgr_image_input, point1, point2, (0, 0, 0), 7, tipLength = 0.2)
cv2.arrowedLine(bgr_image_input, point1, point2, (0, 0, 255), 4, tipLength=0.2)
videoWriter.write(bgr_image_input)
cv2.imshow("Output Image", bgr_image_input)
key_pressed = cv2.waitKey(1) & 0xFF
if key_pressed == 27 or key_pressed == ord('q'):
break
def left_cw(video,videoWriter,up_face,right_face,front_face,down_face,left_face,back_face):
print("Next Move: L Clockwise")
temp = np.copy(front_face)
front_face[0, 0] = up_face[0, 0]
front_face[0, 3] = up_face[0, 3]
front_face[0, 6] = up_face[0, 6]
up_face[0, 0] = back_face[0, 8]
up_face[0, 3] = back_face[0, 5]
up_face[0, 6] = back_face[0, 2]
back_face[0, 2] = down_face[0, 6]
back_face[0, 5] = down_face[0, 3]
back_face[0, 8] = down_face[0, 0]
down_face[0, 0] = temp[0, 0]
down_face[0, 3] = temp[0, 3]
down_face[0, 6] = temp[0, 6]
left_face = rotate_cw(left_face)
#front_face = temp
print(front_face)
faces = []
while True:
is_ok, bgr_image_input = video.read()
if not is_ok:
print("Cannot read video source")
sys.exit()
face, blob_colors = detect_face(bgr_image_input)
# print(len(face))
if len(face) == 9:
faces.append(face)
if len(faces) == 10:
face_array = np.array(faces)
# print('INNNNN')
# face_array = np.transpose(face_array)
detected_face = stats.mode(face_array)[0]
up_face = np.asarray(up_face)
front_face = np.asarray(front_face)
detected_face = np.asarray(detected_face)
faces = []
if np.array_equal(detected_face, front_face) == True:
print("MOVE MADE")
return up_face,right_face,front_face,down_face,left_face,back_face
elif np.array_equal(detected_face,temp) == True:
centroid1 = blob_colors[0]
centroid2 = blob_colors[6]
point1 = (int(centroid1[5]+(centroid1[7]/2)), int(centroid1[6]+(centroid1[7]/2)))
point2 = (int(centroid2[5]+(centroid2[8]/2)), int(centroid2[6]+(centroid2[8]/2)))
cv2.arrowedLine(bgr_image_input, point1, point2, (0, 0, 0), 7, tipLength = 0.2)
cv2.arrowedLine(bgr_image_input, point1, point2, (0, 0, 255), 4, tipLength=0.2)
videoWriter.write(bgr_image_input)
cv2.imshow("Output Image", bgr_image_input)
key_pressed = cv2.waitKey(1) & 0xFF
if key_pressed == 27 or key_pressed == ord('q'):
break
def left_ccw(video,videoWriter,up_face,right_face,front_face,down_face,left_face,back_face):
print("Next Move: L CounterClockwise")
temp = np.copy(front_face)
front_face[0, 0] = down_face[0, 0]
front_face[0, 3] = down_face[0, 3]
front_face[0, 6] = down_face[0, 6]
down_face[0, 0] = back_face[0, 8]
down_face[0, 3] = back_face[0, 5]
down_face[0, 6] = back_face[0, 2]
back_face[0, 2] = up_face[0, 6]
back_face[0, 5] = up_face[0, 3]
back_face[0, 8] = up_face[0, 0]
up_face[0, 0] = temp[0, 0]
up_face[0, 3] = temp[0, 3]
up_face[0, 6] = temp[0, 6]
left_face = rotate_ccw(left_face)
#front_face = temp
print(front_face)
faces = []
while True:
is_ok, bgr_image_input = video.read()
if not is_ok:
print("Cannot read video source")
sys.exit()
face, blob_colors = detect_face(bgr_image_input)
# print(len(face))
if len(face) == 9:
faces.append(face)
if len(faces) == 10:
face_array = np.array(faces)
# face_array = np.transpose(face_array)
detected_face = stats.mode(face_array)[0]
up_face = np.asarray(up_face)
front_face = np.asarray(front_face)
detected_face = np.asarray(detected_face)
faces = []
if np.array_equal(detected_face, front_face) == True:
print("MOVE MADE")
return up_face,right_face,front_face,down_face,left_face,back_face
elif np.array_equal(detected_face,temp) == True:
centroid1 = blob_colors[6]
centroid2 = blob_colors[0]
point1 = (int(centroid1[5]+(centroid1[7]/2)), int(centroid1[6]+(centroid1[7]/2)))
point2 = (int(centroid2[5]+(centroid2[8]/2)), int(centroid2[6]+(centroid2[8]/2)))
cv2.arrowedLine(bgr_image_input, point1, point2, (0, 0, 0), 7, tipLength = 0.2)
cv2.arrowedLine(bgr_image_input, point1, point2, (0, 0, 255), 4, tipLength=0.2)
videoWriter.write(bgr_image_input)
cv2.imshow("Output Image", bgr_image_input)
key_pressed = cv2.waitKey(1) & 0xFF
if key_pressed == 27 or key_pressed == ord('q'):
break
def front_cw(video,videoWriter,up_face,right_face,front_face,down_face,left_face,back_face):
print(front_face)
print("Next Move: F Clockwise")
temp1 = np.copy(front_face)
temp = np.copy(up_face)
front_face = rotate_cw(front_face)
temp2 = np.copy(front_face)
if np.array_equal(temp2, temp1) == True:
[up_face, right_face, front_face, down_face, left_face, back_face] = turn_to_right(video, videoWriter, up_face, right_face, front_face, down_face, left_face, back_face)
[up_face, right_face, front_face, down_face, left_face, back_face] = left_cw(video, videoWriter, up_face, right_face, front_face, down_face, left_face, back_face)
[up_face, right_face, front_face, down_face, left_face, back_face] = turn_to_front(video, videoWriter, up_face, right_face, front_face, down_face, left_face, back_face)
return up_face, right_face, front_face, down_face, left_face, back_face
up_face[0, 8] = left_face[0, 2]
up_face[0, 7] = left_face[0, 5]
up_face[0, 6] = left_face[0, 8]
left_face[0, 2] = down_face[0, 0]
left_face[0, 5] = down_face[0, 1]
left_face[0, 8] = down_face[0, 2]
down_face[0, 2] = right_face[0, 0]
down_face[0, 1] = right_face[0, 3]
down_face[0, 0] = right_face[0, 6]
right_face[0, 0] = temp[0, 6]
right_face[0, 3] = temp[0, 7]
right_face[0, 6] = temp[0, 8]
#front_face = temp
print(front_face)
faces = []
while True:
is_ok, bgr_image_input = video.read()
if not is_ok:
print("Cannot read video source")
sys.exit()
face, blob_colors = detect_face(bgr_image_input)
# print(len(face))
if len(face) == 9:
faces.append(face)
if len(faces) == 10:
face_array = np.array(faces)
# face_array = np.transpose(face_array)
detected_face = stats.mode(face_array)[0]
up_face = np.asarray(up_face)
front_face = np.asarray(front_face)
detected_face = np.asarray(detected_face)
faces = []
if np.array_equal(detected_face, front_face) == True:
print("MOVE MADE")
return up_face,right_face,front_face,down_face,left_face,back_face
elif np.array_equal(detected_face,temp1) == True:
centroid1 = blob_colors[8]
centroid2 = blob_colors[6]
centroid3 = blob_colors[0]
centroid4 = blob_colors[2]
point1 = (int(centroid1[5] + (centroid1[7] / 4)), int(centroid1[6] + (centroid1[7] / 2)))
point2 = (int(centroid2[5] + (3 * centroid2[8] / 4)), int(centroid2[6] + (centroid2[8] / 2)))
point3 = (int(centroid2[5] + (centroid2[7] / 2)), int(centroid2[6] + (centroid2[7] / 4)))
point4 = (int(centroid3[5] + (centroid3[8] / 2)), int(centroid3[6] + (3 * centroid3[8] / 4)))
point5 = (int(centroid3[5] + (3 * centroid3[8] / 4)), int(centroid3[6] + (centroid3[8] / 2)))
point6 = (int(centroid4[5] + (centroid4[8] / 4)), int(centroid4[6] + (centroid4[8] / 2)))
point7 = (int(centroid4[5] + (centroid4[8] / 2)), int(centroid4[6] + (3 * centroid4[8] / 4)))
point8 = (int(centroid1[5] + (centroid1[8] / 2)), int(centroid1[6] + (centroid1[8] / 4)))
cv2.arrowedLine(bgr_image_input, point1, point2, (0, 0, 0), 7, tipLength = 0.2)
cv2.arrowedLine(bgr_image_input, point3, point4, (0, 0, 0), 7, tipLength = 0.2)
cv2.arrowedLine(bgr_image_input, point5, point6, (0, 0, 0), 7, tipLength = 0.2)
cv2.arrowedLine(bgr_image_input, point7, point8, (0, 0, 0), 7, tipLength = 0.2)
cv2.arrowedLine(bgr_image_input, point1, point2, (0, 0, 255), 4, tipLength=0.2)
cv2.arrowedLine(bgr_image_input, point3, point4, (0, 0, 255), 4, tipLength=0.2)
cv2.arrowedLine(bgr_image_input, point5, point6, (0, 0, 255), 4, tipLength=0.2)
cv2.arrowedLine(bgr_image_input, point7, point8, (0, 0, 255), 4, tipLength=0.2)
videoWriter.write(bgr_image_input)
cv2.imshow("Output Image", bgr_image_input)
key_pressed = cv2.waitKey(1) & 0xFF
if key_pressed == 27 or key_pressed == ord('q'):
break
def front_ccw(video,videoWriter,up_face,right_face,front_face,down_face,left_face,back_face):
print("Next Move: F CounterClockwise")
temp = np.copy(up_face)
temp1 = np.copy(front_face)
front_face = rotate_ccw(front_face)
temp2 = np.copy(front_face)
if np.array_equal(temp2,temp1) == True:
[up_face, right_face, front_face, down_face, left_face, back_face] = turn_to_right(video,videoWriter,up_face,right_face,front_face,down_face,left_face,back_face)
[up_face, right_face, front_face, down_face, left_face, back_face] = left_ccw(video,videoWriter,up_face,right_face,front_face,down_face,left_face,back_face)
[up_face, right_face, front_face, down_face, left_face, back_face] = turn_to_front(video,videoWriter,up_face,right_face,front_face,down_face,left_face,back_face)
return up_face,right_face,front_face,down_face,left_face,back_face
up_face[0, 6] = right_face[0, 0]
up_face[0, 7] = right_face[0, 3]
up_face[0, 8] = right_face[0, 6]
right_face[0, 0] = down_face[0, 2]
right_face[0, 3] = down_face[0, 1]
right_face[0, 6] = down_face[0, 0]
down_face[0, 0] = left_face[0, 2]
down_face[0, 1] = left_face[0, 5]
down_face[0, 2] = left_face[0, 8]
left_face[0, 8] = temp[0, 6]
left_face[0, 5] = temp[0, 7]
left_face[0, 2] = temp[0, 8]
#front_face = temp
print(front_face)
faces = []
while True:
is_ok, bgr_image_input = video.read()
if not is_ok:
print("Cannot read video source")
sys.exit()
face, blob_colors = detect_face(bgr_image_input)
# print(len(face))
if len(face) == 9:
faces.append(face)
if len(faces) == 10:
face_array = np.array(faces)
# face_array = np.transpose(face_array)
detected_face = stats.mode(face_array)[0]
up_face = np.asarray(up_face)
front_face = np.asarray(front_face)
detected_face = np.asarray(detected_face)
faces = []
if np.array_equal(detected_face, front_face) == True:
print("MOVE MADE")
return up_face,right_face,front_face,down_face,left_face,back_face
elif np.array_equal(detected_face,temp1) == True:
centroid1 = blob_colors[2]
centroid2 = blob_colors[0]
centroid3 = blob_colors[6]
centroid4 = blob_colors[8]
point1 = (int(centroid1[5] + (centroid1[7] / 4)), int(centroid1[6] + (centroid1[7] / 2)))
point2 = (int(centroid2[5] + (3 * centroid2[8]/4)), int(centroid2[6] + (centroid2[8] / 2)))
point3 = (int(centroid2[5] + (centroid2[7] / 2)), int(centroid2[6] + (3 * centroid2[7] / 4)))
point4 = (int(centroid3[5] + (centroid3[8] / 2)), int(centroid3[6] + (centroid3[8] / 4)))
point5 = (int(centroid3[5] + (3 * centroid3[8] / 4)), int(centroid3[6] + (centroid3[8] / 2)))
point6 = (int(centroid4[5] + (centroid4[8] / 4)), int(centroid4[6] + (centroid4[8] / 2)))
point7 = (int(centroid4[5] + (centroid4[8] / 2)), int(centroid4[6] + (centroid4[8] / 4)))
point8 = (int(centroid1[5] + (centroid1[8] / 2)), int(centroid1[6] + (3 * centroid1[8] / 4)))
cv2.arrowedLine(bgr_image_input, point1, point2, (0, 0, 0), 7, tipLength = 0.2)
cv2.arrowedLine(bgr_image_input, point3, point4, (0, 0, 0), 7, tipLength = 0.2)
cv2.arrowedLine(bgr_image_input, point5, point6, (0, 0, 0), 7, tipLength = 0.2)
cv2.arrowedLine(bgr_image_input, point7, point8, (0, 0, 0), 7, tipLength = 0.2)
cv2.arrowedLine(bgr_image_input, point1, point2, (0, 0, 255), 4, tipLength=0.2)
cv2.arrowedLine(bgr_image_input, point3, point4, (0, 0, 255), 4, tipLength=0.2)
cv2.arrowedLine(bgr_image_input, point5, point6, (0, 0, 255), 4, tipLength=0.2)
cv2.arrowedLine(bgr_image_input, point7, point8, (0, 0, 255), 4, tipLength=0.2)
videoWriter.write(bgr_image_input)
cv2.imshow("Output Image", bgr_image_input)
key_pressed = cv2.waitKey(1) & 0xFF
if key_pressed == 27 or key_pressed == ord('q'):
break
def back_cw(video,videoWriter,up_face,right_face,front_face,down_face,left_face,back_face):
print("Next Move: B Clockwise")
temp = np.copy(up_face)
up_face[0, 0] = right_face[0, 2]
up_face[0, 1] = right_face[0, 5]
up_face[0, 2] = right_face[0, 8]
right_face[0, 8] = down_face[0, 6]
right_face[0, 5] = down_face[0, 7]
right_face[0, 2] = down_face[0, 8]
down_face[0, 6] = left_face[0, 0]
down_face[0, 7] = left_face[0, 3]
down_face[0, 8] = left_face[0, 6]
left_face[0, 0] = temp[0, 2]
left_face[0, 3] = temp[0, 1]
left_face[0, 6] = temp[0, 0]
back_face = rotate_cw(back_face)
#front_face = temp
print(front_face)
faces = []
while True:
is_ok, bgr_image_input = video.read()
if not is_ok:
print("Cannot read video source")
sys.exit()
face, blob_colors = detect_face(bgr_image_input)
# print(len(face))
if len(face) == 9:
faces.append(face)
if len(faces) == 10:
face_array = np.array(faces)
# face_array = np.transpose(face_array)
detected_face = stats.mode(face_array)[0]
up_face = np.asarray(up_face)
front_face = np.asarray(front_face)
detected_face = np.asarray(detected_face)
faces = []
if np.array_equal(detected_face, front_face) == True:
print("MOVE MADE")
return up_face,right_face,front_face,down_face,left_face,back_face
videoWriter.write(bgr_image_input)
cv2.imshow("Output Image", bgr_image_input)
key_pressed = cv2.waitKey(1) & 0xFF
if key_pressed == 27 or key_pressed == ord('q'):
break
def back_ccw(video,videoWriter,up_face,right_face,front_face,down_face,left_face,back_face):
print("Next Move: B CounterClockwise")
temp = np.copy(up_face)
up_face[0, 2] = left_face[0, 0]
up_face[0, 1] = left_face[0, 3]
up_face[0, 0] = left_face[0, 6]
left_face[0, 0] = down_face[0, 6]
left_face[0, 3] = down_face[0, 7]
left_face[0, 6] = down_face[0, 8]
down_face[0, 6] = right_face[0, 8]
down_face[0, 7] = right_face[0, 5]
down_face[0, 8] = right_face[0, 2]
right_face[0, 2] = temp[0, 0]
right_face[0, 5] = temp[0, 1]
right_face[0, 8] = temp[0, 2]
back_face = rotate_ccw(back_face)
#front_face = temp
print(front_face)
faces = []
while True:
is_ok, bgr_image_input = video.read()
if not is_ok:
print("Cannot read video source")
sys.exit()
face, blob_colors = detect_face(bgr_image_input)
# print(len(face))
if len(face) == 9:
faces.append(face)
if len(faces) == 10:
face_array = np.array(faces)
# face_array = np.transpose(face_array)
detected_face = stats.mode(face_array)[0]
up_face = np.asarray(up_face)
front_face = np.asarray(front_face)
detected_face = np.asarray(detected_face)
faces = []
if np.array_equal(detected_face, front_face) == True:
print("MOVE MADE")
return up_face,right_face,front_face,down_face,left_face,back_face
videoWriter.write(bgr_image_input)
cv2.imshow("Output Image", bgr_image_input)
key_pressed = cv2.waitKey(1) & 0xFF
if key_pressed == 27 or key_pressed == ord('q'):
break
def up_cw(video,videoWriter,up_face,right_face,front_face,down_face,left_face,back_face):
print("Next Move: U Clockwise")
temp = np.copy(front_face)
front_face[0, 0] = right_face[0, 0]
front_face[0, 1] = right_face[0, 1]
front_face[0, 2] = right_face[0, 2]
right_face[0, 0] = back_face[0, 0]
right_face[0, 1] = back_face[0, 1]
right_face[0, 2] = back_face[0, 2]
back_face[0, 0] = left_face[0, 0]
back_face[0, 1] = left_face[0, 1]
back_face[0, 2] = left_face[0, 2]
left_face[0, 0] = temp[0, 0]
left_face[0, 1] = temp[0, 1]
left_face[0, 2] = temp[0, 2]
up_face = rotate_cw(up_face)
#front_face = temp
print(front_face)
faces = []
while True:
is_ok, bgr_image_input = video.read()
if not is_ok:
print("Cannot read video source")
sys.exit()
face, blob_colors = detect_face(bgr_image_input)
# print(len(face))
if len(face) == 9:
faces.append(face)
if len(faces) == 10:
face_array = np.array(faces)
# face_array = np.transpose(face_array)
detected_face = stats.mode(face_array)[0]
up_face = np.asarray(up_face)
front_face = np.asarray(front_face)
detected_face = np.asarray(detected_face)
faces = []
if np.array_equal(detected_face, front_face) == True:
print("MOVE MADE")
return up_face,right_face,front_face,down_face,left_face,back_face
elif np.array_equal(detected_face,temp) == True:
centroid1 = blob_colors[2]
centroid2 = blob_colors[0]
point1 = (int(centroid1[5]+(centroid1[7]/2)), int(centroid1[6]+(centroid1[7]/2)))
point2 = (int(centroid2[5]+(centroid2[8]/2)), int(centroid2[6]+(centroid2[8]/2)))
cv2.arrowedLine(bgr_image_input, point1, point2, (0, 0, 0), 7, tipLength = 0.2)
cv2.arrowedLine(bgr_image_input, point1, point2, (0, 0, 255), 4, tipLength=0.2)
videoWriter.write(bgr_image_input)
cv2.imshow("Output Image", bgr_image_input)
key_pressed = cv2.waitKey(1) & 0xFF
if key_pressed == 27 or key_pressed == ord('q'):
break
def up_ccw(video,videoWriter,up_face,right_face,front_face,down_face,left_face,back_face):
print("Next Move: U CounterClockwise")
temp = np.copy(front_face)
front_face[0, 0] = left_face[0, 0]
front_face[0, 1] = left_face[0, 1]
front_face[0, 2] = left_face[0, 2]
left_face[0, 0] = back_face[0, 0]
left_face[0, 1] = back_face[0, 1]
left_face[0, 2] = back_face[0, 2]
back_face[0, 0] = right_face[0, 0]
back_face[0, 1] = right_face[0, 1]
back_face[0, 2] = right_face[0, 2]
right_face[0, 0] = temp[0, 0]
right_face[0, 1] = temp[0, 1]
right_face[0, 2] = temp[0, 2]
up_face = rotate_ccw(up_face)
#front_face = temp
print(front_face)
faces = []
while True:
is_ok, bgr_image_input = video.read()
if not is_ok:
print("Cannot read video source")
sys.exit()
face, blob_colors = detect_face(bgr_image_input)
# print(len(face))
if len(face) == 9:
faces.append(face)
if len(faces) == 10:
face_array = np.array(faces)
# face_array = np.transpose(face_array)
detected_face = stats.mode(face_array)[0]
up_face = np.asarray(up_face)
front_face = np.asarray(front_face)
detected_face = np.asarray(detected_face)
faces = []
if np.array_equal(detected_face, front_face) == True:
print("MOVE MADE")
return up_face,right_face,front_face,down_face,left_face,back_face
elif np.array_equal(detected_face,temp) == True:
centroid1 = blob_colors[0]
centroid2 = blob_colors[2]
point1 = (int(centroid1[5]+(centroid1[7]/2)), int(centroid1[6]+(centroid1[7]/2)))
point2 = (int(centroid2[5]+(centroid2[8]/2)), int(centroid2[6]+(centroid2[8]/2)))
cv2.arrowedLine(bgr_image_input, point1, point2, (0, 0, 0), 7, tipLength = 0.2)
cv2.arrowedLine(bgr_image_input, point1, point2, (0, 0, 255), 4, tipLength=0.2)
videoWriter.write(bgr_image_input)
cv2.imshow("Output Image", bgr_image_input)
key_pressed = cv2.waitKey(1) & 0xFF
if key_pressed == 27 or key_pressed == ord('q'):
break
def down_cw(video,videoWriter,up_face,right_face,front_face,down_face,left_face,back_face):
print("Next Move: D Clockwise")
temp = np.copy(front_face)
front_face[0, 6] = left_face[0, 6]
front_face[0, 7] = left_face[0, 7]
front_face[0, 8] = left_face[0, 8]
left_face[0, 6] = back_face[0, 6]
left_face[0, 7] = back_face[0, 7]
left_face[0, 8] = back_face[0, 8]
back_face[0, 6] = right_face[0, 6]
back_face[0, 7] = right_face[0, 7]
back_face[0, 8] = right_face[0, 8]
right_face[0, 6] = temp[0, 6]
right_face[0, 7] = temp[0, 7]
right_face[0, 8] = temp[0, 8]
down_face = rotate_cw(down_face)
#front_face = temp
print(front_face)
faces = []
while True:
is_ok, bgr_image_input = video.read()
if not is_ok:
print("Cannot read video source")
sys.exit()
face, blob_colors = detect_face(bgr_image_input)
# print(len(face))
if len(face) == 9:
faces.append(face)
if len(faces) == 10:
face_array = np.array(faces)
# face_array = np.transpose(face_array)
detected_face = stats.mode(face_array)[0]
up_face = np.asarray(up_face)
front_face = np.asarray(front_face)
detected_face = np.asarray(detected_face)
faces = []
if np.array_equal(detected_face, front_face) == True:
print("MOVE MADE")
return up_face,right_face,front_face,down_face,left_face,back_face
elif np.array_equal(detected_face,temp) == True:
centroid1 = blob_colors[6]
centroid2 = blob_colors[8]
point1 = (int(centroid1[5]+(centroid1[7]/2)), int(centroid1[6]+(centroid1[7]/2)))
point2 = (int(centroid2[5]+(centroid2[8]/2)), int(centroid2[6]+(centroid2[8]/2)))
cv2.arrowedLine(bgr_image_input, point1, point2, (0, 0, 0), 7, tipLength = 0.2)
cv2.arrowedLine(bgr_image_input, point1, point2, (0, 0, 255), 4, tipLength=0.2)
videoWriter.write(bgr_image_input)
cv2.imshow("Output Image", bgr_image_input)
key_pressed = cv2.waitKey(1) & 0xFF
if key_pressed == 27 or key_pressed == ord('q'):
break
def down_ccw(video,videoWriter,up_face,right_face,front_face,down_face,left_face,back_face):
print("Next Move: D CounterClockwise")
temp = np.copy(front_face)
front_face[0, 6] = right_face[0, 6]
front_face[0, 7] = right_face[0, 7]
front_face[0, 8] = right_face[0, 8]
right_face[0, 6] = back_face[0, 6]
right_face[0, 7] = back_face[0, 7]
right_face[0, 8] = back_face[0, 8]
back_face[0, 6] = left_face[0, 6]
back_face[0, 7] = left_face[0, 7]
back_face[0, 8] = left_face[0, 8]
left_face[0, 6] = temp[0, 6]
left_face[0, 7] = temp[0, 7]
left_face[0, 8] = temp[0, 8]
down_face = rotate_ccw(down_face)
#front_face = temp
print(front_face)
faces = []
while True:
is_ok, bgr_image_input = video.read()
if not is_ok:
print("Cannot read video source")
sys.exit()
face, blob_colors = detect_face(bgr_image_input)
# print(len(face))
if len(face) == 9:
faces.append(face)
if len(faces) == 10:
face_array = np.array(faces)
# face_array = np.transpose(face_array)
detected_face = stats.mode(face_array)[0]
up_face = np.asarray(up_face)
front_face = np.asarray(front_face)
detected_face = np.asarray(detected_face)
faces = []
if np.array_equal(detected_face, front_face) == True:
print("MOVE MADE")
return up_face,right_face,front_face,down_face,left_face,back_face
elif np.array_equal(detected_face,temp) == True:
centroid1 = blob_colors[8]
centroid2 = blob_colors[6]
point1 = (int(centroid1[5]+(centroid1[7]/2)), int(centroid1[6]+(centroid1[7]/2)))
point2 = (int(centroid2[5]+(centroid2[8]/2)), int(centroid2[6]+(centroid2[8]/2)))
cv2.arrowedLine(bgr_image_input, point1, point2, (0, 0, 0), 7, tipLength = 0.2)
cv2.arrowedLine(bgr_image_input, point1, point2, (0, 0, 255), 4, tipLength=0.2)
videoWriter.write(bgr_image_input)
cv2.imshow("Output Image", bgr_image_input)
key_pressed = cv2.waitKey(1) & 0xFF
if key_pressed == 27 or key_pressed == ord('q'):
break
def turn_to_right(video,videoWriter,up_face,right_face,front_face,down_face,left_face,back_face):
print("Next Move: Show Right Face")
temp = np.copy(front_face)
front_face = np.copy(right_face)
right_face = np.copy(back_face)
back_face = np.copy(left_face)
left_face = np.copy(temp)
up_face = rotate_cw(up_face)
down_face = rotate_ccw(down_face)
#front_face = temp
print(front_face)
faces = []
while True:
is_ok, bgr_image_input = video.read()
if not is_ok:
print("Cannot read video source")
sys.exit()
face, blob_colors = detect_face(bgr_image_input)
# print(len(face))
if len(face) == 9:
faces.append(face)
if len(faces) == 10:
face_array = np.array(faces)
# face_array = np.transpose(face_array)
detected_face = stats.mode(face_array)[0]
up_face = np.asarray(up_face)
front_face = np.asarray(front_face)
detected_face = np.asarray(detected_face)
faces = []
if np.array_equal(detected_face, front_face) == True:
print("MOVE MADE")
return up_face,right_face,front_face,down_face,left_face,back_face
elif np.array_equal(detected_face,temp) == True:
centroid1 = blob_colors[8]
centroid2 = blob_colors[6]
centroid3 = blob_colors[5]
centroid4 = blob_colors[3]
centroid5 = blob_colors[2]
centroid6 = blob_colors[0]
point1 = (int(centroid1[5] + (centroid1[7] / 2)), int(centroid1[6] + (centroid1[7] / 2)))
point2 = (int(centroid2[5] + (centroid2[8] / 2)), int(centroid2[6] + (centroid2[8] / 2)))
point3 = (int(centroid3[5] + (centroid3[7] / 2)), int(centroid3[6] + (centroid3[7] / 2)))
point4 = (int(centroid4[5] + (centroid4[8] / 2)), int(centroid4[6] + (centroid4[8] / 2)))
point5 = (int(centroid5[5] + (centroid5[7] / 2)), int(centroid5[6] + (centroid5[7] / 2)))
point6 = (int(centroid6[5] + (centroid6[8] / 2)), int(centroid6[6] + (centroid6[8] / 2)))
cv2.arrowedLine(bgr_image_input, point1, point2, (0, 0, 0), 7, tipLength = 0.2)
cv2.arrowedLine(bgr_image_input, point3, point4, (0, 0, 0), 7, tipLength = 0.2)
cv2.arrowedLine(bgr_image_input, point5, point6, (0, 0, 0), 7, tipLength = 0.2)
cv2.arrowedLine(bgr_image_input, point1, point2, (0, 0, 255), 4, tipLength=0.2)
cv2.arrowedLine(bgr_image_input, point3, point4, (0, 0, 255), 4, tipLength=0.2)
cv2.arrowedLine(bgr_image_input, point5, point6, (0, 0, 255), 4, tipLength=0.2)
videoWriter.write(bgr_image_input)
cv2.imshow("Output Image", bgr_image_input)
key_pressed = cv2.waitKey(1) & 0xFF
if key_pressed == 27 or key_pressed == ord('q'):
break
def turn_to_front(video,videoWriter,up_face,right_face,front_face,down_face,left_face,back_face):
print("Next Move: Show Front Face")
temp = np.copy(front_face)
front_face = np.copy(left_face)
left_face = np.copy(back_face)
back_face = np.copy(right_face)
right_face = np.copy(temp)
up_face = rotate_ccw(up_face)
down_face = rotate_cw(down_face)
#front_face = temp
print(front_face)
faces = []
while True:
is_ok, bgr_image_input = video.read()
if not is_ok:
print("Cannot read video source")
sys.exit()
face, blob_colors = detect_face(bgr_image_input)
if len(face) == 9:
faces.append(face)
if len(faces) == 10:
face_array = np.array(faces)
# face_array = np.transpose(face_array)
detected_face = stats.mode(face_array)[0]
up_face = np.asarray(up_face)
front_face = np.asarray(front_face)
detected_face = np.asarray(detected_face)
faces = []
if np.array_equal(detected_face, front_face) == True:
print("MOVE MADE")
return up_face,right_face,front_face,down_face,left_face,back_face
elif np.array_equal(detected_face,temp) == True:
centroid1 = blob_colors[6]
centroid2 = blob_colors[8]
centroid3 = blob_colors[3]
centroid4 = blob_colors[5]
centroid5 = blob_colors[0]
centroid6 = blob_colors[2]
point1 = (int(centroid1[5] + (centroid1[7] / 2)), int(centroid1[6] + (centroid1[7] / 2)))
point2 = (int(centroid2[5] + (centroid2[8] / 2)), int(centroid2[6] + (centroid2[8] / 2)))
point3 = (int(centroid3[5] + (centroid3[7] / 2)), int(centroid3[6] + (centroid3[7] / 2)))
point4 = (int(centroid4[5] + (centroid4[8] / 2)), int(centroid4[6] + (centroid4[8] / 2)))
point5 = (int(centroid5[5] + (centroid5[7] / 2)), int(centroid5[6] + (centroid5[7] / 2)))
point6 = (int(centroid6[5] + (centroid6[8] / 2)), int(centroid6[6] + (centroid6[8] / 2)))
cv2.arrowedLine(bgr_image_input, point1, point2, (0, 0, 0), 7, tipLength = 0.2)
cv2.arrowedLine(bgr_image_input, point3, point4, (0, 0, 0), 7, tipLength = 0.2)
cv2.arrowedLine(bgr_image_input, point5, point6, (0, 0, 0), 7, tipLength = 0.2)
cv2.arrowedLine(bgr_image_input, point1, point2, (0, 0, 255), 4, tipLength=0.2)
cv2.arrowedLine(bgr_image_input, point3, point4, (0, 0, 255), 4, tipLength=0.2)
cv2.arrowedLine(bgr_image_input, point5, point6, (0, 0, 255), 4, tipLength=0.2)
videoWriter.write(bgr_image_input)
cv2.imshow("Output Image", bgr_image_input)
key_pressed = cv2.waitKey(1) & 0xFF
if key_pressed == 27 or key_pressed == ord('q'):
break
colors_hsv = [('white', [0, 0, 160], [150, 80, 255]), ('orange',[0, 60, 200], [10, 255, 255]),('green', [40, 90, 100], [80, 255, 255]),('blue', [100, 90,70], [140, 255, 255]),
('yellow', [20, 50, 90], [50, 255, 255]),('red', [[0, 100, 110], [15, 250, 220]], [[170, 100, 100], [180, 250, 220]])]
def detect_face(bgr_image_input):
hsv = cv2.cvtColor(bgr_image_input, cv2.COLOR_BGR2HSV)
blob_colors = []
for i, color in enumerate(colors_hsv):
if color[0] != 'red':
low = np.array(color[1])
high = np.array(color[2])
mask = cv2.inRange(hsv, low, high)
else:
low1 = np.array(color[1][0])
high1 = np.array(color[1][1])
low2 = np.array(color[2][0])
high2 = np.array(color[2][1])
red1 = cv2.inRange(hsv, low1, high1)
red2 = cv2.inRange(hsv, low2, high2)
mask = red1 + red2
kernel = cv2.getStructuringElement(cv2.MORPH_RECT,(3,3))
# mask = cv2.inRange(hsv, low, high)
mask = cv2.morphologyEx(mask, cv2.MORPH_OPEN, kernel, iterations=1)
mask = cv2.morphologyEx(mask, cv2.MORPH_CLOSE, kernel,iterations=1)
contours, hierarchy = cv2.findContours(mask,cv2.RETR_EXTERNAL,cv2.CHAIN_APPROX_SIMPLE)
contours = sorted(contours, key=cv2.contourArea, reverse=True)[0:15]
for contour in contours:
area = cv2.contourArea(contour)
if 1200 < area < 3000:
perimeter = cv2.arcLength(contour, True)
epsilon = 0.07 * perimeter
approx = cv2.approxPolyDP(contour, epsilon, True)
if len(approx) == 4:
x,y,w,h = cv2.boundingRect(contour)
cv2.rectangle(bgr_image_input, (x,y), (x+w, y+h), (255,255,0), 2, 2)
val = (40*y) + (10*x)
blob_color = np.array(cv2.mean(bgr_image_input[y:y+h,x:x+w])).astype(int)
blob_color = np.append(blob_color, val)
blob_color = np.append(blob_color, x)
blob_color = np.append(blob_color, y)
blob_color = np.append(blob_color, w)
blob_color = np.append(blob_color, h)
blob_colors.append(blob_color)
if len(blob_colors) > 0:
blob_colors = np.asarray(blob_colors)
blob_colors = blob_colors[blob_colors[:, 4].argsort()]
face = np.array([0,0,0,0,0,0,0,0,0])
if len(blob_colors) == 9:
for i in range(9):
if blob_colors[i][0] > 150 and blob_colors[i][1] > 180 and blob_colors[i][2] > 10:
blob_colors[i][3] = 1
face[i]=1
if blob_colors[i][0] < 120 and blob_colors[i][1] < 150 and blob_colors[i][2] > 180:
blob_colors[i][3] = 2
face[i]=2
if blob_colors[i][0] < 120 and blob_colors[i][1] > 150 and blob_colors[i][2] < 100:
blob_colors[i][3] = 3
face[i]=3
if blob_colors[i][0] > 100 and 150>blob_colors[i][1] > 50 and blob_colors[i][2] < 80:
blob_colors[i][3] = 4
face[i]=4
if blob_colors[i][0] > 30 and blob_colors[i][1] > 180 and blob_colors[i][2] > 140 and np.abs(blob_colors[i][0]-blob_colors[i][2]) > 50:
blob_colors[i][3] = 5
face[i]=5
if blob_colors[i][0] < 120 and blob_colors[i][1] < 120 and 100 < blob_colors[i][2] < 170 :
blob_colors[i][3] = 6
face[i]=6
print(face)
if np.count_nonzero(face) == 9:
# print(face)
#print (blob_colors)
return face, blob_colors
else:
return [0,0], blob_colors
else:
return [0,0,0], blob_colors
#break
def find_face(video,videoWriter,uf,rf,ff,df,lf,bf,text = ""):
faces = []
while True:
is_ok, bgr_image_input = video.read()
if not is_ok:
print("Cannot read video source")
sys.exit()
face, blob_colors = detect_face(bgr_image_input)
bgr_image_input = cv2.putText(bgr_image_input, text, (50, 50), cv2.FONT_HERSHEY_SIMPLEX, 2, (0, 0, 255), 3)
# print(face)
if len(face) == 9:
faces.append(face)
if len(faces) == 5:
face_array = np.array(faces)
# print('INNNNN')
# face_array = np.transpose(face_array)
detected_face = stats.mode(face_array)[0]
# print(final_face)
uf = np.asarray(uf)
ff = np.asarray(ff)
detected_face = np.asarray(detected_face)
#print(np.array_equal(detected_face, tf))
#print(np.array_equal(detected_face, ff))
faces = []
if np.array_equal(detected_face, uf) == False and np.array_equal(detected_face, ff) == False and np.array_equal(detected_face, bf) == False and np.array_equal(detected_face, df) == False and np.array_equal(detected_face, lf) == False and np.array_equal(detected_face, rf) == False:
return detected_face
videoWriter.write(bgr_image_input)
cv2.imshow("Output Image", bgr_image_input)
key_pressed = cv2.waitKey(1) & 0xFF
if key_pressed == 27 or key_pressed == ord('q'):
break
def main():
up_face = [0, 0]
front_face = [0, 0]
left_face = [0, 0]
right_face = [0, 0]
down_face = [0, 0]
back_face = [0, 0]
video = cv2.VideoCapture(1)
is_ok, bgr_image_input = video.read()
broke = 0
if not is_ok:
print("Cannot read video source")
sys.exit()
h1 = bgr_image_input.shape[0]
w1 = bgr_image_input.shape[1]
faces = []
try:
fourcc = cv2.VideoWriter_fourcc('M', 'J', 'P', 'G')
fname = "OUTPUT5.avi"
fps = 20.0
videoWriter = cv2.VideoWriter(fname, fourcc, fps, (w1, h1))