def convert_to_pairs(image, height, width, column_factor, row_factor):
left_column = int(width*column_factor)
right_column = width - left_column
bottom_row = int(height*row_factor)
top_row = height - bottom_row
left_column_intersections = im.fast_check_column(left_column, image, bottom_row, top_row)
right_column_intersections = im.fast_check_column(right_column, image, bottom_row, top_row)
bottom_row_intersections = im.fast_check_row(bottom_row, image, left_column, right_column)
top_row_intersections = im.fast_check_row(top_row, image, left_column, right_column)
return (left_column_intersections, bottom_row_intersections, right_column_intersections, top_row_intersections)
def convert_to_pairs(image, height, width, column_factor, row_factor):
left_column = int(width * column_factor)
right_column = width - left_column
bottom_row = int(height * row_factor)
top_row = height - bottom_row
left_column_intersections = im.fast_check_column(left_column, image,
bottom_row, top_row)
right_column_intersections = im.fast_check_column(right_column, image,
bottom_row, top_row)
bottom_row_intersections = im.fast_check_row(bottom_row, image,
left_column, right_column)
top_row_intersections = im.fast_check_row(top_row, image, left_column,
right_column)
return (left_column_intersections, bottom_row_intersections,
right_column_intersections, top_row_intersections)
def get_ratio(img,
x_wheel_left, y_wheel_left, x_wheel_right, y_wheel_right,
last_ratio,
column_factor, row_factor,
ratio_queue, layout_queue, direction_list):
image = im.load_image(str(img))
height = image.size[1]
width = image.size[0]
intersections = convert_to_pairs(image, height, width, column_factor, row_factor)
lengths = []
intersection_points = []
for intersection in intersections:
lengths.append(len(intersection))
left = intersections[0]
top = intersections[1]
right = intersections[2]
bottom = intersections[3]
left, top, right = get_points(left, right, bottom, top)
points = left + top + right
if len(left) == 0 and len(right) == 0 and len(top) == 0:
return last_ratio
elif ((len(left) == 0 and len(right) == 0 and len(top) > 0)):
return choose_path(ratio_queue, layout_queue, direction_list, [cog_y(points)], 'normal_straight', x_wheel_left, y_wheel_left, x_wheel_right, y_wheel_right, width, height)
elif (len(left) == 0 and len(right) > 0 and len(top) == 0):
return choose_path(ratio_queue, layout_queue, direction_list, [cog_x(points)], 'normal_right', x_wheel_left, y_wheel_left, x_wheel_right, y_wheel_right, width, height)
elif (len(left) > 0 and len(right) == 0 and len(top) == 0) :
return choose_path(ratio_queue, layout_queue, direction_list, [cog_x(points)], 'normal_left', x_wheel_left, y_wheel_left, x_wheel_right, y_wheel_right, width, height)
elif len(left) > 0 and len(right) > 0 and len(top) == 0:
left_des = cog_y(left)
right_des = cog_y(right)
return choose_path(ratio_queue, layout_queue, direction_list, [left_des, right_des], 'T_flat', x_wheel_left, y_wheel_left, x_wheel_right, y_wheel_right, width, height)
elif len(left) > 0 and len(right) == 0 and len(top) > 0:
left_des = cog_y(left)
top_des = cog_x(top)
return choose_path(ratio_queue, layout_queue, direction_list, [left_des, top_des], 'T_left', x_wheel_left, y_wheel_left, x_wheel_right, y_wheel_right, width, height)
elif len(left) == 0 and len(right) > 0 and len(top) > 0:
right_des = cog_y(right)
top_des = cog_x(top)
return choose_path(ratio_queue, layout_queue, direction_list, [top_des, right_des], 'T_right', x_wheel_left, y_wheel_left, x_wheel_right, y_wheel_right, width, height)
else:
left_des = cog_x(top)
right_des = cog_y(right)
top_des = cog_x(top)
return choose_path(ratio_queue, layout_queue, direction_list, [left_des, top_des, right_des], 'crossroads', x_wheel_left, y_wheel_left, x_wheel_right, y_wheel_right, width, height)
def get_ratio(img, x_wheel_left, y_wheel_left, x_wheel_right, y_wheel_right,
last_ratio, column_factor, row_factor, ratio_queue, layout_queue,
direction_list):
image = im.load_image(str(img))
height = image.size[1]
width = image.size[0]
intersections = convert_to_pairs(image, height, width, column_factor,
row_factor)
lengths = []
intersection_points = []
for intersection in intersections:
lengths.append(len(intersection))
left = intersections[0]
top = intersections[1]
right = intersections[2]
bottom = intersections[3]
left, top, right = get_points(left, right, bottom, top)
points = left + top + right
if len(left) == 0 and len(right) == 0 and len(top) == 0:
return last_ratio
elif ((len(left) == 0 and len(right) == 0 and len(top) > 0)):
return choose_path(ratio_queue, layout_queue, direction_list,
[cog_y(points)], 'normal_straight', x_wheel_left,
y_wheel_left, x_wheel_right, y_wheel_right, width,
height)
elif (len(left) == 0 and len(right) > 0 and len(top) == 0):
return choose_path(ratio_queue, layout_queue, direction_list,
[cog_x(points)], 'normal_right', x_wheel_left,
y_wheel_left, x_wheel_right, y_wheel_right, width,
height)
elif (len(left) > 0 and len(right) == 0 and len(top) == 0):
return choose_path(ratio_queue, layout_queue, direction_list,
[cog_x(points)], 'normal_left', x_wheel_left,
y_wheel_left, x_wheel_right, y_wheel_right, width,
height)
elif len(left) > 0 and len(right) > 0 and len(top) == 0:
left_des = cog_y(left)
right_des = cog_y(right)
return choose_path(ratio_queue, layout_queue, direction_list,
[left_des, right_des], 'T_flat', x_wheel_left,
y_wheel_left, x_wheel_right, y_wheel_right, width,
height)
elif len(left) > 0 and len(right) == 0 and len(top) > 0:
left_des = cog_y(left)
top_des = cog_x(top)
return choose_path(ratio_queue, layout_queue, direction_list,
[left_des, top_des], 'T_left', x_wheel_left,
y_wheel_left, x_wheel_right, y_wheel_right, width,
height)
elif len(left) == 0 and len(right) > 0 and len(top) > 0:
right_des = cog_y(right)
top_des = cog_x(top)
return choose_path(ratio_queue, layout_queue, direction_list,
[top_des, right_des], 'T_right', x_wheel_left,
y_wheel_left, x_wheel_right, y_wheel_right, width,
height)
else:
left_des = cog_x(top)
right_des = cog_y(right)
top_des = cog_x(top)
return choose_path(ratio_queue, layout_queue, direction_list,
[left_des, top_des, right_des], 'crossroads',
x_wheel_left, y_wheel_left, x_wheel_right,
y_wheel_right, width, height)
import Image_2
import time
for i in range(0,30):
start = time.time()
im = Image_2.load_image()
c1 = Image_2.fast_check_column(5,im)
c2 = Image_2.fast_check_column(10,im)
r1 = Image_2.fast_check_row(5,im)
r2 = Image_2.fast_check_row(10,im)
end = time.time()
print end-start
import Image_2
import time
for i in range(0, 30):
start = time.time()
im = Image_2.load_image()
c1 = Image_2.fast_check_column(5, im)
c2 = Image_2.fast_check_column(10, im)
r1 = Image_2.fast_check_row(5, im)
r2 = Image_2.fast_check_row(10, im)
end = time.time()
print end - start
