def get_Occupancy_and_Coordinates(img): ######################################################## #this part needs to take in an image when Mission Planner tells it to #ergo it needs to be changed, or does mission planenr pass in a #ready to go image? # #filename = 'img' #img = cv2.imread(filename) #gray = cv2.imread(filename, 0) ######################################################## #Get the angle of rotation needed and rotate #rotated image is really the thing we need because it will be the best final image to use theta = baseLine.findAngle(img) rotatedImage = Rotate.rotateImage(theta) #Find all the lines of the squares imgWithEdges = edgechesshc.addEdges(rotatedImage) #Get all the coordinates of the keypoints coordinates = findCoordinates.getCoordinates(imgWithEdges) #Pass coordinates on to Squares squares = Squares.populateSquares(coordinates) #believe this step is no longer necessary because of the architecture #Load squares with their starting state #Squares.loadPieces(squares, pieceTypeArray) squaresCropped = Squares.getSquaresCropped(squares, rotatedImage) new_occupancy_grid, array_of_coordinates = FindPiece.main(squaresCropped) return new_occupancy_grid, array_of_coordinates
def makeSquareObjects(self, img):
#######################initialize##############################
#Take in image file
'''
take in file img to initialize
then run it throught the same
'''
#somehow filename needs to take in a new image work through tomorrow
filename = 'img'
img = cv2.imread(filename)
gray = cv2.imread(filename, 0)
#Get the angle of rotation needed and rotate
#rotated image is really the thing we need because it will be the best final image to use
theta = baseLine.findAngle(filename)
rotatedImage = Rotate.rotateImage(theta)
#Save the rotated image
cv2.imwrite('lib/rotated.jpg', rotatedImage)
#Find all the lines of the squares
imgWithEdges = edgechesshc.addEdges('lib/rotated.jpg')
#Get all the coordinates of the keypoints
coordinates = findCoordinates.getCoordinates(imgWithEdges)
#Pass coordinates on to Squares
squares = Squares.populateSquares(coordinates)
#Load squares with their starting state
Squares.loadPieces(squares, pieceTypeArray)
squaresCropped = Squares.getSquaresCropped(squares, rotatedImage)
self.new_piece_attribute, array_of_coordinates = FindPiece.main(squaresCropped)
return squares
def makeSquareObjects(self, img):
#######################initialize##############################
#Take in image file
'''
take in file img to initialize
then run it throught the same
'''
#somehow filename needs to take in a new image work through tomorrow
filename = 'img'
img = cv2.imread(filename)
gray = cv2.imread(filename, 0)
#Get the angle of rotation needed and rotate
#rotated image is really the thing we need because it will be the best final image to use
theta = baseLine.findAngle(filename)
rotatedImage = Rotate.rotateImage(theta)
#Save the rotated image
cv2.imwrite('lib/rotated.jpg', rotatedImage)
#Find all the lines of the squares
imgWithEdges = edgechesshc.addEdges('lib/rotated.jpg')
#Get all the coordinates of the keypoints
coordinates = findCoordinates.getCoordinates(imgWithEdges)
#Pass coordinates on to Squares
squares = Squares.populateSquares(coordinates)
#Load squares with their starting state
Squares.loadPieces(squares, self.pieceTypeArray)
squaresCropped = Squares.getSquaresCropped(squares, rotatedImage)
self.new_piece_attribute, array_of_coordinates = FindPiece.main(squaresCropped)
return squares
def main():
#######################initialize##############################
#Take in image file
'''
take in file img to initialize
then run it throught the same
'''
filename = 'lib/chessanglesmall.jpg'
img = cv2.imread(filename)
#newimage = cv2.resize(img, (640,480))
showImage('img', img)
cv2.waitKey(0)
#gray = cv2.imread(filename, 0)
#Get the angle of rotation needed and rotate
theta = baseLine.findAngle(filename)
rotatedImage = Rotate.rotateImage(theta, img)
showImage('rotated image', rotatedImage)
cv2.waitKey(0)
cv2.destroyAllWindows()
#Save the rotated image
cv2.imwrite('lib/rotated.jpg', rotatedImage)
#Find all the lines of the squares
imgWithEdges = edgechesshc.addEdges('lib/rotated.jpg')
#Get all the coordinates of the keypoints
coordinates = findCoordinates.getCoordinates(imgWithEdges)
#Pass coordinates on to Squares
squares = Squares.populateSquares(coordinates)
#Load squares with their starting state
Squares.loadPieces(squares, new_piece_attribute, pieceTypeArray)
########################repeatedProcess############################
#at the end of all repeated processes we need to shift all the "new"
#stuff into the "old" stuff we are using for reference and comparison
#Find where the peices lie on the board
#replace with updated image
newImage = cv2.imread('lib/rotated.jpg')
squaresCropped = Squares.getSquaresCropped(squares, newImage)
print type(squaresCropped)
piece_attribute_array, centerOfPiece = FindPiece.main(squaresCropped)
#the arrayOfBooleans is T or F if there is a piece in a square
#centerofpeice is an array of coordinates for the cetner of each piece (catch is it has to be perfectly centered on top of the piece)
#print arrayOfBooleans
#print centerOfPiece
#print array_of_colors
print piece_attribute_array
print pieceTypeArray
#Manage old and new images first
#pieceTypeArray = findDifferencesArrays(oldBool, newBool, pieceType)
####################################finalProcess to start up again####################################3
####We have to come up with a way to determine who moved, white or balck so that we can send it to AI
###########we will have to constantly update piecetype array as well and boolAray
finalFE = Squares.giveForsythEdwardsNotation(pieceTypeArray, w_or_b_turn)
ai_move = chess_ai.get_chess_move(finalFE, ROBOTCOLOR)
'''
##############How to do this#####################################
if (w_or_b_turn == 'w'):
w_or_b_turn == 'b'
elif(w_or_b_turn == 'b'):
w_or_b_turn == 'w'
'''
print ai_move
############################Testing##############################
#Show all the important images
showImage('original', img)
showImage('rotated', rotatedImage)
showImage('image with edges', imgWithEdges)
#Show all the cropped images
#Squares.printCroppedSquares(squaresCropped)
cv2.waitKey(0)
cv2.destroyAllWindows()
def main():
#######################initialize##############################
#Take in image file
'''
take in file img to initialize
then run it throught the same
'''
filename = 'lib/chessanglesmall.jpg'
img = cv2.imread(filename)
#newimage = cv2.resize(img, (640,480))
showImage('img', img)
cv2.waitKey(0)
#gray = cv2.imread(filename, 0)
#Get the angle of rotation needed and rotate
theta = baseLine.findAngle(filename)
rotatedImage = Rotate.rotateImage(theta, img)
showImage('rotated image', rotatedImage)
cv2.waitKey(0)
cv2.destroyAllWindows()
#Save the rotated image
cv2.imwrite('lib/rotated.jpg', rotatedImage)
#Find all the lines of the squares
imgWithEdges = edgechesshc.addEdges('lib/rotated.jpg')
#Get all the coordinates of the keypoints
coordinates = findCoordinates.getCoordinates(imgWithEdges)
#Pass coordinates on to Squares
squares = Squares.populateSquares(coordinates)
#Load squares with their starting state
Squares.loadPieces(squares, new_piece_attribute, pieceTypeArray)
########################repeatedProcess############################
#at the end of all repeated processes we need to shift all the "new"
#stuff into the "old" stuff we are using for reference and comparison
#Find where the peices lie on the board
#replace with updated image
newImage = cv2.imread('lib/rotated.jpg')
squaresCropped = Squares.getSquaresCropped(squares, newImage)
print type(squaresCropped)
piece_attribute_array, centerOfPiece = FindPiece.main(squaresCropped)
#the arrayOfBooleans is T or F if there is a piece in a square
#centerofpeice is an array of coordinates for the cetner of each piece (catch is it has to be perfectly centered on top of the piece)
#print arrayOfBooleans
#print centerOfPiece
#print array_of_colors
print piece_attribute_array
print pieceTypeArray
#Manage old and new images first
#pieceTypeArray = findDifferencesArrays(oldBool, newBool, pieceType)
####################################finalProcess to start up again####################################3
####We have to come up with a way to determine who moved, white or balck so that we can send it to AI
###########we will have to constantly update piecetype array as well and boolAray
finalFE = Squares.giveForsythEdwardsNotation(pieceTypeArray, w_or_b_turn)
ai_move = chess_ai.get_chess_move(finalFE, ROBOTCOLOR)
'''
##############How to do this#####################################
if (w_or_b_turn == 'w'):
w_or_b_turn == 'b'
elif(w_or_b_turn == 'b'):
w_or_b_turn == 'w'
'''
print ai_move
############################Testing##############################
#Show all the important images
showImage('original', img)
showImage('rotated', rotatedImage)
showImage('image with edges', imgWithEdges)
#Show all the cropped images
#Squares.printCroppedSquares(squaresCropped)
cv2.waitKey(0)
cv2.destroyAllWindows()
