Exemple #1
0
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	
Exemple #3
0
	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	
Exemple #4
0
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()
Exemple #5
0
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()