def run(self):
"""
Open up the webcam and present the user with the Qbr user interface.
Returns a string of the scanned state in rubik's cube notation.
"""
while True:
_, frame = self.cam.read()
key = cv2.waitKey(10) & 0xff
# Quit on escape.
if key == 27:
break
# Update the snapshot when space bar is pressed.
if key == 32 and not self.calibrate_mode:
self.update_snapshot_state(frame)
# Toggle calibrate mode.
if key == ord(CALIBRATE_MODE_KEY):
self.reset_calibrate_mode()
self.calibrate_mode = not self.calibrate_mode
grayFrame = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
blurredFrame = cv2.blur(grayFrame, (5, 5))
cannyFrame = cv2.Canny(blurredFrame, 30, 60, 3)
kernel = cv2.getStructuringElement(cv2.MORPH_RECT, (9, 9))
dilatedFrame = cv2.dilate(cannyFrame, kernel)
contours = self.find_contours(dilatedFrame)
if len(contours) == 9:
self.draw_contours(frame, contours)
if not self.calibrate_mode:
self.update_preview_state(frame, contours)
elif key == 32 and self.done_calibrating == False:
current_color = self.cube_sides[
self.current_color_to_calibrate_index]
(x, y, w, h) = contours[4]
roi = frame[y + 7:y + h - 7, x + 14:x + w - 14]
avg_bgr = ColorDetector.get_dominant_color(roi)
self.calibrated_colors[current_color] = avg_bgr
self.current_color_to_calibrate_index += 1
self.done_calibrating = self.current_color_to_calibrate_index == len(
self.cube_sides)
if self.done_calibrating:
ColorDetector.set_cube_color_pallete(
self.calibrated_colors)
if self.calibrate_mode:
self.display_current_color_to_calibrate(frame)
self.display_calibrated_colors(frame)
else:
self.draw_preview_stickers(frame)
self.draw_snapshot_stickers(frame)
self.display_scanned_sides(frame)
cv2.imshow('default', frame)
self.cam.release()
cv2.destroyAllWindows()
if len(self.sides.keys()) != 6:
return False
if not self.scanned_successfully():
return False
# Convert all the sides and their BGR colors to cube notation.
notation = dict(self.sides)
for side, preview in notation.items():
for sticker_index, bgr in enumerate(preview):
notation[side][
sticker_index] = ColorDetector.convert_bgr_to_notation(bgr)
# Join all the sides together into one single string.
# Order must be URFDLB (white, red, green, yellow, orange, blue)
combined = ''
for side in ['white', 'red', 'green', 'yellow', 'orange', 'blue']:
combined += ''.join(notation[side])
return combined
