def dijkstra(start, is_allowed, seen, dimensions):
dist = dimensions[0] * dimensions[1] * np.ones((dimensions[0], dimensions[1]), dtype=float)
dist[start] = 0
dseen = np.zeros((dimensions[0], dimensions[1]), dtype=bool)
heap = PriorityQueue()
heap.update(start, 0)
while heap:
_, p = heap.pop()
for d in dirs:
dis = dist[p]
newp = add_dir(p, d, dimensions)
npts = []
k = 0
while newp and not dseen[newp] and is_allowed(newp):
k += 1
npts.append((newp, dis + 0.001 * k))
newp = add_dir(newp, d, dimensions)
for (p_, d_) in npts:
dist[p_] = min(dist[p_], d_)
heap.update(p_, dist[p_])
dseen[p] = True
if not seen[p]:
res = [p]
c = 0
while p != start:
c += 1
x, ps = min([(dist[_p], _p) for _p in [add_dir(p, d, dimensions) for d in dirs]], key=lambda x: x[0])
p = ps
res.append(ps)
seen[p] = True
res.reverse()
return res
return None
def find_center(bin_im):
px = bin_im.load()
width, height = bin_im.size
center = (width /2, height /2 + 9)
c = center
try:
while px[c] != 255:
c = add_dir(c, (0, 1), bin_im.size)
except:
c = center
while px[c] != 255:
c = add_dir(c, (0, -1), bin_im.size)
return c
def discover(p, seen, dim):
res = []
seen[p] = True
dir = 0
last_dir = 3
while dir != last_dir:
p_p = add_dir(p, dir, dim)
p_s = add_dir(p, (dir + 1), dim)
while (p_p and not seen[p_p]) or (p_s and not seen[p_s]):
last_dir = dir
p = p_p if (p_p and not seen[p_p]) else p_s
res.append(p)
seen[p] = True
p_p = add_dir(p, dir, dim)
p_s = add_dir(p, (dir + 1), dim)
dir = (dir + 1) % 4
return res