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    :d                 @   s,   d dl T d dlZd dlZdd Zdd ZdS )    )*Nc             C   s&   t | dkrd}nt| t |  }|S )Nr   )lensum)lstavg r   /home/pi/P22/LOCATE_goal.pyAverage   s     r	   c       C   	      s  t | }tj|ttftjd}t |}dddg|d d d d d d f< d}d}d}|| }|| }|| }	|| }
d}d}d}|| }|| }|| }	|| }
td }ttd	 }g  g }d
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k rn q|	| qW t
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 } | dk rrdg g g |fS  fddt| D }!tt|}"tt|!}#t|"d }$t|"d }%t d d  | d  d  }&t|"d t }'t|"d t }(t d d  | d  d  t })x@t| D ]4}t| | d t  | d t fddd	 q&W d}*g }+g },g }-g }&g }%g }.dd t| D }/g }.xt| D ]}|/| dkrqn:|*d7 }*|*|/|<  | d }0|+	|0 |,	 | d  |-	 | d	 t  |0g}1 | d g}2xvt| D ]j}|/| dkr:q$t | d |0  | d	 d k r$|1	 | d  |2	 | d  |*|/|< q$W tt |1}3tt |2}4 | d	 }5t |2t |2 }6|%	|5 |&	|6 |3|+d< |4|,d< tt |1}3tt |2}4|3|+d< |4|,d< d}7xp|2D ]h}t|1|7 |%d d	  t }8t|1|7 |%d d	  t }9t||8|t f|9|t fdd |7d7 }7q(W t
t|2}:|.	|: qW |+};|,}<t
|;}=xtt
|;D ]}t||;| |<| fddd t|;| |%| d	  d t }0t|<| |&| d	  d t }>t|;| |%| d	  d t }?t|<| |&| d	  d t }@t||0|>f|?|@fdd	 |;| t |;|< |<| t |<|< qW tj|tt tt ftjd}At |.}B|-	|B |=|;|<|-|fS )N)interpolation   g?g?g333333?g333333?gGz?         g      ?r      c                s   g | ]} | d  qS )r   r   ).0i)POSr   r   
<listcomp>H   s    zlocate_g.<locals>.<listcomp>)r   r   r   c             S   s   g | ]}d qS )r   )r   r   r   r   r   r   \   s    r   g      ?)r   r   r   )r   r   r      )r   }   r   )npcopycv2resizeLx2Ly2
INTER_AREAintrangeappendr   medianarrayextendr	   Fcircleabsmaxminlineset	rectangle)Cimgimg1img2Zimg3ZdzZcr1Zcr2z1z2Zz3Zz4YXMtlsecZNYLZDYjyREDxc0c1c2LREDknsseccoordsecslsecr   midlenP1XPavlsecZXavZwdZwdxZwdyWDZWDXZWDYnsecxsecysecWDSZnumseccposxx1secxsecyavxavyZvxZvyZiyX1X2ZdlenyxsysNNZy1x2Zy2img22Zmaxsecr   )r   r   locate_g   s    

                   
 <
  "    



    $4        
  &
 

"       
 
rX   )PARAMr   numpyr   r	   rX   r   r   r   r   <module>   s   