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 d S |d	krd S t | ||d	ddd
 tddd
 td	d@ tdkr2P q2W d S )Nr   g?g        g?g?r9   zR_i,TDR,BDR=r   r   g?gٿr   r   )r   r   r   r   r   r   r   r   r   r   ry   rU   rV   printr   r"   r   r   )r   r   r   r   r]   rW   r   rX   r   tboxru   r3   rv   rr   rs   rt   rl   r`   TDR0r   r   r   Rturn   s&          r   c          	   C   s   t | ||dddd t | ||dddd xtdD ]}|  \}}ttttttt	|\}}}}	t
tt||\}
}}}}}}}td||| |dkr|}|d	k r|dkrt | ||dddd tddd
 d S |d	krtd d S t | ||d	ddd
 tddd
 td	d@ tdkr2P q2W d S )Nr   g        g?g?g?r9   zL_i,TDR,BDR=r   r   g?gٿr   r   )r   r   r   r   r   r   r   r   r   r   ry   rU   rV   r   r   r"   r   r   )r   r   r   r   r]   rW   r   rX   r   r   ru   r3   rv   rr   rs   rt   rl   r`   r   r   r   r   Lturn   s(        
   r   c          	   C   s&  t d t| ||dddd t| ||dddd xtdD ]}|  \}}tttttt	t
|\}}}}	ttt||\}
}}}}}}}t d||| |d	kr|}|d
k r|d	krt| ||dddd tddd d S |d
krd S t| ||d
ddd tddd td
d@ tdkr:P q:W t d d S )NzIN RSturn...r;   g?g        g?g?r9   zRS_i,TDR,BDR=r   r   g?gٿr   r   zFailed RSturn...)r   r   r   r   r   r   r   r   r   r   r   ry   rU   rV   r   r"   r   r   )r   r   r   r   r]   rW   r   rX   r   r   ru   r3   rv   rr   rs   rt   rl   r`   r   r   r   r   RSturn  s,          r   c          	   C   s&  t d t| ||dddd t| ||dddd xtdD ]}|  \}}tttttt	t
|\}}}}	ttt||\}
}}}}}}}t d||| |d	kr|}|d
k r|d	krt| ||dddd tddd d S |d
krd S t| ||d
ddd tddd td
d@ tdkr:P q:W t d d S )NzIN LSturn...r;   g        g?g?g?r9   zLS_i,TDR,BDR=r   r   g?gٿg      ?r   r   zFailed RSturn...)r   r   r   r   r   r   r   r   r   r   r   ry   rU   rV   r   r"   r   r   )r   r   r   r   r]   rW   r   rX   r   r   ru   r3   rv   rr   rs   rt   rl   r`   r   r   r   r   LSturn  s,          r   __main__XVIDzWYC.avig      4@g      ?r9   F   r            zyiscan=z	  BADISx=   rz   r   r   zNmiss=	         A   r   )i@  r{   r   zk=zREACH TARGET, H8=zDR=zTDR=zH8=r      g333333?g?g?r   g        g?r?   r>   rA   r@   )mnumpyr   r"   timer   motormr   RGXRNKshowr|   r}   Fr   Lx2Ly2XLTXRTWDF8Lx8r   MIDXWMX1X2r~   BADISxNTRNBARTARGr   WALLr   yiscanr   r   r4   ry   r   r   r   r   r   r   __name__VideoCapturer   setCAP_PROP_FRAME_WIDTHCAP_PROP_FRAME_HEIGHTVideoWriter_fourccfourccVideoWriterr   r   r]   rW   r   LXMLYMarrayr   r   r   r   r   r   rU   rV   r   H8KTARGNmissDRNRCHkr   rX   r   r   ru   r3   rv   rr   rs   rt   rl   r`   r   r!   dxdyr%   r   r   r   r   rM   r   r   r   r   r   r   r   r   destroyAllWindowsreleaser   r   r   r   <module>   s                           Ca
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