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INTER_AREAcvtColorCOLOR_BGR2HSVinRange	thresholdTHRESH_BINARYTHRESH_BINARY_INVgetStructuringElement
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
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}}}}}}}td||| |dkrr|}|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 d S )Nr   g?gٿg?r:   zR_i,TDR,BDR=r   r   g        g?g?r   r   )
r   r   r   r   r   printr   r"   r   r   )r   r   r   r   re   rW   r   rX   r   tboxr}   r3   r~   rz   r{   r|   rt   rh   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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?r:   zL_i,TDR,BDR=r   r   g?gٿr   r   )
r   r   r   r   r   r   r   r"   r   r   )r   r   r   r   re   rW   r   rX   r   r   r}   r3   r~   rz   r{   r|   rt   rh   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 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?r:   zRS_i,TDR,BDR=r   r   g?gٿr   r   zFailed RSturn...)
r   r   r   r   r   r   r   r"   r   r   )r   r   r   r   re   rW   r   rX   r   r   r}   r3   r~   rz   r{   r|   rt   rh   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 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?r:   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   r   r   r   re   rW   r   rX   r   r   r}   r3   r~   rz   r{   r|   rt   rh   r   r   r   r   LSturn  s,          r   __main__XVIDzWYC.avig      4@g      ?r:   F   r            zyiscan=z	  BADISx=   r   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?   rB   rA   )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   r   r   r   r   r   r   r   __name__VideoCapturer   setCAP_PROP_FRAME_WIDTHCAP_PROP_FRAME_HEIGHTVideoWriter_fourccfourccVideoWriterr   r   re   rW   r   LXMLYMarrayrY   rZ   r[   r\   r]   r^   r_   r`   r   H8KTARGNmissDRNRCHkr   rX   r   r   r}   r3   r~   rz   r{   r|   rt   rh   r   r!   dxdyr%   r   r   r   r   rO   r   r   r   r   r   r   r   r   destroyAllWindowsreleaser   r   r   r   <module>   s                           Ec
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