mirror of
https://github.com/LmeSzinc/StarRailCopilot.git
synced 2024-11-25 01:49:41 +00:00
452 lines
16 KiB
Python
452 lines
16 KiB
Python
from dataclasses import dataclass
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from typing import Any
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import cv2
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import numpy as np
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from scipy import signal
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from module.base.utils import (
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area_limit,
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area_offset,
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area_pad,
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color_similarity_2d,
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crop,
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get_bbox,
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image_size,
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rgb2yuv
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)
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from module.logger import logger
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from tasks.map.interact.aim import subtract_blur
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from tasks.map.minimap.utils import (
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convolve,
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cubic_find_maximum,
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image_center_crop,
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map_image_preprocess,
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peak_confidence
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)
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from tasks.map.resource.resource import MapResource
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@dataclass
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class PositionPredictState:
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size: Any = None
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scale: Any = None
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search_area: Any = None
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search_image: Any = None
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result_mask: Any = None
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result: Any = None
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sim: Any = None
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loca: Any = None
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local_sim: Any = None
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local_loca: Any = None
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precise_sim: Any = None
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precise_loca: Any = None
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global_loca: Any = None
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class Minimap(MapResource):
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position_locked: tuple[int | float, int | float] | None = None
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direction_locked: int | float | None = None
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rotation_locked: int | float | None = None
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def init_position(
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self,
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position: tuple[int | float, int | float],
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show_log=True,
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locked=False,
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):
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"""
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Args:
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position:
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show_log:
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locked: If true, lock search area during detection
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"""
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if show_log:
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if locked:
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logger.info(f"init_position: {position}, locked")
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else:
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logger.info(f"init_position: {position}")
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self.position = position
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if locked:
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self.position_locked = position
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else:
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self.position_locked = None
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self.direction_locked = None
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self.rotation_locked = None
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def lock_direction(self, degree: int | float):
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logger.info(f'Lock direction: {degree}')
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self.direction_locked = degree
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self.direction = degree
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self.direction_similarity = 0.
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def lock_rotation(self, degree: int | float):
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logger.info(f'Lock rotation: {degree}')
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self.rotation_locked = degree
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self.rotation = degree
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self.rotation_confidence = 0.
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def _predict_position(self, image, scale=1.0):
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"""
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Args:
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image:
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scale:
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Returns:
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PositionPredictState:
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"""
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scale *= self.POSITION_SEARCH_SCALE
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local = cv2.resize(image, None, fx=scale, fy=scale, interpolation=cv2.INTER_CUBIC)
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size = np.array(image_size(image))
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position = self.position
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if self.position_locked is not None:
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position = self.position_locked
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if sum(position) > 0:
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search_position = np.array(position, dtype=np.int64)
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search_position += self.POSITION_FEATURE_PAD
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search_size = np.array(image_size(local)) * self.POSITION_SEARCH_RADIUS
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search_half = (search_size // 2).astype(np.int64)
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search_area = area_offset((0, 0, *(search_half * 2)), offset=-search_half)
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search_area = area_offset(search_area, offset=np.multiply(search_position, self.POSITION_SEARCH_SCALE))
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search_area = np.array(search_area).astype(np.int64)
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search_image = crop(self.assets_floor_feat, search_area, copy=False)
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result_mask = crop(self.assets_floor_outside_mask, search_area, copy=False)
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else:
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search_area = (0, 0, *image_size(local))
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search_image = self.assets_floor_feat
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result_mask = self.assets_floor_outside_mask
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# if round(scale, 5) == self.POSITION_SEARCH_SCALE * 1.0:
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# Image.fromarray((local).astype(np.uint8)).save('local.png')
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# Image.fromarray((search_image).astype(np.uint8)).save('search_image.png')
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# Using mask will take 3 times as long
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# mask = self.get_circle_mask(local)
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# result = cv2.matchTemplate(search_image, local, cv2.TM_CCOEFF_NORMED, mask=mask)
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result = cv2.matchTemplate(search_image, local, cv2.TM_CCOEFF_NORMED)
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result_mask = image_center_crop(result_mask, size=image_size(result))
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result[result_mask] = 0
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_, sim, _, loca = cv2.minMaxLoc(result)
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# from PIL import Image
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# if round(scale, 3) == self.POSITION_SEARCH_SCALE * 1.0:
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# result[result <= 0] = 0
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# Image.fromarray((result * 255).astype(np.uint8)).save('match_result.png')
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# Gaussian filter to get local maximum
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local_maximum = subtract_blur(result, radius=5)
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# Multiply to remove secondary peaks
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cv2.multiply(local_maximum, result, dst=local_maximum)
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cv2.multiply(local_maximum, 10, dst=local_maximum)
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_, local_sim, _, local_loca = cv2.minMaxLoc(local_maximum)
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# if round(scale, 5) == self.POSITION_SEARCH_SCALE * 1.0:
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# local_maximum[local_maximum < 0] = 0
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# local_maximum[local_maximum > 1] = 1
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# Image.fromarray((local_maximum * 255).astype(np.uint8)).save('local_maximum.png')
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# Calculate the precise location using CUBIC
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# precise = crop(result, area=area_offset((-4, -4, 4, 4), offset=local_loca), copy=False)
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# precise_sim, precise_loca = cubic_find_maximum(precise, precision=0.05)
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# precise_loca -= 5
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precise_loca = np.array((0, 0))
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precise_sim = result[local_loca[1], local_loca[0]]
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state = PositionPredictState(
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size=size, scale=scale,
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search_area=search_area, search_image=search_image, result_mask=result_mask, result=result,
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sim=sim, loca=loca, local_sim=local_sim, local_loca=local_loca,
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precise_sim=precise_sim, precise_loca=precise_loca,
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)
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# Location on search_image
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lookup_loca = precise_loca + local_loca + size * scale / 2
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# Location on GIMAP
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global_loca = (lookup_loca + search_area[:2]) / self.POSITION_SEARCH_SCALE
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# Can't figure out why but the result_of_0.5_lookup_scale + 0.5 ~= result_of_1.0_lookup_scale
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global_loca += self.POSITION_MOVE_PATCH
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# Move to the origin point of map
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global_loca -= self.POSITION_FEATURE_PAD
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state.global_loca = global_loca
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return state
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def _predict_precise_position(self, state):
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"""
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Args:
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result (PositionPredictState):
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Returns:
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PositionPredictState
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"""
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size = state.size
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scale = state.scale
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search_area = state.search_area
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result = state.result
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loca = state.loca
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local_loca = state.local_loca
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precise = crop(result, area=area_offset((-4, -4, 4, 4), offset=loca), copy=False)
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precise_sim, precise_loca = cubic_find_maximum(precise, precision=0.05)
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precise_loca -= 5
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state.precise_sim = precise_sim
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state.precise_loca = precise_loca
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# Location on search_image
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lookup_loca = precise_loca + local_loca + size * scale / 2
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# Location on GIMAP
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global_loca = (lookup_loca + search_area[:2]) / self.POSITION_SEARCH_SCALE
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# Can't figure out why but the result_of_0.5_lookup_scale + 0.5 ~= result_of_1.0_lookup_scale
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global_loca += self.POSITION_MOVE_PATCH
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# Move to the origin point of map
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global_loca -= self.POSITION_FEATURE_PAD
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state.global_loca = global_loca
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return state
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def update_position(self, image):
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"""
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Get position on GIMAP, costs about 6.57ms.
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The following attributes will be set:
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- position_similarity
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- position
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- position_scene
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"""
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image = self.get_minimap(image, self.POSITION_RADIUS)
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image = map_image_preprocess(image)
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image &= self.get_circle_mask(image)
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best_sim = -1.
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best_scale = 1.0
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best_state = None
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# Walking is in scale 1.20
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# Running is in scale 1.25
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scale_list = [1.00, 1.05, 1.10, 1.15, 1.20, 1.25]
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for scale in scale_list:
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state = self._predict_position(image, scale)
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# print([np.round(i, 3) for i in [scale, state.sim, state.local_sim, state.global_loca]])
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if state.sim > best_sim:
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best_sim = state.sim
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best_scale = scale
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best_state = state
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best_state = self._predict_precise_position(best_state)
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self.position_similarity = round(best_state.precise_sim, 3)
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self.position_similarity_local = round(best_state.local_sim, 3)
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self.position = tuple(np.round(best_state.global_loca, 1))
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self.position_scale = round(best_scale, 3)
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return self.position
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def update_direction(self, image):
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"""
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Get direction of character, costs about 0.64ms.
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The following attributes will be set:
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- direction_similarity
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- direction
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"""
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image = self.get_minimap(image, self.DIRECTION_RADIUS)
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image = color_similarity_2d(image, color=self.DIRECTION_ARROW_COLOR)
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try:
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area = area_pad(get_bbox(image, threshold=128), pad=-1)
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area = area_limit(area, (0, 0, *image_size(image)))
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except IndexError:
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# IndexError: index 0 is out of bounds for axis 0 with size 0
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logger.warning('No direction arrow on minimap')
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return
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image = crop(image, area=area, copy=False)
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scale = self.DIRECTION_ROTATION_SCALE * self.DIRECTION_SEARCH_SCALE
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mapping = cv2.resize(image, None, fx=scale, fy=scale, interpolation=cv2.INTER_NEAREST)
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result = cv2.matchTemplate(self.ArrowRotateMap, mapping, cv2.TM_CCOEFF_NORMED)
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result = subtract_blur(result, 5)
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_, sim, _, loca = cv2.minMaxLoc(result)
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loca = np.array(loca) / self.DIRECTION_SEARCH_SCALE // (self.DIRECTION_RADIUS * 2)
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degree = int((loca[0] + loca[1] * 8) * 5)
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def to_map(x):
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return int((x * self.DIRECTION_RADIUS * 2 + self.DIRECTION_RADIUS) * self.POSITION_SEARCH_SCALE)
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# Row on ArrowRotateMapAll
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row = int(degree // 8) + 45
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# Calculate +-1 rows to get result with a precision of 1
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row = (row - 2, row + 3)
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# Convert to ArrowRotateMapAll and to be 5px larger
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row = (to_map(row[0]) - 5, to_map(row[1]) + 5)
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precise_map = self.ArrowRotateMapAll[row[0]:row[1], :]
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result = cv2.matchTemplate(precise_map, mapping, cv2.TM_CCOEFF_NORMED)
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result = subtract_blur(result, 5)
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def to_map(x):
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return int((x * self.DIRECTION_RADIUS * 2) * self.POSITION_SEARCH_SCALE)
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def get_precise_sim(d):
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y, x = divmod(d, 8)
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im = result[to_map(y):to_map(y + 1), to_map(x):to_map(x + 1)]
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_, sim, _, _ = cv2.minMaxLoc(im)
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return sim
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precise = np.array([[get_precise_sim(_) for _ in range(24)]])
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precise_sim, precise_loca = cubic_find_maximum(precise, precision=0.1)
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precise_loca = degree // 8 * 8 - 8 + precise_loca[0]
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self.direction_similarity = round(precise_sim, 3)
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self.direction = round(precise_loca % 360, 1)
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def update_rotation(self, image):
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"""
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Get direction of character, costs about 0.66ms.
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The following attributes will be set:
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- direction_similarity
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- direction
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"""
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d = self.MINIMAP_RADIUS * 2
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scale = 1
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# Extract
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minimap = self.get_minimap(image, radius=self.MINIMAP_RADIUS)
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image = rgb2yuv(minimap)[:, :, 2].copy()
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cv2.subtract(128, image, dst=image)
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cv2.GaussianBlur(image, (3, 3), 0, dst=image)
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# Expand circle into rectangle
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remap = cv2.remap(image, *self.RotationRemapData, cv2.INTER_LINEAR)[d * 1 // 10:d * 6 // 10].astype(np.float32)
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remap = cv2.resize(remap, None, fx=scale, fy=scale, interpolation=cv2.INTER_LINEAR)
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# Find derivative
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gradx = cv2.Scharr(remap, cv2.CV_32F, 1, 0)
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# import matplotlib.pyplot as plt
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# plt.imshow(gradx)
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# plt.show()
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# Magic parameters for scipy.find_peaks
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para = {
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# 'height': (50, 800),
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'height': 35,
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# 'prominence': (0, 400),
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# 'width': (0, d * scale / 20),
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# 'distance': d * scale / 18,
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'wlen': d * scale,
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}
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# plt.plot(gradx[d * 3 // 10])
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# plt.show()
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# `l` for the left of sight area, derivative is positive
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# `r` for the right of sight area, derivative is negative
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l = np.bincount(signal.find_peaks(gradx.ravel(), **para)[0] % (d * scale), minlength=d * scale)
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r = np.bincount(signal.find_peaks(-gradx.ravel(), **para)[0] % (d * scale), minlength=d * scale)
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l, r = np.maximum(l - r, 0), np.maximum(r - l, 0)
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# plt.plot(l)
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# plt.plot(np.roll(r, -d * scale // 4))
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# plt.show()
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conv0 = []
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kernel = 2 * scale
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r_expanded = np.concatenate([r, r, r])
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r_length = len(r)
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# Faster than nested calling np.roll()
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def roll_r(shift):
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return r_expanded[r_length - shift:r_length * 2 - shift]
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def convolve_r(ker, shift):
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return sum(roll_r(shift + i) * (ker - abs(i)) // ker for i in range(-ker + 1, ker))
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for offset in range(-kernel + 1, kernel):
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result = l * convolve_r(ker=3 * kernel, shift=-d * scale // 4 + offset)
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# result = l * convolve(np.roll(r, -d * scale // 4 + offset), kernel=3 * scale)
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# minus = l * convolve(np.roll(r, offset), kernel=10 * scale) // 5
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# if offset == 0:
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# plt.plot(result)
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# plt.plot(-minus)
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# plt.show()
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# result -= minus
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# result = convolve(result, kernel=3 * scale)
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conv0 += [result]
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# plt.figure(figsize=(20, 16))
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# for row in conv0:
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# plt.plot(row)
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# plt.show()
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conv0 = np.maximum(conv0, 1)
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maximum = np.max(conv0, axis=0)
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rotation_confidence = round(peak_confidence(maximum), 3)
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if rotation_confidence > 0.3:
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# Good match
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result = maximum
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else:
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# Convolve again to reduce noice
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average = np.mean(conv0, axis=0)
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minimum = np.min(conv0, axis=0)
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result = convolve(maximum * average * minimum, 2 * scale)
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rotation_confidence = round(peak_confidence(maximum), 3)
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# plt.plot(maximum)
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# plt.plot(result)
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# plt.show()
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# Convert match point to degree
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degree = np.argmax(result) / (d * scale) * 360 + 135
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degree = int(degree % 360)
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# +3 is a value obtained from experience
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# Don't know why but <predicted_rotation> + 3 = <actual_rotation>
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rotation = (degree + 3) % 360
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self.rotation_confidence = rotation_confidence
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self.rotation = rotation
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def update(self, image, show_log=True):
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"""
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Update minimap, costs about 7.88ms.
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"""
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self.update_position(image)
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if self.direction_locked is None:
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self.update_direction(image)
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if self.rotation_locked is None:
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self.update_rotation(image)
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if show_log:
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self.log_minimap()
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def log_minimap(self):
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# MiniMap P:(567.5, 862.8) (1.00x|0.439|0.157), D:303.8 (0.253), R:304 (0.846)
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logger.info(
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f'MiniMap '
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f'P:({self.position[0]:.1f}, {self.position[1]:.1f}) '
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f'({self.position_scale:.2f}x|{self.position_similarity:.3f}|{self.position_similarity_local:.3f}), '
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f'D:{self.direction:.1f} ({self.direction_similarity:.3f}), '
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f'R:{self.rotation} ({self.rotation_confidence:.3f})'
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)
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if __name__ == '__main__':
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"""
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Run mimimap tracking test.
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"""
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from tasks.base.ui import UI
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# Uncomment this to use local srcmap instead of the pre-built one
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# MapResource.SRCMAP = '../srcmap/srcmap'
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self = Minimap()
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# Set plane, assume starting from Jarilo_AdministrativeDistrict
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self.set_plane('Jarilo_SilvermaneGuardRestrictedZone', floor='F1')
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ui = UI('src')
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ui.device.disable_stuck_detection()
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# Set starter point. Starter point will be calculated if it's missing but may contain errors.
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# With starter point set, position is only searched around starter point and new position becomes new starter point.
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self.init_position((227.7, 425.5), locked=True)
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while 1:
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ui.device.screenshot()
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self.update(ui.device.image)
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self.show_minimap()
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