




import heapq
import sys

import numpy as np

lowerCamelCase__			:       Tuple         =							tuple[int, int]





class 	lowerCamelCase_							:


 '''simple docstring'''







 def __init__(							self  :		List[Any]						):
       SCREAMING_SNAKE_CASE_     						=      []
       SCREAMING_SNAKE_CASE_     						=      set()



 def 				lowerCAmelCase_  (							self  :		List[Any]						):
       if not self.empty():
             return self.elements[0][0]
       else:
             return float('inf'						)



 def 				lowerCAmelCase_  (							self  :		Dict						):
       return len(self.elements						) == 0



 def 				lowerCAmelCase_  (							self  :		Tuple    ,    _lowerCAmelCase  :		Tuple    ,    _lowerCAmelCase  :		Optional[int]						):
       if item not in self.set:
             heapq.heappush(self.elements    ,    (priority, item)						)
             self.set.add(_lowerCAmelCase						)
       else:
             # update
             # print("update", item)
             SCREAMING_SNAKE_CASE_     						=      []
             ((SCREAMING_SNAKE_CASE_)						,			(SCREAMING_SNAKE_CASE_))     						=      heapq.heappop(self.elements						)
             while x != item:
                   temp.append((pri, x)						)
                   ((SCREAMING_SNAKE_CASE_)						,			(SCREAMING_SNAKE_CASE_))     						=      heapq.heappop(self.elements						)
             temp.append((priority, item)						)
             for pro, xxx in temp:
                   heapq.heappush(self.elements    ,    (pro, xxx)						)



 def 				lowerCAmelCase_  (							self  :		Optional[Any]    ,    _lowerCAmelCase  :		int						):
       if item in self.set:
             self.set.remove(_lowerCAmelCase						)
             SCREAMING_SNAKE_CASE_     						=      []
             ((SCREAMING_SNAKE_CASE_)						,			(SCREAMING_SNAKE_CASE_))     						=      heapq.heappop(self.elements						)
             while x != item:
                   temp.append((pro, x)						)
                   ((SCREAMING_SNAKE_CASE_)						,			(SCREAMING_SNAKE_CASE_))     						=      heapq.heappop(self.elements						)
             for prito, yyy in temp:
                   heapq.heappush(self.elements    ,    (prito, yyy)						)



 def 				lowerCAmelCase_  (							self  :		str						):
       return self.elements[0][1]




 def 				lowerCAmelCase_  (							self  :		Tuple						):
       ((SCREAMING_SNAKE_CASE_)						,			(SCREAMING_SNAKE_CASE_))     						=      heapq.heappop(self.elements						)
       self.set.remove(_lowerCAmelCase						)
       return (priority, item)


def  UpperCAmelCase_							(				__UpperCAmelCase						:     TPos      ,      __UpperCAmelCase						:     TPos							) ->			Optional[int]:
      # euclidean distance
      SCREAMING_SNAKE_CASE_     						=      np.array(__UpperCAmelCase							)
      SCREAMING_SNAKE_CASE_     						=      np.array(__UpperCAmelCase							)
      return np.linalg.norm(a - b							)

def  UpperCAmelCase_							(				__UpperCAmelCase						:     TPos      ,      __UpperCAmelCase						:     TPos							) ->			str:
      # integer division by time variable
      return consistent_heuristic(__UpperCAmelCase      ,      __UpperCAmelCase							) // t

def  UpperCAmelCase_							(				__UpperCAmelCase						:     TPos      ,      __UpperCAmelCase						:     TPos							) ->			List[str]:
      # manhattan distance
      return abs(p[0] - goal[0]							) + abs(p[1] - goal[1]							)

def  UpperCAmelCase_							(				__UpperCAmelCase						:     TPos      ,      __UpperCAmelCase						:     int      ,      __UpperCAmelCase						:     TPos      ,      __UpperCAmelCase						:     dict[TPos, float]							) ->			int:
      SCREAMING_SNAKE_CASE_     						=      g_function[start] + Wa * heuristics[i](__UpperCAmelCase      ,      __UpperCAmelCase							)
      return ans

def  UpperCAmelCase_							(				__UpperCAmelCase						:     Any      ,      __UpperCAmelCase						:     Tuple      ,      __UpperCAmelCase						:     Tuple							) ->			Dict:
      SCREAMING_SNAKE_CASE_     						=      np.chararray((n, n)							)
      for i in range(__UpperCAmelCase							):
            for j in range(__UpperCAmelCase							):
                  SCREAMING_SNAKE_CASE_     						=      '*'

      for i in range(__UpperCAmelCase							):
            for j in range(__UpperCAmelCase							):
                  if (j, (n - 1) - i) in blocks:
                        SCREAMING_SNAKE_CASE_     						=      '#'

      SCREAMING_SNAKE_CASE_     						=      '-'
      SCREAMING_SNAKE_CASE_     						=      back_pointer[goal]
      while x != start:
            ((SCREAMING_SNAKE_CASE_)						,			(SCREAMING_SNAKE_CASE_))     						=      x
            # print(x)
            SCREAMING_SNAKE_CASE_     						=      '-'
            SCREAMING_SNAKE_CASE_     						=      back_pointer[x]
      SCREAMING_SNAKE_CASE_     						=      '-'

      for i in range(__UpperCAmelCase							):
            for j in range(__UpperCAmelCase							):
                  if (i, j) == (0, n - 1):
                        print(grid[i][j]      ,      end=' '							)
                        print('<-- End position'      ,      end=' '							)
                  else:
                        print(grid[i][j]      ,      end=' '							)
            print()
      print('^'							)
      print('Start position'							)
      print()
      print('# is an obstacle'							)
      print('- is the path taken by algorithm'							)
      print('PATH TAKEN BY THE ALGORITHM IS:-'							)
      SCREAMING_SNAKE_CASE_     						=      back_pointer[goal]
      while x != start:
            print(__UpperCAmelCase      ,      end=' '							)
            SCREAMING_SNAKE_CASE_     						=      back_pointer[x]
      print(__UpperCAmelCase							)
      sys.exit()

def  UpperCAmelCase_							(				__UpperCAmelCase						:     TPos							) ->			Tuple:
      if p[0] < 0 or p[0] > n - 1:
            return False
      if p[1] < 0 or p[1] > n - 1:
            return False
      return True

def  UpperCAmelCase_							(				__UpperCAmelCase						:     str      ,      __UpperCAmelCase						:     Dict      ,      __UpperCAmelCase						:     Optional[int]      ,      __UpperCAmelCase						:     Union[str, Any]      ,      __UpperCAmelCase						:     List[str]      ,      __UpperCAmelCase						:     List[Any]      ,      __UpperCAmelCase						:     Optional[Any]      ,      __UpperCAmelCase						:     int      ,      ) ->			int:
      for itera in range(__UpperCAmelCase							):
            open_list[itera].remove_element(__UpperCAmelCase							)
      # print("s", s)
      # print("j", j)
      ((SCREAMING_SNAKE_CASE_)						,			(SCREAMING_SNAKE_CASE_))     						=      s
      SCREAMING_SNAKE_CASE_     						=      (x - 1, y)
      SCREAMING_SNAKE_CASE_     						=      (x + 1, y)
      SCREAMING_SNAKE_CASE_     						=      (x, y + 1)
      SCREAMING_SNAKE_CASE_     						=      (x, y - 1)

      for neighbours in [left, right, up, down]:
            if neighbours not in blocks:
                  if valid(__UpperCAmelCase							) and neighbours not in visited:
                        # print("neighbour", neighbours)
                        visited.add(__UpperCAmelCase							)
                        SCREAMING_SNAKE_CASE_     						=      -1
                        SCREAMING_SNAKE_CASE_     						=      float('inf'							)

                  if valid(__UpperCAmelCase							) and g_function[neighbours] > g_function[s] + 1:
                        SCREAMING_SNAKE_CASE_     						=      g_function[s] + 1
                        SCREAMING_SNAKE_CASE_     						=      s
                        if neighbours not in close_list_anchor:
                              open_list[0].put(__UpperCAmelCase      ,      key(__UpperCAmelCase      ,      0      ,      __UpperCAmelCase      ,      __UpperCAmelCase							)							)
                              if neighbours not in close_list_inad:
                                    for var in range(1      ,      __UpperCAmelCase							):
                                          if key(__UpperCAmelCase      ,      __UpperCAmelCase      ,      __UpperCAmelCase      ,      __UpperCAmelCase							) <= Wa * key(
                                              __UpperCAmelCase      ,      0      ,      __UpperCAmelCase      ,      __UpperCAmelCase							):
                                                open_list[j].put(
                                                    __UpperCAmelCase      ,      key(__UpperCAmelCase      ,      __UpperCAmelCase      ,      __UpperCAmelCase      ,      __UpperCAmelCase							)							)

def  UpperCAmelCase_							(				) ->			Union[str, Any]:
      SCREAMING_SNAKE_CASE_     						=      []
      for x in range(1      ,      5							):
            for y in range(1      ,      6							):
                  some_list.append((x, y)							)

      for x in range(15      ,      20							):
            some_list.append((x, 17)							)

      for x in range(10      ,      19							):
            for y in range(1      ,      15							):
                  some_list.append((x, y)							)

    # L block
      for x in range(1      ,      4							):
            for y in range(12      ,      19							):
                  some_list.append((x, y)							)
      for x in range(3      ,      13							):
            for y in range(16      ,      19							):
                  some_list.append((x, y)							)
      return some_list


lowerCamelCase__			:       List[Any]         =							{0: consistent_heuristic, 1: heuristic_a, 2: heuristic_a}

lowerCamelCase__			:       List[str]         =							[
    (0, 1),
    (1, 1),
    (2, 1),
    (3, 1),
    (4, 1),
    (5, 1),
    (6, 1),
    (7, 1),
    (8, 1),
    (9, 1),
    (10, 1),
    (11, 1),
    (12, 1),
    (13, 1),
    (14, 1),
    (15, 1),
    (16, 1),
    (17, 1),
    (18, 1),
    (19, 1),
]
lowerCamelCase__			:       Optional[int]         =							make_common_ground()


lowerCamelCase__			:       Any         =							blocks_blk
# hyper parameters
lowerCamelCase__			:       int         =							1
lowerCamelCase__			:       Any         =							1
lowerCamelCase__			:       str         =							20
lowerCamelCase__			:       Any         =							3  # one consistent and two other inconsistent

# start and end destination
lowerCamelCase__			:       Tuple         =							(0, 0)
lowerCamelCase__			:       Any         =							(n - 1, n - 1)

lowerCamelCase__			:       Tuple         =							1

def  UpperCAmelCase_							(				__UpperCAmelCase						:     TPos      ,      __UpperCAmelCase						:     TPos      ,      __UpperCAmelCase						:     int							) ->			int:
      SCREAMING_SNAKE_CASE_     						=      {start: 0, goal: float('inf'							)}
      SCREAMING_SNAKE_CASE_     						=      {start: -1, goal: -1}
      SCREAMING_SNAKE_CASE_     						=      []
      SCREAMING_SNAKE_CASE_     						=      set()

      for i in range(__UpperCAmelCase							):
            open_list.append(PriorityQueue()							)
            open_list[i].put(__UpperCAmelCase      ,      key(__UpperCAmelCase      ,      __UpperCAmelCase      ,      __UpperCAmelCase      ,      __UpperCAmelCase							)							)

      SCREAMING_SNAKE_CASE_     						=      []
      SCREAMING_SNAKE_CASE_     						=      []
      while open_list[0].minkey() < float('inf'							):
            for i in range(1      ,      __UpperCAmelCase							):
                  # print(open_list[0].minkey(), open_list[i].minkey())
                  if open_list[i].minkey() <= Wa * open_list[0].minkey():
                        global t
                        t += 1
                        if g_function[goal] <= open_list[i].minkey():
                              if g_function[goal] < float('inf'							):
                                    do_something(__UpperCAmelCase      ,      __UpperCAmelCase      ,      __UpperCAmelCase							)
                        else:
                              SCREAMING_SNAKE_CASE_						,			SCREAMING_SNAKE_CASE_     						=      open_list[i].top_show()
                              visited.add(__UpperCAmelCase							)
                              expand_state(
                                  __UpperCAmelCase      ,      __UpperCAmelCase      ,      __UpperCAmelCase      ,      __UpperCAmelCase      ,      __UpperCAmelCase      ,      __UpperCAmelCase      ,      __UpperCAmelCase      ,      __UpperCAmelCase      ,      )
                              close_list_inad.append(__UpperCAmelCase							)
                  else:
                        if g_function[goal] <= open_list[0].minkey():
                              if g_function[goal] < float('inf'							):
                                    do_something(__UpperCAmelCase      ,      __UpperCAmelCase      ,      __UpperCAmelCase							)
                        else:
                              SCREAMING_SNAKE_CASE_     						=      open_list[0].top_show()
                              visited.add(__UpperCAmelCase							)
                              expand_state(
                                  __UpperCAmelCase      ,      0      ,      __UpperCAmelCase      ,      __UpperCAmelCase      ,      __UpperCAmelCase      ,      __UpperCAmelCase      ,      __UpperCAmelCase      ,      __UpperCAmelCase      ,      )
                              close_list_anchor.append(__UpperCAmelCase							)
      print('No path found to goal'							)
      print()
      for i in range(n - 1      ,      -1      ,      -1							):
            for j in range(__UpperCAmelCase							):
                  if (j, i) in blocks:
                        print('#'      ,      end=' '							)
                  elif (j, i) in back_pointer:
                        if (j, i) == (n - 1, n - 1):
                              print('*'      ,      end=' '							)
                        else:
                              print('-'      ,      end=' '							)
                  else:
                        print('*'      ,      end=' '							)
                  if (j, i) == (n - 1, n - 1):
                        print('<-- End position'      ,      end=' '							)
            print()
      print('^'							)
      print('Start position'							)
      print()
      print('# is an obstacle'							)
      print('- is the path taken by algorithm'							)


if __name__ == "__main__":
   multi_a_star(start, goal, n_heuristic)





import cva
import numpy as np





class 	lowerCamelCase_							:


 '''simple docstring'''







 def __init__(							self  :		Optional[Any]    ,    _lowerCAmelCase  :		float    ,    _lowerCAmelCase  :		int						):

       if k in (0.04, 0.06):
             SCREAMING_SNAKE_CASE_     						=      k
             SCREAMING_SNAKE_CASE_     						=      window_size
       else:
             raise ValueError('invalid k value'						)



 def __str__(							self  :		Tuple						):
       return str(self.k						)




 def 				lowerCAmelCase_  (							self  :		int    ,    _lowerCAmelCase  :		str						):
       SCREAMING_SNAKE_CASE_     						=      cva.imread(_lowerCAmelCase    ,    0						)
       SCREAMING_SNAKE_CASE_						,			SCREAMING_SNAKE_CASE_     						=      img.shape
       SCREAMING_SNAKE_CASE_     						=      []
       SCREAMING_SNAKE_CASE_     						=      img.copy()
       SCREAMING_SNAKE_CASE_     						=      cva.cvtColor(_lowerCAmelCase    ,    cva.COLOR_GRAY2RGB						)
       SCREAMING_SNAKE_CASE_						,			SCREAMING_SNAKE_CASE_     						=      np.gradient(_lowerCAmelCase						)
       SCREAMING_SNAKE_CASE_     						=      dx**2
       SCREAMING_SNAKE_CASE_     						=      dy**2
       SCREAMING_SNAKE_CASE_     						=      dx * dy
       SCREAMING_SNAKE_CASE_     						=      0.04
       SCREAMING_SNAKE_CASE_     						=      self.window_size // 2
       for y in range(_lowerCAmelCase    ,    h - offset						):
             for x in range(_lowerCAmelCase    ,    w - offset						):
                   SCREAMING_SNAKE_CASE_     						=      ixx[
                       y - offset : y + offset + 1, x - offset : x + offset + 1
                   ].sum()
                   SCREAMING_SNAKE_CASE_     						=      iyy[
                       y - offset : y + offset + 1, x - offset : x + offset + 1
                   ].sum()
                   SCREAMING_SNAKE_CASE_     						=      ixy[
                       y - offset : y + offset + 1, x - offset : x + offset + 1
                   ].sum()

                   SCREAMING_SNAKE_CASE_     						=      (wxx * wyy) - (wxy**2)
                   SCREAMING_SNAKE_CASE_     						=      wxx + wyy
                   SCREAMING_SNAKE_CASE_     						=      det - k * (trace**2)
                   # Can change the value
                   if r > 0.5:
                         corner_list.append([x, y, r]						)
                         color_img.itemset((y, x, 0)    ,    0						)
                         color_img.itemset((y, x, 1)    ,    0						)
                         color_img.itemset((y, x, 2)    ,    255						)
       return color_img, corner_list


if __name__ == "__main__":
   lowerCamelCase__			:       Optional[int]         =							HarrisCorner(0.04, 3)
   lowerCamelCase__    ,							lowerCamelCase__			:       str         =							edge_detect.detect('path_to_image')
   cva.imwrite('detect.png', color_img)