"""simple docstring"""





import heapq
import sys

import numpy as np

__A  =				tuple[int, int]
class  _snake_case     :






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






						def       lowerCamelCase__     (       self      :			Tuple    ):
													if not self.empty():
																				return self.elements[0][0]
													else:
																				return float("inf"    )






						def       lowerCamelCase__     (       self      :			List[Any]    ):
													return len(self.elements    ) == 0






						def       lowerCamelCase__     (       self      :			Tuple							,					UpperCAmelCase      :			int							,					UpperCAmelCase      :			Union[str, Any]    ):
													if item not in self.set:
																				heapq.heappush(self.elements							,					(priority, item)    )
																				self.set.add(UpperCAmelCase    )
													else:
																				# update
																				# print("update", item)
																				__lowerCamelCase					:		List[Any]		   =     []
																				(__lowerCamelCase)					:		Any		   =     heapq.heappop(self.elements    )
																				while x != item:
																											temp.append((pri, x)    )
																											(__lowerCamelCase)					:		Tuple		   =     heapq.heappop(self.elements    )
																				temp.append((priority, item)    )
																				for pro, xxx in temp:
																											heapq.heappush(self.elements							,					(pro, xxx)    )






						def       lowerCamelCase__     (       self      :			Union[str, Any]							,					UpperCAmelCase      :			Tuple    ):
													if item in self.set:
																				self.set.remove(UpperCAmelCase    )
																				__lowerCamelCase					:		Dict		   =     []
																				(__lowerCamelCase)					:		Any		   =     heapq.heappop(self.elements    )
																				while x != item:
																											temp.append((pro, x)    )
																											(__lowerCamelCase)					:		List[Any]		   =     heapq.heappop(self.elements    )
																				for prito, yyy in temp:
																											heapq.heappush(self.elements							,					(prito, yyy)    )






						def       lowerCamelCase__     (       self      :			Optional[int]    ):
													return self.elements[0][1]







						def       lowerCamelCase__     (       self      :			Optional[Any]    ):
													(__lowerCamelCase)					:		Optional[Any]		   =     heapq.heappop(self.elements    )
													self.set.remove(UpperCAmelCase    )
													return (priority, item)


def    lowercase_   (   _lowerCamelCase:	TPos						,   _lowerCamelCase:	TPos      ) ->      int:



							'''simple docstring'''

							__lowerCamelCase					:		int		   =     np.array(_lowerCamelCase      )
							__lowerCamelCase					:		Optional[int]		   =     np.array(_lowerCamelCase      )
							return np.linalg.norm(a - b      )


def    lowercase_   (   _lowerCamelCase:	TPos						,   _lowerCamelCase:	TPos      ) ->      List[Any]:



							'''simple docstring'''

							return consistent_heuristic(_lowerCamelCase						,   _lowerCamelCase      ) // t


def    lowercase_   (   _lowerCamelCase:	TPos						,   _lowerCamelCase:	TPos      ) ->      Dict:



							'''simple docstring'''

							return abs(p[0] - goal[0]      ) + abs(p[1] - goal[1]      )


def    lowercase_   (   _lowerCamelCase:	TPos						,   _lowerCamelCase:	int						,   _lowerCamelCase:	TPos						,   _lowerCamelCase:	dict[TPos, float]      ) ->      Any:



							'''simple docstring'''

							__lowerCamelCase					:		Dict		   =     g_function[start] + Wa * heuristics[i](_lowerCamelCase						,   _lowerCamelCase      )
							return ans


def    lowercase_   (   _lowerCamelCase:	Optional[int]						,   _lowerCamelCase:	Dict						,   _lowerCamelCase:	List[str]      ) ->      Union[str, Any]:



							'''simple docstring'''

							__lowerCamelCase					:		List[Any]		   =     np.chararray((n, n)      )
							for i in range(_lowerCamelCase      ):
														for j in range(_lowerCamelCase      ):
																					__lowerCamelCase					:		Union[str, Any]		   =     "*"

							for i in range(_lowerCamelCase      ):
														for j in range(_lowerCamelCase      ):
																					if (j, (n - 1) - i) in blocks:
																												__lowerCamelCase					:		Any		   =     "#"

							__lowerCamelCase					:		Any		   =     "-"
							__lowerCamelCase					:		Optional[Any]		   =     back_pointer[goal]
							while x != start:
														(__lowerCamelCase)					:		Any		   =     x
														# print(x)
														__lowerCamelCase					:		List[Any]		   =     "-"
														__lowerCamelCase					:		List[str]		   =     back_pointer[x]
							__lowerCamelCase					:		Optional[Any]		   =     "-"

							for i in range(_lowerCamelCase      ):
														for j in range(_lowerCamelCase      ):
																					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:-"      )
							__lowerCamelCase					:		Union[str, Any]		   =     back_pointer[goal]
							while x != start:
														print(_lowerCamelCase						,   end=" "      )
														__lowerCamelCase					:		Dict		   =     back_pointer[x]
							print(_lowerCamelCase      )
							sys.exit()


def    lowercase_   (   _lowerCamelCase:	TPos      ) ->      List[Any]:



							'''simple docstring'''

							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    lowercase_   (   _lowerCamelCase:	Dict						,   _lowerCamelCase:	Tuple						,   _lowerCamelCase:	Dict						,   _lowerCamelCase:	Optional[Any]						,   _lowerCamelCase:	str						,   _lowerCamelCase:	int						,   _lowerCamelCase:	Union[str, Any]						,   _lowerCamelCase:	List[Any]						,   ) ->      int:



							'''simple docstring'''

							for itera in range(_lowerCamelCase      ):
														open_list[itera].remove_element(_lowerCamelCase      )
							# print("s", s)
							# print("j", j)
							(__lowerCamelCase)					:		Tuple		   =     s
							__lowerCamelCase					:		Optional[int]		   =     (x - 1, y)
							__lowerCamelCase					:		str		   =     (x + 1, y)
							__lowerCamelCase					:		Tuple		   =     (x, y + 1)
							__lowerCamelCase					:		Any		   =     (x, y - 1)

							for neighbours in [left, right, up, down]:
														if neighbours not in blocks:
																					if valid(_lowerCamelCase      ) and neighbours not in visited:
																												# print("neighbour", neighbours)
																												visited.add(_lowerCamelCase      )
																												__lowerCamelCase					:		Optional[int]		   =     -1
																												__lowerCamelCase					:		Optional[Any]		   =     float("inf"      )

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


def    lowercase_   (   ) ->      Optional[Any]:



							'''simple docstring'''

							__lowerCamelCase					:		Union[str, Any]		   =     []
							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


__A  =				{0: consistent_heuristic, 1: heuristic_a, 2: heuristic_a}

__A  =				[
    (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),
]
__A  =				make_common_ground()


__A  =				blocks_blk
# hyper parameters
__A  =				1
__A  =				1
__A  =				20
__A  =				3  # one consistent and two other inconsistent

# start and end destination
__A  =				(0, 0)
__A  =				(n - 1, n - 1)

__A  =				1


def    lowercase_   (   _lowerCamelCase:	TPos						,   _lowerCamelCase:	TPos						,   _lowerCamelCase:	int      ) ->      Optional[int]:



							'''simple docstring'''

							__lowerCamelCase					:		List[Any]		   =     {start: 0, goal: float("inf"      )}
							__lowerCamelCase					:		Any		   =     {start: -1, goal: -1}
							__lowerCamelCase					:		Tuple		   =     []
							__lowerCamelCase					:		Any		   =     set()

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

							__lowerCamelCase					:		list[int]		   =     []
							__lowerCamelCase					:		list[int]		   =     []
							while open_list[0].minkey() < float("inf"      ):
														for i in range(1						,   _lowerCamelCase      ):
																					# 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(_lowerCamelCase						,   _lowerCamelCase						,   _lowerCamelCase      )
																												else:
																																			__lowerCamelCase					:		Dict		   =     open_list[i].top_show()
																																			visited.add(_lowerCamelCase      )
																																			expand_state(
																																			    _lowerCamelCase						,   _lowerCamelCase						,   _lowerCamelCase						,   _lowerCamelCase						,   _lowerCamelCase						,   _lowerCamelCase						,   _lowerCamelCase						,   _lowerCamelCase						,   )
																																			close_list_inad.append(_lowerCamelCase      )
																					else:
																												if g_function[goal] <= open_list[0].minkey():
																																			if g_function[goal] < float("inf"      ):
																																										do_something(_lowerCamelCase						,   _lowerCamelCase						,   _lowerCamelCase      )
																												else:
																																			__lowerCamelCase					:		int		   =     open_list[0].top_show()
																																			visited.add(_lowerCamelCase      )
																																			expand_state(
																																			    _lowerCamelCase						,   0						,   _lowerCamelCase						,   _lowerCamelCase						,   _lowerCamelCase						,   _lowerCamelCase						,   _lowerCamelCase						,   _lowerCamelCase						,   )
																																			close_list_anchor.append(_lowerCamelCase      )
							print("No path found to goal"      )
							print()
							for i in range(n - 1						,   -1						,   -1      ):
														for j in range(_lowerCamelCase      ):
																					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)
"""simple docstring"""





import glob
import os
import random
from string import ascii_lowercase, digits

import cva
import numpy as np

# Parrameters
__A  =				(720, 1280)  # Height, Width
__A  =				(0.4, 0.6)  # if height or width lower than this scale, drop it.
__A  =				1 / 100
__A  =				''''''
__A  =				''''''
__A  =				''''''
__A  =				250


def    lowercase_   (   ) ->      None:



							'''simple docstring'''

							__lowerCamelCase   ,  __lowerCamelCase					:		List[Any]		   =     get_dataset(_lowerCamelCase						,   _lowerCamelCase      )
							for index in range(_lowerCamelCase      ):
														__lowerCamelCase					:		Optional[Any]		   =     random.sample(range(len(_lowerCamelCase      )      )						,   4      )
														__lowerCamelCase   ,  __lowerCamelCase   ,  __lowerCamelCase					:		Optional[Any]		   =     update_image_and_anno(
														    _lowerCamelCase						,   _lowerCamelCase						,   _lowerCamelCase						,   _lowerCamelCase						,   _lowerCamelCase						,   filter_scale=_lowerCamelCase						,   )

														# Get random string code: '7b7ad245cdff75241935e4dd860f3bad'
														__lowerCamelCase					:		Tuple		   =     random_chars(32      )
														__lowerCamelCase					:		Dict		   =     path.split(os.sep      )[-1].rsplit("."						,   1      )[0]
														__lowerCamelCase					:		List[str]		   =     F"""{OUTPUT_DIR}/{file_name}_MOSAIC_{letter_code}"""
														cva.imwrite(F"""{file_root}.jpg"""						,   _lowerCamelCase						,   [cva.IMWRITE_JPEG_QUALITY, 85]      )
														print(F"""Succeeded {index+1}/{NUMBER_IMAGES} with {file_name}"""      )
														__lowerCamelCase					:		List[Any]		   =     []
														for anno in new_annos:
																					__lowerCamelCase					:		Any		   =     anno[3] - anno[1]
																					__lowerCamelCase					:		Optional[int]		   =     anno[4] - anno[2]
																					__lowerCamelCase					:		Optional[int]		   =     anno[1] + width / 2
																					__lowerCamelCase					:		Union[str, Any]		   =     anno[2] + height / 2
																					__lowerCamelCase					:		int		   =     F"""{anno[0]} {x_center} {y_center} {width} {height}"""
																					annos_list.append(_lowerCamelCase      )
														with open(F"""{file_root}.txt"""						,   "w"      ) as outfile:
																					outfile.write("\n".join(line for line in annos_list      )      )


def    lowercase_   (   _lowerCamelCase:	str						,   _lowerCamelCase:	str      ) ->      tuple[list, list]:



							'''simple docstring'''

							__lowerCamelCase					:		Optional[int]		   =     []
							__lowerCamelCase					:		Any		   =     []
							for label_file in glob.glob(os.path.join(_lowerCamelCase						,   "*.txt"      )      ):
														__lowerCamelCase					:		List[Any]		   =     label_file.split(os.sep      )[-1].rsplit("."						,   1      )[0]
														with open(_lowerCamelCase      ) as in_file:
																					__lowerCamelCase					:		Tuple		   =     in_file.readlines()
														__lowerCamelCase					:		List[str]		   =     os.path.join(_lowerCamelCase						,   F"""{label_name}.jpg"""      )

														__lowerCamelCase					:		Union[str, Any]		   =     []
														for obj_list in obj_lists:
																					__lowerCamelCase					:		str		   =     obj_list.rstrip("\n"      ).split(" "      )
																					__lowerCamelCase					:		Union[str, Any]		   =     float(obj[1]      ) - float(obj[3]      ) / 2
																					__lowerCamelCase					:		Tuple		   =     float(obj[2]      ) - float(obj[4]      ) / 2
																					__lowerCamelCase					:		Union[str, Any]		   =     float(obj[1]      ) + float(obj[3]      ) / 2
																					__lowerCamelCase					:		Any		   =     float(obj[2]      ) + float(obj[4]      ) / 2

																					boxes.append([int(obj[0]      ), xmin, ymin, xmax, ymax]      )
														if not boxes:
																					continue
														img_paths.append(_lowerCamelCase      )
														labels.append(_lowerCamelCase      )
							return img_paths, labels


def    lowercase_   (   _lowerCamelCase:	list						,   _lowerCamelCase:	list						,   _lowerCamelCase:	list[int]						,   _lowerCamelCase:	tuple[int, int]						,   _lowerCamelCase:	tuple[float, float]						,   _lowerCamelCase:	float = 0.0						,   ) ->      tuple[list, list, str]:



							'''simple docstring'''

							__lowerCamelCase					:		Union[str, Any]		   =     np.zeros([output_size[0], output_size[1], 3]						,   dtype=np.uinta      )
							__lowerCamelCase					:		Optional[Any]		   =     scale_range[0] + random.random() * (scale_range[1] - scale_range[0])
							__lowerCamelCase					:		List[str]		   =     scale_range[0] + random.random() * (scale_range[1] - scale_range[0])
							__lowerCamelCase					:		int		   =     int(scale_x * output_size[1]      )
							__lowerCamelCase					:		Optional[Any]		   =     int(scale_y * output_size[0]      )

							__lowerCamelCase					:		List[Any]		   =     []
							__lowerCamelCase					:		Optional[Any]		   =     []
							for i, index in enumerate(_lowerCamelCase      ):
														__lowerCamelCase					:		List[str]		   =     all_img_list[index]
														path_list.append(_lowerCamelCase      )
														__lowerCamelCase					:		Optional[Any]		   =     all_annos[index]
														__lowerCamelCase					:		List[str]		   =     cva.imread(_lowerCamelCase      )
														if i == 0:  # top-left
																					__lowerCamelCase					:		List[str]		   =     cva.resize(_lowerCamelCase						,   (divid_point_x, divid_point_y)      )
																					__lowerCamelCase					:		Any		   =     img
																					for bbox in img_annos:
																												__lowerCamelCase					:		str		   =     bbox[1] * scale_x
																												__lowerCamelCase					:		Union[str, Any]		   =     bbox[2] * scale_y
																												__lowerCamelCase					:		Optional[int]		   =     bbox[3] * scale_x
																												__lowerCamelCase					:		Union[str, Any]		   =     bbox[4] * scale_y
																												new_anno.append([bbox[0], xmin, ymin, xmax, ymax]      )
														elif i == 1:  # top-right
																					__lowerCamelCase					:		str		   =     cva.resize(_lowerCamelCase						,   (output_size[1] - divid_point_x, divid_point_y)      )
																					__lowerCamelCase					:		Any		   =     img
																					for bbox in img_annos:
																												__lowerCamelCase					:		List[Any]		   =     scale_x + bbox[1] * (1 - scale_x)
																												__lowerCamelCase					:		List[Any]		   =     bbox[2] * scale_y
																												__lowerCamelCase					:		Tuple		   =     scale_x + bbox[3] * (1 - scale_x)
																												__lowerCamelCase					:		Union[str, Any]		   =     bbox[4] * scale_y
																												new_anno.append([bbox[0], xmin, ymin, xmax, ymax]      )
														elif i == 2:  # bottom-left
																					__lowerCamelCase					:		Any		   =     cva.resize(_lowerCamelCase						,   (divid_point_x, output_size[0] - divid_point_y)      )
																					__lowerCamelCase					:		List[str]		   =     img
																					for bbox in img_annos:
																												__lowerCamelCase					:		Any		   =     bbox[1] * scale_x
																												__lowerCamelCase					:		Optional[int]		   =     scale_y + bbox[2] * (1 - scale_y)
																												__lowerCamelCase					:		Dict		   =     bbox[3] * scale_x
																												__lowerCamelCase					:		Tuple		   =     scale_y + bbox[4] * (1 - scale_y)
																												new_anno.append([bbox[0], xmin, ymin, xmax, ymax]      )
														else:  # bottom-right
																					__lowerCamelCase					:		int		   =     cva.resize(
																					    _lowerCamelCase						,   (output_size[1] - divid_point_x, output_size[0] - divid_point_y)      )
																					__lowerCamelCase					:		Optional[Any]		   =     img
																					for bbox in img_annos:
																												__lowerCamelCase					:		Union[str, Any]		   =     scale_x + bbox[1] * (1 - scale_x)
																												__lowerCamelCase					:		Union[str, Any]		   =     scale_y + bbox[2] * (1 - scale_y)
																												__lowerCamelCase					:		int		   =     scale_x + bbox[3] * (1 - scale_x)
																												__lowerCamelCase					:		int		   =     scale_y + bbox[4] * (1 - scale_y)
																												new_anno.append([bbox[0], xmin, ymin, xmax, ymax]      )

    # Remove bounding box small than scale of filter
							if filter_scale > 0:
														__lowerCamelCase					:		str		   =     [
														    anno
														    for anno in new_anno
														    if filter_scale < (anno[3] - anno[1]) and filter_scale < (anno[4] - anno[2])
														]

							return output_img, new_anno, path_list[0]


def    lowercase_   (   _lowerCamelCase:	int      ) ->      str:



							'''simple docstring'''

							assert number_char > 1, "The number of character should greater than 1"
							__lowerCamelCase					:		Tuple		   =     ascii_lowercase + digits
							return "".join(random.choice(_lowerCamelCase      ) for _ in range(_lowerCamelCase      )      )


if __name__ == "__main__":
				main()
				print('''DONE ✅''')