キューブ色取得

import cv2
import numpy as np
import sys
import time
import copy
import kociemba
import solve_arduino

class Camera:
 
  def rubiks_solve(self):

    count = 0
    result_list = [[] for i in range(54) ]
                        
    #ＢＧＲで表示０－２５５
    color_index =[[0,0,0],[0,0,0],[0,0,0],
                  [0,0,0],[0,0,0],[0,0,0],
                  [0,0,0],[0,0,0],[0,0,0]]
    #色を　ＵＤＲＬＢＦで表示
    color_key = ['black','black','black',
                'black','black','black',
                'black','black','black']
    #取得する場所の指定
    frame_yx = [[140, 350],[140, 590],[140, 830],
                [370, 350],[300, 520],[370, 830],
                [620, 350],[620, 590],[620, 830]]
#index4 default 320 540 420 640   370, 590
    y_start = [90,  90,  90,  320, 270, 320, 570, 570, 570]
    x_start = [300, 540, 780, 300, 490, 780, 300, 540, 780]
    y_end   = [190, 190, 190, 420, 470, 420, 670, 670, 670]
    x_end   = [400, 640, 880, 400, 690, 880, 400, 640, 880]

    y_start2  = [30, 30, 30, 80, 80, 80, 130, 130, 130]
    x_start2 = [30, 80, 130, 30, 80, 130, 30, 80, 130]
    y_end2   = [70, 70, 70, 120, 120, 120, 170, 170, 170]
    x_end2   = [70, 120, 170, 70, 120, 170, 70, 120, 170]
    
    #GANCUVE BGR      # U  R  F  D  L  B
    colors_BGR = {
      'L': ([5, 20, 160], [75, 90, 189]),      #red     6  4   
      'F': ([25, 130, 0], [100, 180, 30]),     #green   3  2
      'D': ([130, 130, 130], [255, 255, 255]), #white   2  3
      'B': ([140, 80, 0], [255, 180, 50]),     #blue    5  5
      'R': ([5, 91, 190], [130, 150, 255]),    #orange  4  1
      'U': ([5, 150, 150], [110, 200, 200])    #yellow  1  0
      }

    KEY_COLOR = {
      'L': (0, 0, 255),
      'F': (0, 255, 0),
      'D': (255, 255, 255),
      'B': (255, 0, 0),
      'R': (0, 128, 255),
      'U': (0, 255, 255)
      }

    KEY_SLICE = {
      'U': slice(0, 9),
      'R': slice(9, 18),
      'F': slice(18, 27),
      'D': slice(27, 36),
      'L': slice(36, 45),
      'B': slice(45, 54)
      }

    # n は使わない
    def solve_end():
      for n_e in result: 
        if n_e in solve_arduino.arduino_code_end:
            p_e = solve_arduino.arduino_code_end[n_e]
            print(p_e, end='')

    def solve_start():
        for n_s in result:
          if n_s in solve_arduino.arduino_code_start:
            p_s = solve_arduino.arduino_code_start[n_s]
            print(p_s, end='')
        
    def solve_test():
      w = 0
      p = 1
      while True:
        try:
          cube_code = result[w], result[p]
          if cube_code in solve_arduino.arduino_code:
            del result[w]
            result[w] = solve_arduino.arduino_code[cube_code]
          w += 1
          p += 1
        except IndexError:
          break

    cap = cv2.VideoCapture(0)
    cap.set(cv2.CAP_PROP_FRAME_WIDTH, 1280) # 横幅
    cap.set(cv2.CAP_PROP_FRAME_HEIGHT, 720) # 縦幅

    while True:
      ret, frame = cap.read()
      if not ret:
        break

      #BGR取得場所の指定
      for k, (xs, ys, xe, ye, xs2, ys2, xe2, ye2) in enumerate(zip
            (x_start, y_start, x_end, y_end, x_start2, y_start2, x_end2, y_end2)):

        cv2.rectangle(frame, (xs, ys), (xe, ye), (255, 255, 255), 2)
        
        b1 = color_index[k][0]
        g1 = color_index[k][1]
        r1 = color_index[k][2]

        if color_key[4] in KEY_COLOR:
          b4, g4 ,r4 = KEY_COLOR[color_key[4]]
        #左上に取得した色を表示
          cv2.rectangle(frame, (xs2, ys2), (xe2, ye2), (int(b4), int(g4), int(r4)), -1)
        cv2.rectangle(frame, (xs2, ys2), (xe2, ye2), (int(b1), int(g1), int(r1)), -1)

        #BGRの取得位置
        for i, (y,x) in enumerate(frame_yx):
          pixel = frame[y, x]
          b = pixel[0]
          g = pixel[1]
          r = pixel[2]
          BGR = [b,g,r] 

          #指定した範囲(colors_BGR)のなかに　取得したBGRがあてはまるか
          for color, ( lower, upper) in colors_BGR.items():
              if lower[0] < BGR[0] and BGR[0] < upper[0]:
                if lower[1] < BGR[1] and BGR[1] < upper[1]:
                  if lower[2] < BGR[2] and BGR[2] < upper[2]:
                      color_key[i] = color
                      color_index[i] = BGR
                      if color_key[i] != 'black':
                        #print(color_key) 
                        #print(color_index)
                        pass

      #TAB　取得した色をリストに追加
      key3 = cv2.waitKey(1)
      if key3 == 9: 
        if color_key[4] in KEY_SLICE:
          result_list[KEY_SLICE[color_key[4]]] = color_key
          print(result_list)
          time.sleep(0.5)

      # @　　arduino　用のプログラムをプリント
      key4 = cv2.waitKey(1)
      if key4 == 64:
        result = ''.join(result_list)
        try:
          print("OK")
          result = kociemba.solve(result)
          result = result.replace(' ', ',')
          result = result.split(',')
          print(result)
          print("solve_end")
          solve_test()
          print(result)
          solve_end()
          print(len(result))
          result.reverse()
          print()
          print("solve_start")
          solve_test()
          solve_start()
          count = 0
        except ValueError:
          print("ValueError")  
          count += 1
          result_list = [[] for i in range(54) ]
          time.sleep(2)
          if count == 3:
            break

        #print("resilt= ", result)

      cv2.imshow("Frame", frame)

      #esc
      key2 = cv2.waitKey(1)
      if key2 == 27:
        break
    cap.release()
    cv2.destroyAllWindows()
cam = Camera()
cam.rubiks_solve()