feat: chunks from google

2026-01-11 13:54:37 +03:00
parent 31c0f13361
commit 3ee3599b87
11 changed files with 410 additions and 180 deletions
--- a/.gitignore
+++ b/.gitignore
@@ -1,4 +1,6 @@
 .venv
 __pycache__
 *.png
-images
+images
+trajectories
+z
--- a/autopilot.py
+++ b/autopilot.py
@@ -197,12 +197,6 @@ class AutoPilot(Pilot):
            self.timer.stop()
            return PilotCommand(processing_time=self.timer.get_elapsed())

-        # Расстояние до цели
-        distance_to_target = math.sqrt(
-            (self.points[self.target_idx][0] - self.pos.x) ** 2 +
-            (self.points[self.target_idx][1] - self.pos.y) ** 2
-        )
-
        # Вычисляем оптический поток для покадрового сравнения
        matching_timer = Timer()
        matching_timer.start()
@@ -246,6 +240,16 @@ class AutoPilot(Pilot):

        chunk_timer.stop()
        print(f"Chunk timer: {chunk_timer.get_elapsed() * 1000:.2f} ms")
+        command = self.make_command()
+        self.timer.reset()
+        return command
+
+    def make_command(self) -> PilotCommand:
+        # Расстояние до цели
+        distance_to_target = math.sqrt(
+            (self.points[self.target_idx][0] - self.pos.x) ** 2 +
+            (self.points[self.target_idx][1] - self.pos.y) ** 2
+        )

        if distance_to_target < 35:
            self.target_idx += 1
@@ -267,8 +271,6 @@ class AutoPilot(Pilot):
        
        angle_trajectory = self.pos.yaw + math.pi / 2

-        # print("[ANGLE]", angle_trajectory, "->", target_angle)
-
        # Вычисляем разность углов (направление поворота)
        angle_diff = target_angle - angle_trajectory
        
@@ -284,7 +286,6 @@ class AutoPilot(Pilot):
            max(min(d_a_limit, angle_diff), -d_a_limit),
            d_r, False, self.timer.get_elapsed()
        )
-        self.timer.reset()
        return command

    def reset_position(self, x: float = 0.0, y: float = 0.0, angle: float = 0.0):
--- a/constants.py
+++ b/constants.py
@@ -1,5 +1,12 @@
 import numpy as np

+# Ширина 1 пикселя в метрах
+YANDEX_PIXEL_RATIO_18 = 0.332697807435653
+GOOGLE_PIXEL_RATIO_15 = 2766 / 1031
+GOOGLE_PIXEL_RATIO_18 = 346 / 1031
+
+WINDOW_HEIGHT = 1031
+
 # Ширина и высота снимка в пикселях
 CHUNK_WIDTH = 700

--- a/google_map.py
+++ b/google_map.py
@@ -0,0 +1,83 @@
+
+import cv2
+import math
+import numpy as np
+import os
+import utility
+
+from io import BytesIO
+from PIL import Image
+from selenium.webdriver.common.actions.wheel_input import ScrollOrigin
+from selenium import webdriver
+from selenium.webdriver.common.by import By
+from selenium.webdriver.common.action_chains import ActionChains
+from time import sleep
+
+def generateURL(lat: float, lon: float, zoom: int):
+    return f"https://www.google.com/maps/@{lon},{lat},{zoom}z"
+
+class GoogleMap:
+    initial_zoom: int
+    initial_lat: float
+    initial_lon: float
+
+    def __init__(self, initial_lat=49.103814, initial_lon=55.794258, initial_zoom=18):
+        self.initial_lat = initial_lat
+        self.initial_lon = initial_lon
+        self.initial_zoom = initial_zoom
+
+        options = webdriver.ChromeOptions()
+        # options.add_experimental_option("detach", True)
+        self.driver = webdriver.Chrome(options)
+        self.driver.get(generateURL(initial_lat, initial_lon, initial_zoom))
+        self.driver.maximize_window()
+
+        action = ActionChains(self.driver)
+        sleep(5)
+        self.driver.execute_script('document.querySelector(\'.yHc72.qk5Wte\').click()')
+        sleep(5)
+
+    def open(self, lat, lon, zoom):
+        self.driver.get(generateURL(lat, lon, zoom))
+
+    def save_photo(self, filename: str):
+        im = self.make_screenshot()
+        im.save(filename)
+
+    def destroy(self):
+        self.driver.close()
+
+    def get_size(self) -> tuple[int, int]:
+        html = self.driver.find_element(By.TAG_NAME, 'html')
+        return (html.size['width'], html.size['height'])
+
+    def scroll(self, x: float, y: float, count: int = 1, inner_zoom: bool = True):
+        html = self.driver.find_element(By.TAG_NAME, 'html')
+
+        x_offset = (x - 0.5) * (html.size['width'] - 72) + 72
+        y_offset = (y - 0.5) * html.size['height']
+        action = ActionChains(self.driver)
+
+        for i in range(count-1):
+            action.scroll_from_origin(ScrollOrigin(html, int(x_offset), int(y_offset)), 0, -100 if inner_zoom else 100)
+            action.perform()
+            if i != count - 1:
+                sleep(0.25)
+
+    def move(self, dx: float, dy: float):
+        self.driver.execute_script(utility.google_map_js_move_script(dx, dy))
+
+    def make_as_center(self, x: float, y: float):
+        dx = (x - 0.5) * self.get_size()[0]
+        dy = (0.5 - y) * self.get_size()[1]
+        self.move(dx, dy)
+        sleep(1)
+
+    def make_screenshot(self) -> Image.Image:
+        png = self.driver.get_screenshot_as_png()
+        im = Image.open(BytesIO(png))
+        return utility.cv2_to_pil(np.array(im)[:, 72:])
+
+    def get_geolocation(self):
+        current_url = self.driver.current_url
+        return utility.parse_google_maps_url(current_url)
--- a/main.py
+++ b/main.py
@@ -1,23 +1,28 @@
+from google_map import GoogleMap
 from pathlib import Path
+from position import Position
 from simulator import Simulator
 from time import sleep
 from trajectory_drawer import TrajectoryDrawer
+from utility import cv2_to_pil
+from vision_chunk import VisionChunk
 from visualization import VisualizationManager
 from yandex_map import YandexMap
-from vision_chunk import VisionChunk
-from utility import cv2_to_pil
-import random

+import argparse
+import autopilot
+import constants
 import cv2
 import matplotlib.pyplot as plt
 import numpy as np
+import pickle
+import random
+import utility

-import autopilot
-
-def make_global_photo(filename):
-    yandexMap = YandexMap()
-    yandexMap.save_photo(filename)
-    yandexMap.destroy()
+def make_global_photo(filename, initial_zoom=13):
+    google_map = GoogleMap(initial_zoom=initial_zoom)
+    google_map.save_photo(filename)
+    google_map.destroy()

 def get_trajectory_points(bg_img: str) -> list[(float, float)]:
    trajectoryDrawer = TrajectoryDrawer(bg_img)
@@ -26,97 +31,111 @@ def get_trajectory_points(bg_img: str) -> list[(float, float)]:
    points = list(map(lambda p: [p[0] / trajectoryDrawer.img.shape[1], p[1] / trajectoryDrawer.img.shape[0]], trajectoryDrawer.points))
    return points

-def main():
-    # Скриншот местности
-    # make_global_photo('map.jpg')
+def build(name: str):

-    # Получаем траекторию от пользователя
-    # points = get_trajectory_points('map.jpg')
+    # Создание папки с информацией о маршруте
+    dir = Path('trajectories')
+    if not dir.exists(): dir.mkdir()
+    dir /= name
+    assert not dir.exists()
+    dir.mkdir()
+    dir_chunks = dir / 'chunks'
+    dir_chunks.mkdir()

-    # Trajectory #1
-    # points = [[np.float64(0.5384504359393909), np.float64(0.4084520767967683)], [np.float64(0.4451750568707629), np.float64(0.38213330305374654)], [np.float64(0.49266070439660997), np.float64(0.2789637099811013)], [np.float64(0.36377108968359656), np.float64(0.3263375027185404)], [np.float64(0.3535955937852008), np.float64(0.4337180995900692)]]
-
-    # Trajectory #2
-    # points = [[np.float64(0.29197731306713737), np.float64(0.3452870198135161)], [np.float64(0.33494051797147517), np.float64(0.2010601397017569)], [np.float64(0.39768940934491587), np.float64(0.25369768718780034)], [np.float64(0.4027771572941138), np.float64(0.4158213334448144)], [np.float64(0.2914120077394487), np.float64(0.5547844588079692)]]
-
-    # Trajectory #3
-    # points = [[np.float64(0.2755834585641664), np.float64(0.45687862048392835)], [np.float64(0.295934450360958), np.float64(0.5021469113219258)], [np.float64(0.32872215936689997), np.float64(0.4810918923275084)], [np.float64(0.3649017003389739), np.float64(0.5295184360146684)], [np.float64(0.3999506306556705), np.float64(0.49477765467387963)]]
-
-    # Trajectory #4
-    # points = [[np.float64(0.42143223310783934), np.float64(0.6663760594783815)], [np.float64(0.4253893704016599), np.float64(0.5537317078582484)], [np.float64(0.5124463908657128), np.float64(0.5621537154560153)], [np.float64(0.5124463908657128), np.float64(0.6684815613778233)], [np.float64(0.42143223310783934), np.float64(0.6663760594783815)]]
-
-    # Trajectory #5
-    # points = [[np.float64(0.5983728006743884), np.float64(0.7348048712102382)], [np.float64(0.5966768846913225), np.float64(0.5453097002604814)], [np.float64(0.6345523416464622), np.float64(0.7190136069644251)], [np.float64(0.6402053949233488), np.float64(0.5495207040593649)], [np.float64(0.5983728006743884), np.float64(0.7348048712102382)]]
-
-    # Trajectory #6
-    # points = [[np.float64(0.4406526142492536), np.float64(0.28106921188054296)], [np.float64(0.38581799746345413), np.float64(0.2968604761263561)], [np.float64(0.3931669667234066), np.float64(0.353709027411283)], [np.float64(0.4248240650739713), np.float64(0.35265627646156217)], [np.float64(0.40616898926024564), np.float64(0.3179154951207735)]]
-
-    # Trajectory #7
-    # points = [[np.float64(0.5491912371654754), np.float64(0.7505961354560512)], [np.float64(0.5537136797869846), np.float64(0.6863783275230781)], [np.float64(0.5017055896396284), np.float64(0.6653233085286606)], [np.float64(0.5520177638039186), np.float64(0.6042637534448503)], [np.float64(0.5593667330638712), np.float64(0.516885424618018)]]
-
-    # Trajectory #8
-    # points = 
-
-    # Trajectory #9
-    # points = 
-
-    # Trajectory #10
-    # points = 
-
-    print(points)
-
-    # Для каждой точки сделаем приближенный снимок
-    yandexMap = YandexMap()
-    chunks: list[VisionChunk] = []
-
-    plt.ion()
-    for i in range(len(points)):
-        point = points[i]
-        yandexMap.scroll(point[0], point[1], 5, True)
-        sleep(1)
-        cv2_img = yandexMap.make_screenshot(point[0], point[1], 0.2, 0.2)
-        img = cv2_to_pil(cv2_img)
-        chunk = VisionChunk(img)
-        Path('chunks').mkdir(exist_ok=True)
-        chunk.save_image(Path('.') / 'chunks' / f'chunk_{i}.png')
-        plt.subplot(1, len(points), i+1)
-        plt.imshow(img)
-        plt.pause(0.25)
-        yandexMap.scroll(point[0], point[1], 5, False)
-
-    plt.tight_layout()
-
-    # Выделим на каждой картинке ключевые точки
-    for i in range(len(points)):
-        chunk = VisionChunk.load_image(Path('chunks') / f'chunk_{i}.png')
-        chunks.append(chunk)
-        kp, des = chunk.compute_keypoints()
-
-        plt.subplot(1, len(points), i+1)
-        plt.imshow(chunk.image)
-        kp_coords = np.array([j.pt for j in kp])
-        if len(kp_coords) > 0:
-            plt.scatter(kp_coords[:, 0], kp_coords[:, 1], c='red', s=20, alpha=0.7, marker='o')
-        plt.pause(0.2)
-    plt.ioff()
-
-    plt.show(block=True)
+    # make_global_photo('map.jpg', 15)
+    points = get_trajectory_points('map.jpg')
+    google_map = GoogleMap(initial_zoom=15)

    # Начнём симуляцию полёта с первой точки
-    yandexMap.scroll(points[0][0], points[0][1], 5, True)
-    sleep(0.2)
-    yandexMap.make_as_center(*points[0])
-    sleep(1)
+    google_map.make_as_center(*points[0])
+    sleep(3)
+    google_map.scroll(0.5, 0.5, 10, True)
+    sleep(2)
+    geo = google_map.get_geolocation()
+    google_map.open(geo['lat'], geo['lon'], 18)
+    sleep(20)

-    vis_manager = VisualizationManager()
-    width, height = yandexMap.get_size()
-    # print(width, height)
+    width, height = google_map.get_size()
    points_coords = np.array(list(map(lambda p: [
            (p[0] - points[0][0]) * width, (points[0][1] - p[1]) * height
        ], points)))
-    points_coords *= 2 ** 4
-    pilot = autopilot.AutoPilot(points_coords, chunks, vis_manager)
-    simulator = Simulator(yandexMap)
+
+    points_coords *= constants.GOOGLE_PIXEL_RATIO_15
+    points_coords_pixel = points_coords / constants.GOOGLE_PIXEL_RATIO_18
+
+    pilot = autopilot.AutoPilot(points_coords_pixel)
+    simulator = Simulator(google_map)
+    pilot.target_idx = 0
+
+    pilot.pos = simulator.pos.copy()
+    command = pilot.make_command()
+
+    positions: list[Position] = []
+
+    print("points_coords_pixel:", points_coords_pixel)
+    for i in range(100000):
+
+        if command.stop:
+            break
+
+        # simulator.handle(command.dangle, command.velocity)
+        chunk = simulator.get_chunk()
+        pilot.pos = simulator.pos.copy()
+        command = pilot.make_command()
+        command.velocity /= constants.GOOGLE_PIXEL_RATIO_18
+
+        print("Position:", simulator.pos)
+        
+        # Save Image
+        chunk.save_image(dir_chunks / f"chunk_{len(positions)}.png")
+        positions.append(simulator.pos)
+
+        simulator.handle(command.dangle, command.velocity)
+        sleep(1.5)
+
+    data = {
+        'points': points_coords,
+        'chunk_positions': positions,
+        'initial_geolocation': geo
+    }
+
+    file_positions = dir / 'positions.pkl'
+    with file_positions.open('wb') as file:
+        pickle.dump(data, file)
+
+    with file_positions.open('rb') as file:
+        r = pickle.load(file)
+        print(r)
+
+    sleep(15)
+    google_map.destroy()
+
+def run(name: str):
+    dir = Path('trajectories')
+    assert dir.exists()
+    dir /= name
+    assert dir.exists()
+    dir_chunks = dir / 'chunks'
+    file_positions = dir / 'positions.pkl'
+
+    with file_positions.open('rb') as file:
+        data = pickle.load(file)
+    
+    initial_geolocation = data['initial_geolocation']
+    chunks: list[VisionChunk] = []
+    for i in range(len(data['chunk_positions'])):
+        chunk = VisionChunk.load_image(dir_chunks / f"chunk_{i}.png")
+        chunk.pos = data['chunk_positions'][i]
+    
+    points = data['points'] / constants.YANDEX_PIXEL_RATIO_18
+
+    yandex_map = YandexMap(initial_geolocation['lat'], initial_geolocation['lon'], 18)
+    sleep(10)
+
+    vis_manager = VisualizationManager()
+    width, height = yandex_map.get_size()
+    pilot = autopilot.AutoPilot(points, chunks, vis_manager)
+    simulator = Simulator(yandex_map)
    pilot.target_idx = 0

    chunk = simulator.get_chunk()
@@ -125,7 +144,7 @@ def main():
    vis_manager.update_display()
    vis_manager.pause(1)

-    vis_manager.set_target_points(points_coords)
+    vis_manager.set_target_points(points)

    proc_time = np.array([])

@@ -157,6 +176,7 @@ def main():
        # simulator.handle(command.dangle, command.velocity)
        chunk = simulator.get_chunk()
        command = pilot.handle(chunk)
+        command.velocity /= constants.YANDEX_PIXEL_RATIO_18

        proc_time = np.append(proc_time, command.proccessing_time)
        
@@ -194,7 +214,47 @@ def main():
    print("Average FPS:", 1 / proc_time.mean())
    vis_manager.show_final()

-if __name__ == "__main__":
-    main()

-#TODO
+def main(mode: str, name: str):
+    if name is None:
+        name = utility.generate_folder_name()
+
+    if mode == 'build' or mode == 'standalone':
+        build(name)
+
+    if mode == 'run' or mode == 'standalone':
+        run(name)
+
+def parse_args():
+    """Парсер аргументов командной строки"""
+    parser = argparse.ArgumentParser(description='Обработка траекторий')
+
+    # Добавляем обязательный аргумент --mode
+    parser.add_argument(
+        '--mode',
+        type=str,
+        required=True,
+        choices=['standalone', 'build', 'run'],
+        help='Режим работы: standalone, build или run'
+    )
+
+    # Добавляем опциональный аргумент --name
+    parser.add_argument(
+        '--name',
+        type=str,
+        help='Название траектории (обязательно для режимов build и run)'
+    )
+
+    # Парсим аргументы
+    args = parser.parse_args()
+
+    # Проверяем, что для build и run указан --name
+    if args.mode in ['build', 'run'] and not args.name:
+        parser.error(f"--name обязателен для режима {args.mode}")
+
+    return args
+
+if __name__ == "__main__":
+    args = parse_args()
+    main(args.mode, args.name)
+
--- a/map.jpg
+++ b/map.jpg
--- a/position.py
+++ b/position.py
@@ -42,13 +42,14 @@ class Position:
            f"roll={math.degrees(self.roll):.1f}°)"
        )

-    def get_homography_matrix(self, K: np.ndarray = constants.K, sliding: bool = True) -> np.ndarray:
+    def get_homography_matrix(self, K_in: np.ndarray = constants.K, K_out: np.ndarray | None = None, sliding: bool = True) -> np.ndarray:
        """ Возвращает матрицу гомографии """
        R = self.get_rotation_matrix()
        T = self.get_translation_matrix()
        if not sliding:
            T[0, 2] = T[1, 2] = 0
-        return K @ R @ T @ np.linalg.inv(K)
+        if K_out is None: K_out = K_in
+        return K_out @ R @ T @ np.linalg.inv(K_in)

    def copy(self) -> 'Position':
        """Создает полную копию объекта"""
--- a/simulator.py
+++ b/simulator.py
@@ -8,12 +8,13 @@ import numpy as np
 from position import Position
 from vision_chunk import VisionChunk
 from yandex_map import YandexMap
+from google_map import GoogleMap
 import constants
 import utility

 class Simulator:
-    def __init__(self, yandex_map: YandexMap = None):
-        self.yandex_map = yandex_map
+    def __init__(self, online_map: YandexMap | GoogleMap = None):
+        self.online_map = online_map
        # Используем новый конструктор с yaw, pitch, roll
        self.pos = Position(x=0, y=0, z=1, yaw=0, pitch=0, roll=0)

@@ -35,17 +36,19 @@ class Simulator:
        Возвращает квадратное изображение 700x700.
        """
        img_array = np.array(image)
-        print(img_array.shape)
        h, w, _ = img_array.shape

        # Применяем трансформацию
        pos = self.pos.copy()
        pos.x = 0
        pos.y = 0
-        K = utility.calc_camera_matrix(w, h)
-        K = constants.K
-        img_array = img_array[:constants.CHUNK_WIDTH, :constants.CHUNK_WIDTH]
-        transformed = cv2.warpPerspective(img_array, pos.get_homography_matrix(K), (constants.CHUNK_WIDTH, constants.CHUNK_WIDTH))
+
+        K_in = utility.calc_camera_matrix(w, h)
+        K_out = constants.K
+        H = pos.get_homography_matrix(K_in, K_out)
+
+        shape = (constants.CHUNK_WIDTH, constants.CHUNK_WIDTH)
+        transformed = cv2.warpPerspective(img_array, H, shape)

        return Image.fromarray(transformed)

@@ -60,13 +63,6 @@ class Simulator:
        dangle - изменение угла курса (радианы)
        velocity - скорость движения
        """
-        from selenium.webdriver.common.by import By
-        from selenium.webdriver.common.action_chains import ActionChains
-
-        html = self.yandex_map.driver.find_element(By.TAG_NAME, 'html')
-        action = ActionChains(self.yandex_map.driver)
-        action.move_to_element_with_offset(html, 200, 200)
-        action.click_and_hold()

        # Обновляем yaw в объекте Position
        self.pos.yaw += dangle
@@ -77,10 +73,7 @@ class Simulator:
        dy = math.sin(math.pi / 2 + self.pos.yaw) * velocity / self.pos.z

        self.update_trajectory(dx, dy)
-
-        action.move_by_offset(-dx, dy)
-        action.release()
-        action.perform()
+        self.online_map.move(dx, dy)

    def set_zoom(self, zoom_level: float):
        """Программное изменение масштаба"""
@@ -88,8 +81,7 @@ class Simulator:

    def get_chunk(self) -> VisionChunk:
        """Получить текущий снимок с камеры дрона"""
-        png = self.yandex_map.driver.get_screenshot_as_png()
-        im = Image.open(BytesIO(png))
+        im = self.online_map.make_screenshot()

        # Применяем перспективную трансформацию
        transformed_im = self._apply_perspective_transform(im)
--- a/utility.py
+++ b/utility.py
@@ -1,7 +1,9 @@
 from PIL import Image
+from datetime import datetime
+import constants
 import cv2
 import numpy as np
-import constants
+import re

 def cv2_to_pil(cv_image: np.ndarray) -> Image.Image:
    """
@@ -19,7 +21,7 @@ def get_normals(H: np.ndarray, R: np.ndarray, T: np.ndarray) -> np.ndarray:
    n = cv2.decomposeHomographyMat(H, constants.K, R, T)
    return n

-def estimate_transformation_matrix(src_pts: np.ndarray, dst_pts: np.ndarray) -> tuple[np.ndarray, float | None]:
+def estimate_transformation_matrix(src_pts: np.ndarray, dst_pts: np.ndarray) -> np.ndarray | None:
    """Оценивает матрицу трансформации на основе сопоставленных точек"""
    # Используем RANSAC для оценки матрицы гомографии
    H, _ = cv2.findHomography(src_pts, dst_pts, cv2.RANSAC, 3.0, maxIters=1000)
@@ -32,3 +34,112 @@ def calc_camera_matrix(w: float, h: float):
        [0, f, h / 2],
        [0, 0, 1]
    ])
+
+
+def generate_folder_name():
+    """
+    Генерирует название для папки с текущей датой и временем до секунд.
+    Формат: YYYY-MM-DD_HH-MM-SS
+    """
+    now = datetime.now()
+    folder_name = now.strftime("%Y-%m-%d_%H-%M-%S")
+    return folder_name
+
+
+
+
+
+
+
+
+
+
+def parse_google_maps_url(url):
+    """
+    Парсит URL Google Maps и извлекает lat, lon и zoom
+    Формат: /@lat,lon,zoom[m|z]
+    """
+    pattern = r'/@([-\d.]+),([-\d.]+),(\d+)([mz])'
+    match = re.search(pattern, url)
+    
+    if match:
+        lon = float(match.group(1))
+        lat = float(match.group(2))
+        zoom_value = int(match.group(3))
+        zoom_unit = match.group(4)
+        
+        return {
+            'lat': lat,
+            'lon': lon,
+            'zoom': zoom_value,
+            'zoom_unit': zoom_unit
+        }
+    return None
+
+def google_map_js_move_script(dx, dy) -> str:
+    return """
+async function sleep(ms) {
+    return new Promise((resolve, reject) => {
+        setTimeout(() => resolve(), ms);
+    });
+}
+
+async function simulateDrag(element, offsetX, offsetY) {
+    const rect = element.getBoundingClientRect();
+    const startX = rect.left + rect.width / 2;
+    const startY = rect.top + rect.height / 2;
+    const step = 7
+    const endX = startX + offsetX + step;
+    const endY = startY + offsetY + step;
+
+    element.dispatchEvent(new MouseEvent('mousedown', {
+        view: window,
+        bubbles: true,
+        cancelable: true,
+        clientX: startX,
+        clientY: startY,
+        button: 0
+    }));
+    
+    let currentX = startX;
+    let currentY = startY;
+
+    function move(stepX, stepY) {
+        currentX += stepX;
+        currentY += stepY;
+
+        document.dispatchEvent(new MouseEvent('mousemove', {
+            view: window,
+            bubbles: true,
+            cancelable: false,
+            clientX: currentX,
+            clientY: currentY
+        }));
+    }
+
+    await sleep(50);
+    move(step, step)
+
+    while (currentX != endX || currentY != endY) {
+        await sleep(50);
+        const stepX = Math.min(step, Math.max(-step, endX - currentX));
+        const stepY = Math.min(step, Math.max(-step, endY - currentY));
+        move(stepX, stepY);
+    }
+
+    await sleep(50)
+    document.dispatchEvent(new MouseEvent('mouseup', {
+        view: window,
+        bubbles: true,
+        cancelable: false,
+        clientX: endX,
+        clientY: endY,
+        button: 0
+    }));
+}
+
+{
+    const canvas = document.querySelector('canvas.H1VXrf.JRr1M.DnOnV');
+""" + f"simulateDrag(canvas, {-dx}, {dy});" + """
+}
+"""
--- a/vision_chunk.py
+++ b/vision_chunk.py
@@ -1,10 +1,11 @@
 import cv2
 import json
 import numpy as np
+from PIL import Image
 from dataclasses import dataclass, field
 from pathlib import Path
+from position import Position
 from typing import Literal, Optional, Tuple
-from PIL import Image

 FeatureMethod = Literal["orb", "sift", "akaze", "brisk"]
 DEFAULT_METHOD = "orb"
@@ -14,6 +15,7 @@ class VisionChunk:
    image: Image.Image
    feature_method: FeatureMethod = DEFAULT_METHOD

+    pos: Optional[Position] = field(default=None, init=False)
    keypoints: Optional[list] = field(default=None, init=False)
    descriptors: Optional[np.ndarray] = field(default=None, init=False)
    _detector: Optional[cv2.Feature2D] = field(default=None, init=False, repr=False)
@@ -25,7 +27,7 @@ class VisionChunk:

        if self.feature_method == "orb":
            self._detector = cv2.ORB_create(
-                nfeatures=1000,
+                nfeatures=10000,
                scaleFactor=1.2,
                nlevels=32,
                edgeThreshold=31,
--- a/yandex_map.py
+++ b/yandex_map.py
@@ -1,16 +1,16 @@
-import math
-from io import BytesIO
-from time import sleep
-import os
-
-import cv2
-import numpy as np
-
 from PIL import Image
+from io import BytesIO
 from selenium.webdriver.common.actions.wheel_input import ScrollOrigin
 from selenium import webdriver
 from selenium.webdriver.common.by import By
 from selenium.webdriver.common.action_chains import ActionChains
+from time import sleep
+
+import cv2
+import math
+import numpy as np
+import os
+import utility

 def generateURL(lat: float, lon: float, zoom: int):
    return f"https://yandex.ru/maps/43/kazan/?l=sat&ll={lat}%2C{lon}&z={zoom}"
@@ -68,51 +68,22 @@ class YandexMap:
            if i != count - 1:
                sleep(0.25)

-    def make_as_center(self, x: float, y: float):
+    def move(self, dx: float, dy: float):
        html = self.driver.find_element(By.TAG_NAME, 'html')
-
        action = ActionChains(self.driver)
        action.move_to_element_with_offset(html, 0, 0)
        action.click_and_hold()
-
-        dx = (x - 0.5) * self.get_size()[0]
-        dy = (0.5 - y) * self.get_size()[1]
-        print(dx, dy)
        action.move_by_offset(-dx, dy)
        action.release()
        action.perform()

-    def make_screenshot(self, x: float, y: float, width: float, height: float) -> cv2.typing.MatLike:
-        # Сохраняем скриншот
-        self.save_photo("temp.png")
-        
-        # Загружаем изображение
-        image = cv2.imread("temp.png")
-        
-        if image is None:
-            raise ValueError("Не удалось загрузить изображение temp.png")
-        
-        # Получаем размеры исходного изображения
-        img_height, img_width = image.shape[:2]
-        
-        # Преобразуем относительные координаты в абсолютные пиксели
-        center_x = int(x * img_width)
-        center_y = int(y * img_height)
-        crop_width = int(width * img_width)
-        crop_height = int(height * img_height)
-        
-        # Вычисляем координаты прямоугольника для кадрирования
-        x1 = max(0, center_x - crop_width // 2)
-        y1 = max(0, center_y - crop_height // 2)
-        x2 = min(img_width, center_x + crop_width // 2)
-        y2 = min(img_height, center_y + crop_height // 2)
-        
-        # Проверяем, что прямоугольник имеет положительные размеры
-        if x2 <= x1 or y2 <= y1:
-            raise ValueError("Некорректные размеры для кадрирования")
-        
-        # Кадрируем изображение
-        cropped_image = image[y1:y2, x1:x2]
-        
-        # Если нужно вернуть изображение как результат функции:
-        return cropped_image
+
+    def make_as_center(self, x: float, y: float):
+        dx = (x - 0.5) * self.get_size()[0]
+        dy = (0.5 - y) * self.get_size()[1]
+        self.move(dx, dy)
+
+    def make_screenshot(self) -> Image.Image:
+        png = self.driver.get_screenshot_as_png()
+        im = Image.open(BytesIO(png))
+        return utility.cv2_to_pil(np.array(im)[:, :])