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https://github.com/kkoomen/qbr

A webcam-based 3x3x3 rubik's cube solver written in Python 3 and OpenCV.
https://github.com/kkoomen/qbr

accurate canny-edge-detection ciede2000 color-detection cuber delta-e demo multilingual opencv python qbr rubiks-cube rubiks-cube-detection rubiks-cube-solver webcam

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A webcam-based 3x3x3 rubik's cube solver written in Python 3 and OpenCV.

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README 

        
# Qbr



Qbr, pronounced as Cuber, is a webcam-based 3x3x3 rubik's cube solver written in

Python 3 and OpenCV.



- :rainbow: Accurate color detection

- :mag: Accurate 3x3x3 rubik's cube detection

- :capital_abcd: Multilingual



### Solve mode



![solve mode](./demo-solve-mode.jpg)



### Calibrate mode



Isn't the default color detection working out for you? Use the **calibrate

mode** to let Qbr be familiar with your cube's color scheme. If your room has

proper lighting then this will give you a 99.9% guarantee that your colors will

be detected properly.



Simply follow the on-screen instructions and you're ready to go.



![calibrate mode](./demo-calibrate-mode.jpg)

![calibrate mode success](./demo-calibrate-mode-success.jpg)



# Table of Contents



- [Qbr](#qbr)

    + [Solve mode](#solve-mode)

    + [Calibrate mode](#calibrate-mode)

- [Table of Contents](#table-of-contents)

- [Introduction](#introduction)

- [Installation](#installation)

- [Usage](#usage)

    + [The first 9-sticker display (upper left corner)](#the-first-9-sticker-display-upper-left-corner)

    + [The second 9-sticker display (upper left corner)](#the-second-9-sticker-display-upper-left-corner)

    + [Amount of sides scanned - text (bottom left corner)](#amount-of-sides-scanned---text-bottom-left-corner)

    + [Full 2D cube state visualization (bottom right corner)](#full-2d-cube-state-visualization-bottom-right-corner)

    + [Interface language (top right corner)](#interface-language-top-right-corner)

    + [Calibrate mode](#calibrate-mode-1)

- [Getting the solution](#getting-the-solution)

  * [How to scan your cube properly?](#how-to-scan-your-cube-properly)

- [Keybindings](#keybindings)

- [Parameters](#parameters)

- [Example runs](#example-runs)

- [Inspirational sources](#inspirational-sources)

- [License](#license)



# Introduction



The idea to create this came personally to mind when I started solving rubik's

cubes. There were already so many professional programmers around the world who

created robots that solve a rubik's cube in an ETA of 5 seconds and since 2016

in 1 second ([link](https://www.youtube.com/watch?v=ixTddQQ2Hs4)).

That inspired me to create my own. I started using images only and eventually

switched to webcam.



# Installation



For linux users, make sure to install the following prerequisites:

```

$ sudo apt-get install python3-dev build-essential

```



Then, continue to install the project:



```

$ git clone --depth 1 https://github.com/kkoomen/qbr.git

$ cd qbr

$ python3 -m venv env

$ source ./env/bin/activate

$ pip3 install -r requirements.txt

```



# Usage



**Make sure you run `source ./env/bin/activate` every time you want to run the

program.**



Run Qbr:



```

$ ./src/qbr.py

```



This opens a webcam interface with the following things:



### The first 9-sticker display (upper left corner)



This is live preview mode displaying the detected colors.



### The second 9-sticker display (upper left corner)



This is the snapshot state. When pressing `SPACE` it will create a snapshot in

order to show you what state it has saved. You can press `SPACE` as many times

as you'd like if it has been detected wrong. The center piece color is used to

detect which side to save.



### Amount of sides scanned - text (bottom left corner)



The bottom left corner shows the amount of sides scanned. This is so you

know if you've scanned in all sides before pressing `ESC`.



### Full 2D cube state visualization (bottom right corner)



This visualization represents the whole cube state that is being saved and can

be used to confirm whether the whole cube state has been scanned successfully.



### Interface language (top right corner)



In the top right corner you can see the current interface language. If you want

to change the interface language you can press `l` to cycle through them.

Continue to press `l` until you've found the right language.



Default language is set to English.



Available languages are:



- English

- Hungarian

- Deutsch

- French

- Spanish

- Dutch

- 简体中文

- 台灣繁體中文

- Arabic (العربية)



### Calibrate mode



The default color scheme contains the most prominent colors for white, yellow, red,

orange, blue and green. If this can't detect your cube its colors properly then

you can use calibrate mode.



Press `c` to go into calibrate mode in order to let Qbr be familiar with your

cube's color scheme. Simply follow the on-screen instructions and you're ready

to go.



Note: Your calibrated settings are automatically saved after you've calibrated

your cube successfully. The next time you start Qbr it will automatically load

it.



Tip: If you've scanned wrong, simple go out of calibrate mode by pressing `c`

and go back into calibrate by pressing `c` again.



# Getting the solution



Qbr checks if you have filled in all 6 sides when pressing `ESC`. If so, it'll

calculate a solution if you've scanned it correctly.



You should now see a solution (or an error if you did it wrong).



## How to scan your cube properly?



There is a strict way of scanning in the cube. Qbr will detect the side

automatically, but the way you rotate the cube during the time you're scanning

it is crucial in order for Qbr to properly calculate a solution. Make sure to

follow the steps below properly:



- Start off with the `green` side facing the camera and `white` on top, `green`

  being away from you. Start by scanning in the `green` side at this point.

- After you've scanned in the `green` side, rotate the cube 90 or -90 degrees

  horizontally. It doesn't matter if you go clockwise or counter-clockwise.

  Continue to do this for the `green`, `blue`, `red` and `orange` sides until

  you are back at the `green` side.

- You should now be in the same position like you started, having `green` facing

  the camera and `white` on top. Rotate the cube forward 90 degrees, resulting

  in `green` at the bottom and `white` facing the camera. Start scanning in the

  `white` side.

- After you've scanned the `white` side, turn the cube back to how you started,

  having `green` in front again and `white` on top. Now rotate the cube

  backwards 90 degrees, resulting in `green` on top and `yellow` facing the

  camera. Now you can scan in the last `yellow` side.



If you've done the steps above correctly, you should have a solution from Qbr.



# Keybindings



- `SPACE` for saving the current state



- `ESC` quit



- `c` toggle calibrate mode



- `l` switch interface language



# Parameters



You can use `-n` or `--normalize` to also output the solution in a "human-readable" format.



For example:



* `R` will be: `Turn the right side a quarter turn away from you.`

* `F2` will be: `Turn the front face 180 degrees.`



# Example runs



```

$ ./qbr.py

Starting position:

front: green

top: white



Moves: 20

Solution: U2 R D2 L2 F2 L U2 L F' U L U R2 B2 U' F2 D2 R2 D2 R2

```



```

$ ./qbr.py -n

Starting position:

front: green

top: white



Moves: 20

Solution: B2 U2 F' R U D' L' B' U L F U F2 R2 F2 D' F2 D R2 D2

1. Turn the back side 180 degrees.

2. Turn the top layer 180 degrees.

3. Turn the front side a quarter turn to the left.

4. Turn the right side a quarter turn away from you.

5. Turn the top layer a quarter turn to the left.

6. Turn the bottom layer a quarter turn to the left.

7. Turn the left side a quarter turn away from you.

8. Turn the back side a quarter turn to the right.

9. Turn the top layer a quarter turn to the left.

10. Turn the left side a quarter turn towards you.

11. Turn the front side a quarter turn to the right.

12. Turn the top layer a quarter turn to the left.

13. Turn the front side 180 degrees.

14. Turn the right side 180 degrees.

15. Turn the front side 180 degrees.

16. Turn the bottom layer a quarter turn to the left.

17. Turn the front side 180 degrees.

18. Turn the bottom layer a quarter turn to the right.

19. Turn the right side 180 degrees.

20. Turn the bottom layer 180 degrees.

```



# Inspirational sources



Special thanks to [HaginCodes](https://github.com/HaginCodes) for the main

inspiration on how to improve my color detection.



https://github.com/HaginCodes/3x3x3-Rubiks-Cube-Solver



http://programmablebrick.blogspot.com/2017/02/rubiks-cube-tracker-using-opencv.html



https://gist.github.com/flyboy74/2cc3097f784c8c236a1a85278f08cddd



https://github.com/dwalton76/rubiks-color-resolver



# License



Qbr is licensed under the MIT License.