grid.py

# Import the OpenCV Library
import cv2

# Import NumPy, a scientific library that allows for the arrays we will be needing
import numpy as np

# This variable will be the original image
frame = cv2.imread('grid.png')

# Blur the image with a 6x6 average pixel destination
frame = cv2.blur(frame,(6, 6)) 

# Convert the image from BGR (Blue, Green, Red) to HSV (Hue, Saturation, Value)
hsv = cv2.cvtColor(frame, cv2.COLOR_BGR2HSV)


# Provide the lower HSV values for red and higher in an array

#lower_red = np.array([hMin, sMin, vMin])
#upper_red = np.array([hMax, sMax, vMax])
lower_red = np.array([0, 110, 0])
upper_red = np.array([179, 255, 245])


# Create a mask by finding all of the hsv values that fit the HSV range in the image
mask = cv2.inRange(hsv, lower_red, upper_red)

# Perform a bitwise_and operation. Basically, whatever pixel is not in the range provided above, give it a value of 0 and each that is a value of 1
res = cv2.bitwise_and(frame, frame, mask=mask)

# Ngl, don't know much about this one, see this for more info: https://docs.opencv.org/3.2.0/d7/d4d/tutorial_py_thresholding.html
ret,thresh = cv2.threshold(mask,127,255,0)

# Here, we use findContours to give us coordinates of the limits of the color that we are looking for, red in HSV.
#   Think of contours as the edges of the shapes that we are looking for
contours, hierarchy = cv2.findContours(thresh,cv2.RETR_TREE,cv2.CHAIN_APPROX_NONE)

# The contours the code returns is 3- the path, the crack, and a false positive in the bottom left of the screen
#    I created this short workaround that if the countour is less than 5 points, it might be a false positive and to ignore it
for cnt in contours:
	if len(cnt) < 5:
		contours.remove(cnt)
		
# The draw contours draws points at the coordinates of the contours.
#    The last negative 1 tells the code to fill in what is inside. Change it to a positive value to see its difference
cv2.drawContours(res,contours,-1,(0,255,0),-1)

# Show the frames that we have so far
cv2.imshow('frame', frame)
cv2.imshow('hsv', hsv)
cv2.imshow('mask', mask)

# Current coordinates of our pointer
x = 182
y = 78

# New coordinates. Once we set the original coordinates to original color, original coordinates become these
newX = x
newY = y

# Keep track of the old color before changing it to our pointer color
oldColor = (0, 0, 0)

# Keep track of current direction
currDir = ''
while(1):
	
	# Get old colors
	(oldR, oldG, oldB) = res[y, x]
	oldColor = (oldR, oldG, oldB)
	
	# Change the color to our pointer color
	res[y, x] = (255, 0, 0)
	
	# Display the current image
	cv2.imshow('Result',res)
	
	# Wait for current input
	k = cv2.waitKey(-1)
	
	# Press ESC to stop, A, S, W, and D to control the pointer
	#    or SPACE to analyze current point
	if k==27:    # Esc key to stop
		break
	elif k==-1:  # normally -1 returned,so don't print it
		continue
	if k == 119:
		newY = y-1
	elif k == 115:
		newY = y+1
	elif k == 97:
		newX = x-1
	elif k == 100:
		newX = x+1
	elif k == 32:
		traveledL = traveledR = traveledU = traveledD = maxVal = 0
		maxDir = ''
		if currDir != 'R' and currDir != 'L':
			copyX = x
			copyY = y
			tempColor = oldColor
			while tempColor[0] != 0 or tempColor[1] != 0 or tempColor[2] != 0:
				traveledL += 1
				copyX = copyX - 1
				tempColor = res[copyY, copyX]
			print("Left, ",traveledL)
			if traveledL > maxVal:
				maxDir = 'L'
				maxVal = traveledL
		if currDir != 'R' and currDir != 'L':
			copyX = x
			copyY = y
			tempColor = oldColor
			while tempColor[0] != 0 or tempColor[1] != 0 or tempColor[2] != 0:
				traveledR += 1
				copyX = copyX + 1
				tempColor = res[copyY, copyX]
			print("Right, ",traveledR)
			if traveledR > maxVal:
				maxDir = 'R'
				maxVal = traveledR
		if currDir != 'U' and currDir != 'D':
			copyX = x
			copyY = y
			tempColor = oldColor
			while tempColor[0] != 0 or tempColor[1] != 0 or tempColor[2] != 0:
				traveledU += 1
				copyY = copyY - 1
				tempColor = res[copyY, copyX]
			print("Up, ",traveledU)
			if traveledU > maxVal:
				maxDir = 'U'
				maxVal = traveledU
		if currDir != 'U' and currDir != 'D':
			copyX = x
			copyY = y
			tempColor = oldColor
			while tempColor[0] != 0 or tempColor[1] != 0 or tempColor[2] != 0:
				traveledD += 1
				copyY = copyY + 1
				tempColor = res[copyY, copyX]
			print("Down, ",traveledD)
			if traveledD > maxVal:
				maxDir = 'D'
				maxVal = traveledD
		currDir = maxDir
		print()
		print("MaxVal: ", maxVal)
		print("CurrentDir: ", currDir)
		print()
		
	if not(res[y, x][0] == oldR and res[y, x][1] == oldG and res[y, x][2] == oldB): 
		res[y, x] = (oldR, oldG, oldB)
	x = newX
	y = newY