class ColorDetect():
    def __init__(self):
        self.color = None

    def getColor(self):
        return self.color

    def detect_color_callback(self, data, print_type='str'):
        '''определение цвета'''

        frame = bridge.imgmsg_to_cv2(data, 'bgr8')
        height, width = frame.shape[:2]
        y_start = int(height * 0.33)
        y_end = int(height * 0.67)
        x_start = int(width * 0.31)
        x_end = int(width * 0.69)

        cropped_frame = frame[y_start:y_end, x_start:x_end]
        
        if cropped_frame.size == 0:
            return
        

        if print_type == 'rgb':

            mean_bgr = cv2.mean(cropped_frame)[:3]
            mean_rgb = (int(mean_bgr[2]), int(mean_bgr[1]), int(mean_bgr[0]))  
            self.color = str(mean_rgb)
        

        elif print_type == 'str':

            # Получаем средние значения BGR
            mean_bgr = cv2.mean(cropped_frame)[:3]
            b, g, r = int(mean_bgr[0]), int(mean_bgr[1]), int(mean_bgr[2])
            
            
            if b > g and b > r and b > 100:  
                self.color = 'blue'
            elif g > b and g > r and g > 100:  
                self.color = 'green'
            elif r > b and r > g and r > 100:  
                self.color = 'red'
            else:
                self.color = None

#в MAIN для вызова функции должно быть:
# cd = ColorDetect()
    #color_sub = rospy.Subscriber('main_camera/image_raw', Image, 
                              #lambda img: cd.detect_color_callback(img, print_type='rgb'), 
                              #queue_size=1)
    # print(cd.getColor())
    #rospy.sleep(2)
    #color_sub.unregister()