alisagerasimova
45 lines
1.3 KiB
Plaintext
45 lines
1.3 KiB
Plaintext
def color_detection(data, print_type='str'):
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'''определение цвета'''
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frame = bridge.imgmsg_to_cv2(data, 'bgr8')
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height, width = frame.shape[:2]
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y_start = int(height * 0.33)
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y_end = int(height * 0.67)
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x_start = int(width * 0.31)
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x_end = int(width * 0.69)
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cropped_frame = frame[y_start:y_end, x_start:x_end]
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if cropped_frame.size == 0:
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return
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if print_type == 'rgb':
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mean_bgr = cv2.mean(cropped_frame)[:3]
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mean_rgb = (int(mean_bgr[2]), int(mean_bgr[1]), int(mean_bgr[0]))
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color = str(mean_rgb)
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elif print_type == 'str':
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# Получаем средние значения BGR
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mean_bgr = cv2.mean(cropped_frame)[:3]
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b, g, r = int(mean_bgr[0]), int(mean_bgr[1]), int(mean_bgr[2])
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if b > g + 20 and b > r + 20 and b > 100 + 20:
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color = 'blue'
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elif g > b + 20 and g > r + 20 and g > 100:
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color = 'green'
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elif r > b + 20 and r > g + 20 and r > 100:
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color = 'red'
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elif r > 150 and g > 150 and b > 150:
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color= 'white'
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else:
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color = None
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<<separator>>
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color_sub = rospy.Subscriber('main_camera/image_raw', Image, lambda img: color_detection(img, print_type='rgb'), queue_size=1)
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rospy.sleep(2)
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color_sub.unregister() |