navigation.py 文件源码

def build_mask(self, image):
        """ Build the mask to find the path edges """
        kernel = np.ones((3, 3), np.uint8)
        img = cv2.bilateralFilter(image, 9, 75, 75)
        img = cv2.erode(img, kernel, iterations=1)

        hsv = cv2.cvtColor(img, cv2.COLOR_BGR2HSV)
        mask = cv2.inRange(hsv, self.lower_gray, self.upper_gray)

        mask2 = cv2.cvtColor(mask, cv2.COLOR_GRAY2BGR)
        mask2 = cv2.erode(mask2, kernel)
        mask2 = cv2.dilate(mask2, kernel, iterations=1)

        return mask2