vision_util.py 文件源码

def hsv_threshold(img, hue_min, hue_max, sat_min, sat_max, val_min, val_max):
    """
    Threshold an HSV image given separate min/max values for each channel.
    :param img: an hsv image
    :param hue_min:
    :param hue_max:
    :param sat_min:
    :param sat_max:
    :param val_min:
    :param val_max:
    :return: result of the threshold (each binary channel AND'ed together)
    """

    hue, sat, val = cv2.split(img)

    hue_bin = np.zeros(hue.shape, dtype=np.uint8)
    sat_bin = np.zeros(sat.shape, dtype=np.uint8)
    val_bin = np.zeros(val.shape, dtype=np.uint8)

    cv2.inRange(hue, hue_min, hue_max, hue_bin)
    cv2.inRange(sat, sat_min, sat_max, sat_bin)
    cv2.inRange(val, val_min, val_max, val_bin)

    bin = np.copy(hue_bin)
    cv2.bitwise_and(sat_bin, bin, bin)
    cv2.bitwise_and(val_bin, bin, bin)

    return bin