fcf2.py 文件源码

def image_callback(self, msg):
    # BEGIN BRIDGE
    image = self.bridge.imgmsg_to_cv2(msg)
    # END BRIDGE
    # BEGIN HSV
    hsv = cv2.cvtColor(image, cv2.COLOR_BGR2HSV)
    # END HSV
    # BEGIN FILTER
    lower_yellow = numpy.array([18, 120, 200])
    upper_yellow = numpy.array([28, 255, 255])
    mask = cv2.inRange(hsv, lower_yellow, upper_yellow)
    # END FILTER
    masked = cv2.bitwise_and(image, image, mask=mask)
    cv2.imshow("window", mask ) 
    cv2.waitKey(3)