vision_processing.py 文件源码

def threshold_image_for_tape(image):
    """
    Thresholds image for reflective tape with light shined on it. This means it
    looks for pixels that are almost white, makes them white, and makes
    everything else black.

    Parameters:
        :param: `image` - the source image to threshold from
    """
    orig_image = numpy.copy(image)
    # print orig_image.size
    orig_image = cv2.medianBlur(orig_image, 3)
    # orig_image[orig_image > 100] = 255
    # return orig_image[orig_image > 100]
    height, width = orig_image.shape[0], orig_image.shape[1]
    eight_bit_image = numpy.zeros((height, width, 1), numpy.uint8)
    cv2.inRange(orig_image,
                (B_RANGE[0], G_RANGE[0], R_RANGE[0], 0),
                (B_RANGE[1], G_RANGE[1], R_RANGE[1], 100),
                eight_bit_image)
    # # eight_bit_image = cv2.adaptiveThreshold(orig_image,
    # #                             255,
    # #                             cv2.ADAPTIVE_THRESH_GAUSSIAN_C,
    # #                             cv2.THRESH_BINARY,
    # #                             8,
    # #                             0)
    # cv2.medianBlur(eight_bit_image, 9)
    return eight_bit_image