def get_contours_for_range(img, color, vision):
"""
Action: Gets a list of all the contours within the range that.
:param color: a Color object describing (or numpy uint8 array) of color limit range in the hsv format.
:param img: image from which to get the contours.
:param vision: the vision object with a calibration to read from
:return: list of all contours matching the range of hsv colours.
:rtype: list, single numpy array (single contour) or None if no contour was found.
"""
# If there was a problem reading the image, exit
if img is None:
raise Exception("No picture given!")
hsv_low, hsv_high = color.low, color.high
if vision.saturation_weight_vector is not None:
image_mean = cv2.mean(img)[1]
new_s = General.get_calibrated_value(
image_mean, vision.saturation_weight_vector)
hsv_low[1] = new_s
if vision.value_weight_vector is not None:
image_mean = cv2.mean(img)[2]
new_v = General.get_calibrated_value(image_mean,
vision.value_weight_vector)
hsv_low[2] = new_v
img_in_hsv = cv2.cvtColor(img, cv2.COLOR_BGR2HSV)
img_mask = cv2.inRange(img_in_hsv, hsv_low, hsv_high)
if cv2.__version__.startswith("3."):
return cv2.findContours(img_mask, cv2.RETR_TREE,
cv2.CHAIN_APPROX_SIMPLE)[1]
if cv2.__version__.startswith("4."):
return cv2.findContours(img_mask, cv2.RETR_TREE,
cv2.CHAIN_APPROX_SIMPLE)[1]
elif cv2.__version__.startswith("2."):
return cv2.findContours(img_mask, cv2.RETR_TREE,
cv2.CHAIN_APPROX_SIMPLE)[0]
else:
raise General.VersionError(
"This code works with version 2 and 3 of openCV!")
