def _detectAndEstimateDistance(self):
self._grayImage = cv2.cvtColor(self._image, cv2.COLOR_BGR2GRAY,
self._grayImage)
blobs = self._detector.detect(self._grayImage)
blobsForColors = {}
for blob in blobs:
centerXAsInt, centerYAsInt = \
(int(n) for n in blob.pt)
radiusAsInt = int(blob.size)
minX = max(0, centerXAsInt - radiusAsInt)
maxX = min(self._imageWidth, centerXAsInt + radiusAsInt)
minY = max(0, centerYAsInt - radiusAsInt)
maxY = min(self._imageHeight, centerYAsInt + radiusAsInt)
region = self._image[minY:maxY, minX:maxX]
# Get the region's dimensions, which may
# differ from the blob's diameter if the blob
# extends past the edge of the image.
h, w = region.shape[:2]
meanColor = region.reshape(w * h, 3).mean(0)
meanHue = ColorUtils.hueFromBGR(meanColor)
meanSaturation = ColorUtils.saturationFromBGR(meanColor)
if meanHue < 22.5 or meanHue > 337.5:
color = COLOR_Red
elif meanHue < 67.5:
if meanSaturation < 25.0:
color = COLOR_YellowWhite
else:
color = COLOR_AmberYellow
elif meanHue < 172.5:
color = COLOR_Green
elif meanHue < 277.5:
if meanSaturation < 25.0:
color = COLOR_BlueWhite
else:
color = COLOR_BluePurple
else:
color = COLOR_Pink
if color in blobsForColors:
blobsForColors[color] += [blob]
else:
blobsForColors[color] = [blob]
self._processBlobsForColors(blobsForColors)
self._enableOrDisableCalibrationButton()
