The result of the extract of color varies depending on the camera and Image's topic

edit

I am using two cameras to extract of the cloth's color.

first camera webcam and second camera Xtion or orbbec

my code can't extract the color at same values (RGB)

when I watch the video I think that the webcam is better than others(RGBD). it is near from fact (the color similar what my eyes see)

the webcam is using rosrun usb_cam usb_cam_node _pixel_format:=yuyv whereas others roslaunch astra_camera astra.launch

this means different Format see here

my issue is the robot loses the target more with RGBD when a happening simple change in an environment not severe illumination. meanwhile, I need it because of the depth camera.

this my full code to compare them:

import rospy
import cv2
import numpy as np
from sensor_msgs.msg import Image, CameraInfo
from cv_bridge import CvBridge, CvBridgeError

class CVControl:
    def __init__(self):
        self.bridge = CvBridge()
        self.image_sub = rospy.Subscriber('/usb_cam/image_raw', Image, self.usb_cam)
        self.image_sub = rospy.Subscriber("/camera/rgb/image_raw", Image, self.img_callback)

    def usb_cam(self, data):
        try:
            cv_image = self.bridge.imgmsg_to_cv2(data, "bgr8")
        except CvBridgeError as e:
            print e
        img = cv_image
        hsv = cv2.cvtColor(img, cv2.COLOR_BGR2HSV)
        red_lower = np.array([106, 48, 26], np.uint8)
        red_upper = np.array([126, 68, 106], np.uint8)
        red = cv2.inRange(hsv, red_lower, red_upper)
        # kernal = np.ones((5, 5), "uint8")        #
        # red = cv2.dilate(red, kernal)
        res_red = cv2.bitwise_and(img, img, mask=red)

        mask = cv2.morphologyEx(red, cv2.MORPH_OPEN, cv2.getStructuringElement(cv2.MORPH_ELLIPSE, (2, 2)))
        mask = cv2.Canny(mask, 50, 100)
        mask = cv2.GaussianBlur(mask, (13, 13), 0)
        mask = cv2.morphologyEx(mask, cv2.MORPH_OPEN, cv2.getStructuringElement(cv2.MORPH_ELLIPSE, (2, 2)))

        (_, contours, hierarchy) = cv2.findContours(mask, cv2.RETR_TREE, cv2.CHAIN_APPROX_SIMPLE)
        for pic, contour in enumerate(contours):
            area = cv2.contourArea(contour)
            if (area > 10000):
                x, y, w, h = cv2.boundingRect(contour)
                img = cv2.rectangle(img, (x, y), (x + w, y + h), (0, 0, 255), 2)
                cv2.putText(img, "Red Colour", (x, y), cv2.FONT_HERSHEY_SIMPLEX, 0.7, (0, 0, 255))

        cv2.imshow("usb_cam", img)
        cv2.waitKey(3)
    def img_callback(self, data):
        try:
            cv_image = self.bridge.imgmsg_to_cv2(data, "bgr8")
        except CvBridgeError as e:
            print e

        img = cv_image
        hsv = cv2.cvtColor(img, cv2.COLOR_BGR2HSV)
        red_lower = np.array([106, 48, 26], np.uint8)
        red_upper = np.array([126, 68, 106], np.uint8)
        red = cv2.inRange(hsv, red_lower, red_upper)

        # kernal = np.ones((5, 5), "uint8")
        #
        # red = cv2.dilate(red, kernal)
        res_red = cv2.bitwise_and(img, img, mask=red)

        mask = cv2.morphologyEx(red, cv2.MORPH_OPEN, cv2.getStructuringElement(cv2.MORPH_ELLIPSE, (2, 2)))
        mask = cv2.Canny(mask, 50, 100)
        mask = cv2.GaussianBlur(mask, (13, 13), 0)
        mask = cv2.morphologyEx(mask, cv2.MORPH_OPEN, cv2.getStructuringElement(cv2.MORPH_ELLIPSE, (2, 2)))

        (_, contours, hierarchy) = cv2.findContours(mask, cv2.RETR_TREE, cv2.CHAIN_APPROX_SIMPLE)
        for pic, contour in enumerate(contours):
            area = cv2.contourArea(contour)
            if (area > 10000):
                x, y, w, h = cv2.boundingRect(contour)
                img = cv2.rectangle(img, (x, y), (x + w, y + h), (0, 0, 255), 2)
                cv2.putText(img, "Red Colour", (x, y), cv2.FONT_HERSHEY_SIMPLEX, 0.7, (0, 0, 255))
        cv2.imshow("Image window", img)
        cv2.waitKey ...