from aim_fsm import *

class ColorSeg(StateMachineProgram):
    def start(self):
        super().start()
        namedWindow('segmented')

    def user_image(self, image, gray):
        resolution = image.shape[0:2]
        result = image.copy()
        orange_filter = (image[:,:,0] > 120) & (image[:,:,2] < 50)
        blue_filter = (image[:,:,0] < 120) & (image[:,:,2] > 10)
        result[~(orange_filter | blue_filter)] = 0
        imshow('segmented', result)