ROI_min_blue_crop = self.crop_image_to_box_region(ROI_min_blue, mask=True)
        if ROI_min_blue_crop is not None:
            ROI_min_blue = ROI_min_blue_crop


        im2 = np.mean(ROI_min_blue, axis=2)
        im2 = [im2, im2, im2]
        im2 = np.stack(im2, axis=2)
        ROI_min_blue[im2 > 100] = 0
        im2 = np.subtract(ROI_min_blue, im2)
        im2 = np.abs(im2)
        im1 = np.mean(im2, axis=2)
        im2 = [im1,im1,im1]
        im2 = np.stack(im2, axis=2)
        ROI_min_blue[im2 > 12] = 0
        ROI_min_blue_mask = self.threshold_color(ROI_min_blue, self.white_threshold_values)
        ROI_min_blue = cv2.bitwise_and(ROI_min_blue, cv2.cvtColor(ROI_min_blue_mask, cv2.COLOR_GRAY2RGB))
        ROI_gray = cv2.cvtColor(ROI_min_blue, cv2.COLOR_RGB2GRAY)

        sumGray = np.sum(ROI_gray)
        #print("Gray= " + str(sumGray))

        colorHist = [sumGray, sumRed, sumBlue]
        classify = self.threshold_hist(colorHist)