c语言，单片机，STM32 颜色识别库

//#include "stm32f10x.h" //#include "bsp_ili9341_lcd.h" #include "EasyTracer.h" #define min3v(v1, v2, v3) ((v1)>(v2)? ((v2)>(v3)?(v3):(v2)):((v1)>(v3)?(v3):(v1))) #define max3v(v1, v2, v3) ((v1)<(v2)? ((v2)<(v3)?(v3):(v2)):((v1)<(v3)?(v3):(v1))) typedef struct //RGB格式颜色 { unsigned char red; // [0,255] unsigned char green; // [0,255] unsigned char blue; // [0,255] }COLOR_RGB; typedef struct //HSL格式颜色 { unsigned char hue; // [0,240] unsigned char saturation; // [0,240] unsigned char luminance; // [0,240] }COLOR_HSL; typedef struct //区域 { unsigned int X_Start; unsigned int X_End; unsigned int Y_Start; unsigned int Y_End; }SEARCH_AREA; //---------------------------------------------------------------------------- //---------------------------------------------------------------------------- //读取RBG格式颜色，唯一需要移植的函数 //---------------------------------------------------------------------------- //extern unsigned short GUI_ReadBit16Point(unsigned short x,unsigned short y); #define GUI_ReadBit16Point ReadPixel //============================================================================ //读取坐标点处的颜色 //============================================================================ static void ReadColor(unsigned int x,unsigned int y,COLOR_RGB *Rgb) { unsigned short C16; C16 = GUI_ReadBit16Point(x,y); //读点的颜色 Rgb->red = (unsigned char)((C16&0xf800)>>8); Rgb->green = (unsigned char)((C16&0x07e0)>>3); Rgb->blue = (unsigned char)((C16&0x001f)); } //============================================================================ //RGB转HSL //============================================================================ static void RGBtoHSL(const COLOR_RGB *Rgb, COLOR_HSL *Hsl) { int h,s,l,maxVal,minVal,difVal; int r = Rgb->red; int g = Rgb->green; int b = Rgb->blue; maxVal = max3v(r, g, b); minVal = min3v(r, g, b); difVal = maxVal-minVal; //计算亮度 l = (maxVal+minVal)*240/255/2; if(maxVal == minVal)//若r=g=b { h = 0; s = 0; } else { //计算色调 if(maxVal==r) { if(g>=b) h = 40*(g-b)/(difVal); else h = 40*(g-b)/(difVal) + 240; } else if(maxVal==g) h = 40*(b-r)/(difVal) + 80; else if(maxVal==b) h = 40*(r-g)/(difVal) + 160; //计算饱和度 if(l == 0) s = 0; else if(l<=120) s = (difVal)*240/(maxVal+minVal); else s = (difVal)*240/(480 - (maxVal+minVal)); } Hsl->hue = (unsigned char)(((h>240)? 240 : ((h<0)?0:h))); Hsl->saturation = (unsigned char)(((s>240)? 240 : ((s<0)?0:s))); Hsl->luminance = (unsigned char)(((l>240)? 240 : ((l<0)?0:l))); } //============================================================================ //匹配颜色 //============================================================================ static int ColorMatch(const COLOR_HSL *Hsl,const TARGET_CONDI *Condition) { if( Hsl->hue > Condition->H_MIN && Hsl->hue < Condition->H_MAX && Hsl->saturation > Condition->S_MIN && Hsl->saturation < Condition->S_MAX && Hsl->luminance > Condition->L_MIN && Hsl->luminance < Condition->L_MAX ) return 1; else return 0; } //============================================================================ //搜索腐蚀中心 //============================================================================ static int SearchCentre(unsigned int *x,unsigned int *y,const TARGET_CONDI *Condition,const SEARCH_AREA *Area) { unsigned int SpaceX,SpaceY,i,j,k,FailCount=0; COLOR_RGB Rgb; COLOR_HSL Hsl; SpaceX = Condition->WIDTH_MIN/3; SpaceY = Condition->HIGHT_MIN/3; for(i=Area->Y_Start;i<Area->Y_End;i+=SpaceY) { for(j=Area->X_Start;j<Area->X_End;j+=SpaceX) { FailCount=0; for(k=0;k<SpaceX+SpaceY;k++) { if(k<SpaceX) ReadColor(j+k,i+SpaceY/2,&Rgb); else ReadColor(j+SpaceX/2,i+(k-SpaceX),&Rgb); RGBtoHSL(&Rgb,&Hsl); if(!ColorMatch(&Hsl,Condition)) FailCount++; if(FailCount>((SpaceX+SpaceY)>>ALLOW_FAIL_PER)) break; } if(k == SpaceX+SpaceY) { *x = j+SpaceX/2; *y = i+SpaceY/2; return 1; } } } return 0; } //============================================================================ //从腐蚀中心向外腐蚀，得到新的腐蚀中心 //============================================================================ static int Corrode(unsigned int oldx,unsigned int oldy,const TARGET_CONDI *Condition,RESULT *Resu) { unsigned int Xmin,Xmax,Ymin,Ymax,i,FailCount=0; COLOR_RGB Rgb; COLOR_HSL Hsl; for(i=oldx;i>IMG_X;i--) { ReadColor(i,oldy,&Rgb); RGBtoHSL(&Rgb,&Hsl); if(!ColorMatch(&Hsl,Condition)) FailCount++; if(FailCount>(((Condition->WIDTH_MIN+Condition->WIDTH_MAX)>>2)>>ALLOW_FAIL_PER)) break; } Xmin=i; FailCount=0; for(i=oldx;i<IMG_X+IMG_W;i++) { ReadColor(i,oldy,&Rgb); RGBtoHSL(&Rgb,&Hsl); if(!ColorMatch(&Hsl,Condition)) FailCount++; if(FailCount>(((Condition->WIDTH_MIN+Condition->WIDTH_MAX)>>2)>>ALLOW_FAIL_PER)) break; } Xmax=i; FailCount=0; for(i=oldy;i>IMG_Y;i--) { ReadColor(oldx,i,&Rgb); RGBtoHSL(&Rgb,&Hsl); if(!ColorMatch(&Hsl,Condition)) FailCount++; if(FailCount>(((Condition->HIGHT_MIN+Condition->HIGHT_MAX)>>2)>>ALLOW_FAIL_PER)) break; } Ymin=i; FailCount=0; for(i=oldy;i<IMG_Y+IMG_H;i++) { ReadColor(oldx,i,&Rgb); RGBtoHSL(&Rgb,&Hsl); if(!ColorMatch(&Hsl,Condition)) FailCount++; if(FailCount>(((Condition->HIGHT_MIN+Condition->HIGHT_MAX)>>2)>>ALLOW_FAIL_PER)) break; } Ymax=i; FailCount=0; Resu->x = (Xmin+Xmax)/2; Resu->y = (Ymin+Ymax)/2; Resu->w = Xmax-Xmin; Resu->h = Ymax-Ymin; if(((Xmax-Xmin)>(Condition->WIDTH_MIN)) && ((Ymax-Ymin)>(Condition->HIGHT_MIN)) &&\ ((Xmax-Xmin)<(Condition->WIDTH_MAX)) && ((Ymax-Ymin)<(Condition->HIGHT_MAX)) ) return 1; else return 0; } //============================================================================ //唯一的API，用户将识别条件写入Condition指向的结构体中，该函数将返回目标的x，y坐标和长宽 //返回1识别成功，返回1识别失败 //============================================================================ int Trace(const TARGET_CONDI *Condition,RESULT *Resu) { unsigned int i; static unsigned int x0,y0,flag_=0; static SEARCH_AREA Area={IMG_X,IMG_X+IMG_W,IMG_Y,IMG_Y+IMG_H}; //识别的有效范围 这里定义为整个屏幕(320*240) RESULT Result; //保存识别结果 if(flag_ == 0) { if(SearchCentre(&x0,&y0,Condition,&Area)) //搜索腐蚀中心 flag_ = 1; else { Area.X_Start= IMG_X ; Area.X_End = IMG_X+IMG_W ; Area.Y_Start= IMG_Y ; Area.Y_End = IMG_Y+IMG_H; if(SearchCentre(&x0,&y0,Condition,&Area)) { flag_ =0; return 0; } } } Result.x = x0; Result.y = y0; for(i=0;i<ITERATE_NUM;i++) Corrode(Result.x,Result.y,Condition,&Result); //从腐蚀中心向外腐蚀，得到新的腐蚀中心 if(Corrode(Result.x,Result.y,Condition,&Result)) { x0 = Result.x; y0 = Result.y; Resu->x = Result.x; Resu->y = Result.y; Resu->w = Result.w; Resu->h = Result.h; flag_ = 1; Area.X_Start= Result.x - ((Result.w)>>1); Area.X_End = Result.x + ((Result.w)>>1); Area.Y_Start= Result.y - ((Result.h)>>1); Area.Y_End = Result.y + ((Result.h)>>1); return 1; } else { flag_ = 0; return 0; } } //使用举例 //RESULT Resu; //TARGET_CONDI Condition={60,100,20,120,10,160,40,40,320,240}; //Trace(&Condition,&Resu); unsigned int ReadPixel(int16_t x, int16_t y) { #if 0 LCD_DrawLine(x, y, 1, LCD_DIR_