单片机EasyTrace32摄像头颜色跟踪识别，移植这个可以完成 -

#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{
unsigned char red; // [0,255]
unsigned char green; // [0,255]
unsigned char blue; // [0,255]
}COLOR_RGB;//RGB格式颜色
typedef struct{
unsigned char hue; // [0,240]
unsigned char saturation; // [0,240]
unsigned char luminance; // [0,240]
}COLOR_HSL;//HSL格式颜色
typedef struct{
unsigned int X_Start;
unsigned int X_End;
unsigned int Y_Start;
unsigned int Y_End;
}SEARCH_AREA;//区域
//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);
static void ReadColor(unsigned int x,unsigned int y,COLOR_RGB *Rgb)
{
unsigned short C16;
C16 = GUI_ReadBit16Point(x,y);
Rgb->red = (unsigned char)((C16&0xf800)>>8);
Rgb->green = (unsigned char)((C16&0x07e0)>>3);
Rgb->blue = (unsigned char)((C16&0x001f)<<3);
}
//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};
RESULT Result;
if(flag==0)
{
if(SearchCentre(&x0,&y0,Condition,&Area))
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);
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;
}
}

复制代码