颜色空间转换YCbCr2RGB/RGB2YCbCr/YCbCr2HSI/HSI2YCbCr/YCbCr2TSL/TSL2YCbCr
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以下为从一机器人系统中提出出来的关于各个颜色空间的转换，这些转换都是基于通道值的，对于不使用OPENCV的程序还是有用的。
static void fromYCbCrToRGB(unsigned char Y, unsigned char Cb, unsigned char Cr, unsigned char& R, unsigned char& G, unsigned char& B) { int r = Y + ((1436 * (Cr - 128)) >> 10), g = Y - ((354 * (Cb - 128) + 732 * (Cr - 128)) >> 10), b = Y + ((1814 * (Cb - 128)) >> 10); if(r < 0) r = 0; else if(r > 255) r = 255; if(g < 0) g = 0; else if(g > 255) g = 255; if(b < 0) b = 0; else if(b > 255) b = 255; R = (unsigned char) r; G = (unsigned char) g; B = (unsigned char) b; } /** Converts an RGB pixel into an YCbCr pixel. * @param R The R channel of the source pixel. * @param G The G channel of the source pixel. * @param B The B channel of the source pixel. * @param Y The Y channel of the target pixel. * @param Cb The Cb channel of the target pixel. * @param Cr The Cr channel of the target pixel. */ static void fromRGBToYCbCr(unsigned char R, unsigned char G, unsigned char B, unsigned char& Y, unsigned char& Cb, unsigned char& Cr) { int y = (int)(0.2990 * R + 0.5870 * G + 0.1140 * B), cr = 127 + (int)(-0.1687 * R - 0.3313 * G + 0.5000 * B), cb = 127 + (int)(0.5000 * R - 0.4187 * G - 0.0813 * B); if(y < 0) y = 0; else if(y > 255) y = 255; if(cb < 0) cb = 0; else if(cb > 255) cb = 255; if(cr < 0) cr = 0; else if(cr > 255) cr = 255; Y = (unsigned char) y; Cb = (unsigned char) cb; Cr = (unsigned char) cr; } /** Converts an YCbCr pixel into an HSI pixel. * @param Y The Y channel of the source pixel. * @param Cb The Cb channel of the source pixel. * @param Cr The Cr channel of the source pixel. * @param H The H channel of the target pixel. * @param S The S channel of the target pixel. * @param I The I channel of the target pixel. */ static void fromYCbCrToHSI(unsigned char Y, unsigned char Cb, unsigned char Cr, unsigned char& H, unsigned char& S, unsigned char& I) { const float sqrt3 = 1.732050808f; unsigned char R, G, B; fromYCbCrToRGB(Y, Cb, Cr, R, G, B); I = R; if(G > I) I = G; if(B > I) I = B; if(I) { S = R; if(G < S) S = G; if(B < S) S = B; S = (unsigned char)(255 - 255 * S / I); if(S) { int h = int(atan2(sqrt3 * (G - B), float(2 * R - G - B)) / pi2 * 256.0f); if(h > 255) h -= 256; else if(h < 0) h += 256; H = (unsigned char) h; } else H = 0; } else S = H = 0; } /** Converts an HSI pixel into an YCbCr pixel. * @param H The H channel of the source pixel. * @param S The S channel of the source pixel. * @param I The I channel of the source pixel. * @param Y The Y channel of the target pixel. * @param Cb The Cb channel of the target pixel. * @param Cr The Cr channel of the target pixel. */ static void fromHSIToYCbCr(unsigned char H, unsigned char S, unsigned char I, unsigned char& Y, unsigned char& Cb, unsigned char& Cr) { float h = 1.0f - H / 255.0f, s = S / 255.0f, r, g, b; if(h < 1.0f / 3.0f) { g = (1 - s) / 3; b = (1 + s * cos(pi2 * h) / cos(pi2 * (1.0f / 6.0f - h))) / 3.0f; r = 1 - (g + b); } else if(h < 2.0f / 3.0f) { h -= 1.0f / 3.0f; b = (1 - s) / 3; r = (1 + s * cos(pi2 * h) / cos(pi2 * (1.0f / 6.0f - h))) / 3.0f; g = 1 - (b + r); } else { h -= 2.0f / 3.0f; r = (1 - s) / 3; g = (1 + s * cos(pi2 * h) / cos(pi2 * (1.0f / 6.0f - h))) / 3.0f; b = 1 - (r + g); } r *= I * 3; g *= I * 3; b *= I * 3; if(r > 255) r = 255; if(g > 255) g = 255; if(b > 255) b = 255; fromRGBToYCbCr((unsigned char) r, (unsigned char) g, (unsigned char) b, Y, Cb, Cr); } /** Converts an YCbCr pixel into a TSL pixel. * @param Y The Y channel of the source pixel. * @param Cb The Cb channel of the source pixel. * @param Cr The Cr channel of the source pixel. * @param T The T channel of the target pixel. * @param S The S channel of the target pixel. * @param L The L channel of the target pixel. */ static void fromYCbCrToTSL(unsigned char Y, unsigned char Cb, unsigned char Cr, unsigned char& T, unsigned char& S, unsigned char& L) { const float pi2_div = 0.15915494309189533576888376337251f; /* 1.0f / (PI * 2.0f) */ float cb = Cb - 128.0f, cr = Cr - 128.0f, tmp = 1.0f / (4.3403f * Y + 2.0f * cr + cb), tmp_r = (-0.6697f * cr + 1.6959f * cb) * tmp, tmp_g = (-1.168f * cr - 1.3626f * cb) * tmp, tmp_b = (1.8613f * cr - 0.331f * cb) * tmp; float t_out; if(tmp_g > 0.0f) t_out = (atan2(tmp_r, tmp_g) * pi2_div + 0.25f) * 255.0f; else if(tmp_g < 0.0f) t_out = (atan2(-tmp_r, -tmp_g) * pi2_div + 0.75f) * 255.0f; else t_out = 0.0f; float s_out = sqrt(1.8f * (tmp_r * tmp_r + tmp_g * tmp_g + tmp_b * tmp_b)) * 255.0f; if(t_out < 0.0f) t_out = 0.0f; else if(t_out > 255.0f) t_out = 255.0f; if(s_out < 0.0f) s_out = 0.0f; else if(s_out > 255.0f) s_out = 255.0f; T = (unsigned char) t_out; S = (unsigned char) s_out; L = Y; } /** Converts a TSL pixel into an YCbCr pixel. * @param T The T channel of the source pixel. * @param S The S channel of the source pixel. * @param L The L channel of the source pixel. * @param Y The Y channel of the target pixel. * @param Cb The Cr channel of the target pixel. * @param Cr The Cr channel of the target pixel. */ static void fromTSLToYCbCr(unsigned char T, unsigned char S, unsigned char L, unsigned char& Y, unsigned char& Cb, unsigned char& Cr) { float rad = S * 0.555f / 255.0f, phi = (T * 2 / 255.0f + 0.25f) * pi, cb = 128 + rad * cos(phi) * 255.0f, cr = 128 - rad * sin(phi) * 255.0f; Y = L; if(cb < 0) cb = 0; else if(cb > 255) cb = 255; if(cr < 0) cr = 0; else if(cr > 255) cr = 255; Cb = (unsigned char) cb; Cr = (unsigned char) cr; } /** Converts a TSL pixel into an YCbCr pixel. * @param t The T channel of the source pixel. * @param s The S channel of the source pixel. * @param l The L channel of the source pixel. * @param r The R channel of the target pixel. * @param g The G channel of the target pixel. * @param b The B channel of the target pixel. */ static void fromTSLToRGB(unsigned char t, unsigned char s, unsigned char l, unsigned char& r, unsigned char& g, unsigned char& b) { float y1, u1, v1, r1, g1, b1, rad, phi; /* Convert TSL to YUV */ rad = (((float) s) * 0.555f) / 255.0f; phi = (((float) t) * 2.0f * 3.14159f) / 255.0f; phi += 0.25f * 3.14159f; y1 = (float) l; u1 = (rad * cos(phi)) * 255.0f; v1 = -(rad * sin(phi)) * 255.0f; /* Crop UV */ if(u1 < -128.0f) { u1 = -128.0f; } else if(u1 > 127.0f) { u1 = 127.0f; } if(v1 < -128.0f) { v1 = -128.0f; } else if(v1 > 127.0f) { v1 = 127.0f; } /* Convert YUV to RGB */ r1 = y1 + 1.371f * v1; g1 = y1 - 0.336f * u1 - 0.698f * v1; b1 = y1 + 1.732f * u1; /* Crop RGB */ if(r1 < 0.0f) { r1 = 0.0f; } else if(r1 > 255.0f) { r1 = 255.0f; } if(g1 < 0.0f) { g1 = 0.0f; } else if(g1 > 255.0f) { g1 = 255.0f; } if(b1 < 0.0f) { b1 = 0.0f; } else if(b1 > 255.0f) { b1 = 255.0f; } /* Return values */ r = (unsigned char) r1; g = (unsigned char) g1; b = (unsigned char) b1; }- 颜色空间转换YCbCr2RGB/RGB2YCbCr/YCbCr2HSI/HSI2YCbCr/YCbCr2TSL/TSL2YCbCr
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