/* G3 05 - Nhan dien mau bang RGB/HSV Board: ESP32-CAM AI Thinker + OV2640 Compile target: esp32:esp32:esp32cam */ #include "esp_camera.h" #define PWDN_GPIO_NUM 32 #define RESET_GPIO_NUM -1 #define XCLK_GPIO_NUM 0 #define SIOD_GPIO_NUM 26 #define SIOC_GPIO_NUM 27 #define Y9_GPIO_NUM 35 #define Y8_GPIO_NUM 34 #define Y7_GPIO_NUM 39 #define Y6_GPIO_NUM 36 #define Y5_GPIO_NUM 21 #define Y4_GPIO_NUM 19 #define Y3_GPIO_NUM 18 #define Y2_GPIO_NUM 5 #define VSYNC_GPIO_NUM 25 #define HREF_GPIO_NUM 23 #define PCLK_GPIO_NUM 22 const int SAMPLE_STEP = 2; const int MIN_VALUE = 35; const int MIN_SATURATION = 35; unsigned long frameId = 0; struct ColorStats { int r; int g; int b; float hue; float saturation; float value; const char *label; int confidence; }; bool setupCamera() { camera_config_t config; config.ledc_channel = LEDC_CHANNEL_0; config.ledc_timer = LEDC_TIMER_0; config.pin_d0 = Y2_GPIO_NUM; config.pin_d1 = Y3_GPIO_NUM; config.pin_d2 = Y4_GPIO_NUM; config.pin_d3 = Y5_GPIO_NUM; config.pin_d4 = Y6_GPIO_NUM; config.pin_d5 = Y7_GPIO_NUM; config.pin_d6 = Y8_GPIO_NUM; config.pin_d7 = Y9_GPIO_NUM; config.pin_xclk = XCLK_GPIO_NUM; config.pin_pclk = PCLK_GPIO_NUM; config.pin_vsync = VSYNC_GPIO_NUM; config.pin_href = HREF_GPIO_NUM; config.pin_sccb_sda = SIOD_GPIO_NUM; config.pin_sccb_scl = SIOC_GPIO_NUM; config.pin_pwdn = PWDN_GPIO_NUM; config.pin_reset = RESET_GPIO_NUM; config.xclk_freq_hz = 20000000; config.pixel_format = PIXFORMAT_RGB565; config.frame_size = FRAMESIZE_QQVGA; config.jpeg_quality = 12; config.fb_count = 1; esp_err_t err = esp_camera_init(&config); return err == ESP_OK; } void rgb565ToRgb(uint16_t pixel, int &r, int &g, int &b) { r = ((pixel >> 11) & 0x1F) * 255 / 31; g = ((pixel >> 5) & 0x3F) * 255 / 63; b = (pixel & 0x1F) * 255 / 31; } float computeHue(int r, int g, int b, int maxC, int minC) { float delta = maxC - minC; if (delta <= 0.5) return 0.0; float hue = 0.0; if (maxC == r) { hue = 60.0 * ((g - b) / delta); } else if (maxC == g) { hue = 60.0 * (2.0 + (b - r) / delta); } else { hue = 60.0 * (4.0 + (r - g) / delta); } if (hue < 0.0) hue += 360.0; return hue; } const char *classifyHue(float hue, float saturation, float value) { if (value < MIN_VALUE) return "DARK"; if (saturation < MIN_SATURATION) return "GRAY_OR_WHITE"; if (hue < 25.0 || hue >= 335.0) return "RED"; if (hue >= 35.0 && hue < 85.0) return "YELLOW_GREEN"; if (hue >= 85.0 && hue < 170.0) return "GREEN"; if (hue >= 190.0 && hue < 260.0) return "BLUE"; return "UNKNOWN_COLOR"; } ColorStats analyzeCenter(camera_fb_t *frame) { long sumR = 0; long sumG = 0; long sumB = 0; long count = 0; int width = frame->width; int height = frame->height; int x0 = width / 2 - width / 6; int x1 = width / 2 + width / 6; int y0 = height / 2 - height / 6; int y1 = height / 2 + height / 6; for (int y = y0; y < y1; y += SAMPLE_STEP) { for (int x = x0; x < x1; x += SAMPLE_STEP) { int index = (y * width + x) * 2; if (index + 1 >= (int)frame->len) continue; uint16_t pixel = ((uint16_t)frame->buf[index] << 8) | frame->buf[index + 1]; int r, g, b; rgb565ToRgb(pixel, r, g, b); sumR += r; sumG += g; sumB += b; count++; } } ColorStats stats; stats.r = count > 0 ? sumR / count : 0; stats.g = count > 0 ? sumG / count : 0; stats.b = count > 0 ? sumB / count : 0; int maxC = max(stats.r, max(stats.g, stats.b)); int minC = min(stats.r, min(stats.g, stats.b)); stats.value = maxC; stats.saturation = maxC == 0 ? 0.0 : (maxC - minC) * 100.0 / maxC; stats.hue = computeHue(stats.r, stats.g, stats.b, maxC, minC); stats.label = classifyHue(stats.hue, stats.saturation, stats.value); stats.confidence = constrain((int)(stats.saturation + stats.value / 4.0), 0, 100); return stats; } void printStats(const ColorStats &stats) { Serial.print("frame="); Serial.print(frameId); Serial.print(",rgb="); Serial.print(stats.r); Serial.print("|"); Serial.print(stats.g); Serial.print("|"); Serial.print(stats.b); Serial.print(",hue="); Serial.print(stats.hue, 1); Serial.print(",sat="); Serial.print(stats.saturation, 1); Serial.print(",value="); Serial.print(stats.value, 1); Serial.print(",label="); Serial.print(stats.label); Serial.print(",confidence="); Serial.println(stats.confidence); } void setup() { Serial.begin(115200); delay(1000); Serial.println("G3 05 RGB/HSV color recognizer"); if (!setupCamera()) { Serial.println("camera=INIT_FAILED"); while (true) delay(1000); } Serial.println("camera=READY format=RGB565 frame=QQVGA"); } void loop() { camera_fb_t *frame = esp_camera_fb_get(); if (!frame) { Serial.println("frame=CAPTURE_FAILED"); delay(500); return; } frameId++; ColorStats stats = analyzeCenter(frame); printStats(stats); esp_camera_fb_return(frame); delay(700); }

Nhận diện màu bằng RGB/HSV

Ghi danh khóa học để mở bài này