openmv识别颜色c语言库函数完整代码

以下是OpenMV识别颜色C语言库函数的完整代码：

#include <stdio.h>
#include "py/runtime.h"
#include "py/obj.h"
#include "py/mphal.h"
#include "py/nlr.h"
#include "omv/img.h"
#include "omv/rgb565.h"
#include "omv/ov7725.h"
#include "omv/ov2640.h"
#include "omv/ov5640.h"
#include "omv/ov7670.h"
#include "omv/omv_boardconfig.h"
#include "imlib.h"

#define DEFAULT_BRIGHTNESS      0
#define DEFAULT_CONTRAST        0
#define DEFAULT_SATURATION      0
#define DEFAULT_GAINCEILING     2
#define DEFAULT_AEGAIN          0
#define DEFAULT_AEEXPOSURE      200
#define DEFAULT_AEAGC           0
#define DEFAULT_AEAGCGAIN       0

#define COLOR_RED               (0xFF0000)
#define COLOR_GREEN             (0x00FF00)
#define COLOR_BLUE              (0x0000FF)
#define COLOR_YELLOW            (0xFFFF00)
#define COLOR_CYAN              (0x00FFFF)
#define COLOR_MAGENTA           (0xFF00FF)
#define COLOR_BLACK             (0x000000)
#define COLOR_WHITE             (0xFFFFFF)

static mp_obj_t py_omv_color_detect(mp_obj_t red, mp_obj_t green, mp_obj_t blue, mp_obj_t threshold);

STATIC mp_obj_t py_omv_color_detect(mp_obj_t red, mp_obj_t green, mp_obj_t blue, mp_obj_t threshold)
{
    int r = mp_obj_get_int(red);
    int g = mp_obj_get_int(green);
    int b = mp_obj_get_int(blue);
    int th = mp_obj_get_int(threshold);

    image_t *img = sensor.snapshot();
    int x, y;
    for (y = 0; y < img->h; y++) {
        for (x = 0; x < img->w; x++) {
            uint16_t pixel = IM_GET_PIXEL(img, x, y);
            int pR = IM_R(pixel);
            int pG = IM_G(pixel);
            int pB = IM_B(pixel);
            if (abs(pR - r) <= th && abs(pG - g) <= th && abs(pB - b) <= th) {
                IM_SET_PIXEL(img, x, y, COLOR_GREEN);
            }
        }
    }
    return mp_const_none;
}

STATIC MP_DEFINE_CONST_FUN_OBJ_4(py_omv_color_detect_obj, py_omv_color_detect);

STATIC const mp_map_elem_t globals_table[] = {
    { MP_OBJ_NEW_QSTR(MP_QSTR___name__), MP_OBJ_NEW_QSTR(MP_QSTR_omv) },
    { MP_OBJ_NEW_QSTR(MP_QSTR_color_detect), (mp_obj_t)&py_omv_color_detect_obj },
};

STATIC MP_DEFINE_CONST_DICT(
    mp_module_omv_globals,
    globals_table
);

const mp_obj_module_t mp_module_omv = {
    .base = { &mp_type_module },
    .globals = (mp_obj_dict_t *)&mp_module_omv_globals,
};

MP_REGISTER_MODULE(MP_QSTR_omv, mp_module_omv, MODULE_OMV_ENABLED);

这段代码实现了一个名为py_omv_color_detect的函数，它接收红、绿、蓝三个颜色通道的值和阈值作为参数，在摄像头拍摄的图像中识别出符合要求的颜色，并将其标记为绿色。该函数的实现过程为：获取摄像头的一帧图像，遍历每个像素点，如果该像素点的RGB值与传入的颜色通道值的差值都小于等于阈值，则将该像素点标记为绿色。最后返回None。

在全局变量globals_table中注册了py_omv_color_detect函数，并将其作为模块omv的属性暴露出去。最后定义了一个mp_obj_module_t类型的变量mp_module_omv，并将globals_table赋值给其globals属性。最终使用MP_REGISTER_MODULE宏将模块注册到MicroPython中，并启用该模块