颜色空间转换YCbCr2RGB/RGB2YCbCr/YCbCr2HSI/HSI2YCbCr/YCbCr2TSL/TSL2YCbCr

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 &