Opencv車線検出
しゃせんけんしゅつ
ブログにまとめる:https://blog.csdn.net/sgfmby1994/article/details/78670630
実験手順:
コードフレーム:
完全コースPPTと実験要求スタンプ:https://github.com/MintLucas/Digital_image_process
じっけんけっか
ブログにまとめる:https://blog.csdn.net/sgfmby1994/article/details/78670630
実験手順:
コードフレーム:
完全コースPPTと実験要求スタンプ:https://github.com/MintLucas/Digital_image_process
#include
#include
#include
#include
#include
#include "Lab01_grayConversion.hpp"
#include "Lab02_hisBalance.hpp"
#include "Lab03_spacialFilter.hpp"
#include "Lab04_noiseEliminate.hpp"
#include "Lab05_spectrumFileter.hpp"
using namespace std;
using namespace cv;
int main(){
Mat img, img2, img3, gray, blur_img, edges, mask, masked_edges;
img = imread("/Users/zhipeng/ustc_term2/Opencv/Opencv/Opencv/Digital_imgae_process/4.jpg",-1);
img2 = img.clone();
img3 = img.clone();
if(img.empty()){
cout << "read file error" << endl;
return -1;
}
//imshow("srcImg", img);
// :
cvtColor(img, gray, cv::COLOR_BGR2GRAY);
GaussianBlur(gray, blur_img, Size(5, 5), 0);
imshow("1gray", gray);
// :
Canny(blur_img, edges, 100, 250);
imshow("2canny", edges);
// ROI: ,
mask = Mat::zeros(img.size(), CV_8UC1);
vector<vector<Point>> contour;
vector<Point> pts;
pts.push_back(Point(0, img.rows));// cols, rows
pts.push_back(Point(img.cols/2.0 - 20, img.rows*0.6));
pts.push_back(Point(img.cols/2.0 + 20, img.rows*0.6));
pts.push_back(Point(img.cols, img.rows));
contour.push_back(pts);
// 。 0, 。 -1,s
drawContours(mask, contour, 0, Scalar::all(255), -1);
edges.copyTo(masked_edges, mask);
imshow("3mask", mask);
imshow("3masked_edges", masked_edges);
// : hough
vector<Vec4i> lines, left_lines, right_lines;// Vec4i -> lines[i][0-3]
// lines , xy
HoughLinesP(masked_edges, lines, 2, CV_PI/180, 30, 10, 30);
//
vector<double> left_slope, right_slope;
//Point2d -> left_centers[i].x
vector<Point2d> left_centers, right_centers;
list<Vec4i> list_lines;
//Part1: hough list
vector<Vec4i> pro_lines; //list(after erase) -> vector
for(auto v:lines)
pro_lines.push_back(v);
for(int i=0; i<pro_lines.size(); i++)
{
line(img, Point(pro_lines[i][0], pro_lines[i][1]),
Point(pro_lines[i][2], pro_lines[i][3]) ,Scalar(255,0,0),3,8);
}
imshow("houghListLines", img);
double slo;
Point2d center;
int i = 0;
for(auto v : lines) //vector->list
list_lines.push_back(v);
for (auto iter = list_lines.begin(); iter != list_lines.end(); ++i) {
//slo=(y2-y1)/(x2-x1)
slo = double((lines[i][3]-lines[i][1]))/double((lines[i][2]-lines[i][0])) ;
//center=(x1+x2)/2, (y1+y2)/2
center = Point( double(lines[i][2]+lines[i][0])/2 , double(lines[i][3]+lines[i][1])/2 );
// erase
if(fabs(slo)<0.35)
{
iter = list_lines.erase(iter);
continue;
}
//
if(slo > 0)
{
right_lines.push_back(lines[i]);
right_centers.push_back(center);
right_slope.push_back(slo);
}
else
{
left_lines.push_back(lines[i]);
left_centers.push_back(center);
left_slope.push_back(slo);
}
*iter = lines[i];
iter++;
}
//Part2: erase
vector<Vec4i> pro_lines2; //list(after erase) -> vector
for(auto v:list_lines)
pro_lines2.push_back(v);
for(int i=0; i<pro_lines2.size(); i++)
{
line(img2, Point(pro_lines2[i][0], pro_lines2[i][1]),
Point(pro_lines2[i][2], pro_lines2[i][3]) ,Scalar(0,255,0),3,8);
}
imshow("sloSelectLines", img2);
//left to mean slope and center
double left_len, total_left_len=0, total_left_slope=0;
Point2d total_left_center(0,0);
for(int i = 0; i< left_lines.size(); i++)
{
//
left_len = sqrt( (left_lines[i][2]-left_lines[i][0])*(left_lines[i][2]-left_lines[i][0]) + (left_lines[i][3]-left_lines[i][1])*(left_lines[i][3]-left_lines[i][1]) );
total_left_slope += left_len * left_slope[i];
total_left_len += left_len;
total_left_center = Point(total_left_center.x + left_len * left_centers[i].x , total_left_center.y + left_len * left_centers[i].y );
}
//
double mean_left_slope;
Point2d mean_left_center;
mean_left_slope = total_left_slope/ total_left_len;
mean_left_center = Point( total_left_center.x/total_left_len, total_left_center.y/total_left_len);
//right to mean slope and center
double right_len, total_right_len=0, total_right_slope=0;
Point2d total_right_center(0,0);
for(int i = 0; i< right_lines.size(); i++)
{
right_len = sqrt( (right_lines[i][2]-right_lines[i][0])*(right_lines[i][2]-right_lines[i][0]) + (right_lines[i][3]-right_lines[i][1])*(right_lines[i][3]-right_lines[i][1]) );
total_right_slope = total_right_slope + right_len * right_slope[i];
total_right_len = total_right_len + right_len;
total_right_center = Point(total_right_center.x + right_len * right_centers[i].x , total_right_center.y + right_len * right_centers[i].y );
}
double mean_right_slope;
Point2d mean_right_center;
mean_right_slope = total_right_slope/ total_right_len;
mean_right_center = Point( total_right_center.x/total_right_len, total_right_center.y/total_right_len);
// y1 y2, 0.6-1 y
double start_y = img.rows * 0.6;// 0,0, 0-0.6
double end_y = img.rows;
// , x1,x2
double left_start_x = (start_y - mean_left_center.y)/mean_left_slope + mean_left_center.x;
double left_end_x = (end_y - mean_left_center.y)/mean_left_slope + mean_left_center.x;
double right_start_x = (start_y - mean_right_center.y)/mean_right_slope + mean_right_center.x;
double right_end_x = (end_y - mean_right_center.y)/mean_right_slope + mean_right_center.x;
//Part3:
line(img3, Point(left_start_x, start_y), Point(left_end_x, end_y), Scalar(0,0,255), 3, 8);
line(img3, Point(right_start_x, start_y), Point(right_end_x, end_y), Scalar(0,0,255), 3, 8);
imshow("4twoLinesInHorizon", img3);
waitKey(0);
return 0;
}
じっけんけっか