【计算机视觉学习之CV2图像操作实战：车道识别1】

车道识别

步骤

1. 区域感兴趣
2. 高斯模糊
3. 图片灰度化
4. 边缘提取
5. 膨胀腐蚀
6. 中值滤波
7. 霍夫圆环检测直线
8. 绘制车道

import cv2
import numpy as np


def create_roi_mask(frame):
    height, width = frame.shape[:2]

    # 三角形的顶点
    top_vertex = [int(width / 2 + 30), int(height * 0.5 + 30)]
    bottom_left = [120, height-50]
    bottom_right = [width-120, height-50]

    # 定义三角形的点集
    triangle = np.array([bottom_left, top_vertex, bottom_right], np.int32)

    # 创建一个与原帧同样大小的空白掩模,注意这里只创建了一个单通道的掩模
    mask = np.zeros((height, width), dtype=np.uint8)

    # 使用填充多边形函数填充三角形区域
    cv2.fillPoly(mask, [triangle], [255])

    return mask

def create_color_mask(frame):
    # 将BGR图像转换为HSV颜色空间
    hsv = cv2.cvtColor(frame, cv2.COLOR_BGR2HSV)

    # 设置白色和黄色的HSV阈值
    lower_white = np.array([0, 0, 100])  # 白色下限
    upper_white = np.array([180, 80, 255])  # 白色上限

    lower_yellow = np.array([20, 100, 100])  # 黄色下限
    upper_yellow = np.array([30, 255, 255])  # 黄色上限

    # 应用HSV阈值
    white_mask = cv2.inRange(hsv, lower_white, upper_white)
    yellow_mask = cv2.inRange(hsv, lower_yellow, upper_yellow)

    # 合并两个阈值图像
    combined_mask = cv2.bitwise_or(white_mask, yellow_mask)

    return combined_mask

if __name__ == '__main__':
    cap = cv2.VideoCapture('carlines.mp4')
    while True:
        ret,frame = cap.read()
        if ret == False:
            break
        roi_mask = create_roi_mask(frame)
        # color_mask = create_color_mask(frame)

        r = cv2.bitwise_and(frame, frame, mask=roi_mask)
        cv2.imshow('r', r)

        image = cv2.cvtColor(frame, cv2.COLOR_RGB2GRAY)
        image = cv2.GaussianBlur(image, (3, 3), 0)

        image_Canny = cv2.Canny(image, 70, 100)
        cv2.imshow('image_Canny', image_Canny)

        roi = cv2.bitwise_and(image_Canny, image_Canny, mask=roi_mask)
        cv2.imshow('roi', roi)

        # image = cv2.bitwise_and(image_Canny, image_Canny, mask=color_mask)
        # cv2.imshow('color_segmentation', image)

        img = roi

        kernelX = cv2.getStructuringElement(cv2.MORPH_RECT, (5, 1))
        kernelY = cv2.getStructuringElement(cv2.MORPH_RECT, (1, 3))
        img = cv2.dilate(img, kernelX, iterations=2)
        img = cv2.erode(img, kernelX, iterations=1)
        img = cv2.erode(img, kernelY, iterations=1)
        img = cv2.dilate(img, kernelY, iterations=1)
        # img = cv2.dilate(img, kernelX, iterations=1)
        cv2.imshow('2', img)
        image_blur = cv2.medianBlur(img, 15)
        cv2.imshow('3', img)
        lines = cv2.HoughLinesP(img, 1, np.pi / 180, 60, minLineLength=20, maxLineGap=10)
        if lines is not None:
            for line in lines:
                for x1, y1, x2, y2 in line:
                    cv2.line(frame, (x1, y1), (x2, y2), (0, 255, 0), 2)
        cv2.imshow("image_lines", frame)
        cv2.waitKey(0)
    cv2.destroyAllWindows()