车道线检测

一、题目

通过查阅资料，设计车道线检测算法并实现，在输入图像上将车道线标注出来，最后撰写报告。可以使用OpenCV等图像库。

二、代码实现

import matplotlib.pyplot as plt
import matplotlib.image as mpimg
import numpy as np
import cv2
#%matplotlib inline

image = cv2.imread('1.jpg',cv2.IMREAD_COLOR)

print('This image is:', type(image), 'with dimensions:', image.shape)
import math


def grayscale(img):
    """
    将图像处理为灰度图像，因为使用cv2read所以要用BGR进行转换
    """
    return cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)


def canny(img, low_threshold, high_threshold):  # 返回image，边缘部分为255，其余为0

    return cv2.Canny(img, low_threshold, high_threshold)



def gaussian_blur(img, kernel_size):
    return cv2.GaussianBlur(img, (kernel_size, kernel_size), 0)


def region_of_interest(img, vertices):
    mask = np.zeros_like(img)
    print("mask_shape", mask.shape)
    if len(img.shape) > 2:
        channel_count = img.shape[2]  # i.e. 3 or 4 depending on your image
        ignore_mask_color = (255,) * channel_count
    else:
        ignore_mask_color = 255

    cv2.fillPoly(mask, vertices, ignore_mask_color)

    masked_image = cv2.bitwise_and(img, mask)
    return masked_image


def draw_lines(img, lines, color=[0, 255, 0], thickness=4):
    left_lines_x = []
    left_lines_y = []
    right_lines_x = []
    right_lines_y = []
    line_y_max = 0
    line_y_min = 999
    for line in lines:
        for x1, y1, x2, y2 in line:
            if y1 > line_y_max:
                line_y_max = y1
            if y2 > line_y_max:
                line_y_max = y2
            if y1 < line_y_min:
                line_y_min = y1
            if y2 < line_y_min:
                line_y_min = y2
            k = (y2 - y1) / (x2 - x1)
            if k < -0.3:
                left_lines_x.append(x1)
                left_lines_y.append(y1)
                left_lines_x.append(x2)
                left_lines_y.append(y2)
            elif k > 0.3:
                right_lines_x.append(x1)
                right_lines_y.append(y1)
                right_lines_x.append(x2)
                right_lines_y.append(y2)
    # 最小二乘直线拟合
    left_line_k, left_line_b = np.polyfit(left_lines_x, left_lines_y, 1)
    right_line_k, right_line_b = np.polyfit(right_lines_x, right_lines_y, 1)
    # 根据直线方程和最大、最小的y值反算对应的x
    cv2.line(img, (int((line_y_max - left_line_b) / left_line_k), line_y_max),
             (int((line_y_min - left_line_b) / left_line_k), line_y_min), color, thickness)
    cv2.line(img, (int((line_y_max - right_line_b) / right_line_k), line_y_max),
             (int((line_y_min - right_line_b) / right_line_k), line_y_min), color, thickness)


def hough_lines(img, rho, theta, threshold, min_line_len, max_line_gap):
    lines = cv2.HoughLinesP(img, rho, theta, threshold, np.array([]), minLineLength=min_line_len,
                            maxLineGap=max_line_gap)
    print(lines.shape)
    line_img = np.zeros((img.shape[0], img.shape[1], 3), dtype=np.uint8)
    draw_lines(line_img, lines)
    return line_img


def weighted_img(img, initial_img, α=0.8, β=1., γ=0.):
    return cv2.addWeighted(initial_img, α, img, β, γ)


ini_image = cv2.imread("1.jpg")
# plt.imshow(ini_image)
imshape = ini_image.shape
gray = grayscale(ini_image)
# after灰度处理

kernel_size = 5
blur = gaussian_blur(gray, kernel_size)

# after高斯模糊
low_threshold = 50
high_threshold = 200
edges = canny(blur, low_threshold, high_threshold)

vertices = np.array([[(0, imshape[0]), (imshape[1] / 2 - 20, imshape[0] / 2 + 50),
                      (imshape[1] / 2 + 20, imshape[0] / 2 + 50),
                      (imshape[1], imshape[0]), (0, 500), (960, 500)]],
                    dtype=np.int32)

partial = region_of_interest(edges, vertices)
x = [0, 0, 400, 560, 960, 960]
y = [540, 500, 260, 260, 500, 540]
plt.plot(x, y)
plt.imshow(edges)

rho = 1
theta = np.pi / 180
threshold = 13
min_line_len = 15
max_line_gap = 10
lines = hough_lines(partial, rho, theta, threshold, min_line_len, max_line_gap)

final = weighted_img(lines, ini_image)
ini_image = cv2.imread("1.jpg")
imshape = ini_image.shape
gray = grayscale(ini_image)
# after灰度处理

kernel_size = 5
blur = gaussian_blur(gray, kernel_size)
# after高斯模糊


low_threshold = 120
high_threshold = 200
edges = canny(blur, low_threshold, high_threshold)
# aftercannoy滤波
vertices = np.array([[(0, imshape[0]), (imshape[1] / 2 - 20, imshape[0] / 2 + 50), \
                      (imshape[1] / 2 + 20, imshape[0] / 2 + 20), (imshape[1], imshape[0]), (0, 500), (960, 500)]], \
                    dtype=np.int32)

partial = region_of_interest(edges, vertices)

rho = 1
theta = np.pi / 180
threshold = 13
min_line_len = 20
max_line_gap = 5
lines = hough_lines(partial, rho, theta, threshold, min_line_len, max_line_gap)
final = weighted_img(lines, ini_image)
cv2.imshow('grayscale transformation', gray)
cv2.imshow('Gaussian Blur', blur)#锐化后，意义不大
cv2.imshow('Edge detection', edges)
cv2.imshow('Region of interest detection', partial)
cv2.imshow('Lane line fitting', lines)
cv2.imshow('Picture mix', final)
cv2.waitKey(0)
cv2.destroyAllWindows()

三、结果