halcon车道检测实例注释

*关键掌握reduce_domain图片与区域reduce后的效果.

* autobahn.hdev: Fast detection of lane markers

* 
dev_update_window ('off')
dev_close_window ()
dev_open_window (0, 0, 768, 575, 'black', WindowID)
MinSize := 30
get_system ('init_new_image', Information)

set_system ('init_new_image', 'false')

*生成一个网格区域

gen_grid_region (Grid, MinSize, MinSize, 'lines', 512, 512)
clip_region (Grid, StreetGrid, 130, 10, 450, 502)
dev_set_line_width (3)
dev_set_color ('green')
read_image (ActualImage, 'autobahn/scene_00')
dev_display (ActualImage)
stop ()
dev_display (StreetGrid)
stop ()
for i := 0 to 28 by 1

  *读取图片

    read_image (ActualImage, 'autobahn/scene_'+(i$'02'))

*与网格区域reduce.咋翻译比较合理呢,按网格区域重新剪切图片?    

reduce_domain (ActualImage, StreetGrid, Mask)

    

  dev_clear_window()

    dev_display(Mask)

   * sobel算子分割图片

    sobel_amp (Mask, Gradient, 'sum_abs', 3)

  *二值化

    threshold (Gradient, Points, 20, 255)

   *膨胀区域

    dilation_rectangle1 (Points, RegionDilation, MinSize, MinSize)

   *将图片剪切成膨胀区域.

    reduce_domain (ActualImage, RegionDilation, StripGray)
    dev_clear_window()

    dev_display(StripGray)

   * 二值化

    threshold (StripGray, Strip, 190, 255)

  * 填充图片

    fill_up (Strip, RegionFillUp)
    dev_display (ActualImage)

    dev_display (RegionFillUp)

endfor
dev_set_line_width (1)
dev_update_window ('on')
set_system ('init_new_image', Information)