计算图像的直方图，求峰值点

程序步骤：

1.输入图像

2.灰度化

3.计算直方图

4.求峰值点

#include "../LaneDetecte_SRC/detector_lane.hpp"
#include "../common_src/unity.hpp"
#include "../common_src/common_func.hpp"
#include <chrono>
#include <thread>


#include <opencv2/opencv.hpp>



int main()
{
    for(int z = 1;z<100;z++)
    {

        
        std::string leftName = cv::format(ROOT_DIR"/data%d/left%d.png",1,z);
        cv::Mat left,leftG;
        left = cv::imread(leftName);
        cv::Rect rect(0,left.rows - 200 , left.cols, 200);
        cv::Mat half_left(left, rect);
        cv::cvtColor(half_left,leftG,cv::COLOR_BGR2GRAY);
        cv::namedWindow( "leftG", 1);
        cv::imshow( "leftG", leftG);
        int Channels[] = { 0 };
        cv::Mat hist;
        int nHistSize[] = { 256 };
        float range[] = { 0, 255 };
        const float* fHistRanges[] = { range };
        cv::calcHist(&leftG, 1, Channels, cv::Mat(), hist, 1, nHistSize, fHistRanges, true, false);

        
        // 创建直方图画布
        int nHistWidth = 800;
        int nHistHeight = 600;
        int nBinWidth = cvRound((double)nHistWidth / nHistSize[0]);
        cv::Mat matHistImage(nHistHeight, nHistWidth, CV_8UC3, cv::Scalar(255, 255, 255));
        // 直方图归一化
        cv::normalize(hist, hist, 0.0, matHistImage.rows, cv::NORM_MINMAX, -1, cv::Mat());
        std::cout<<nHistSize[0]<<std::endl;
        //画值方图
        for (int i = 1; i < nHistSize[0]; i++)
        {
            line(matHistImage,
                cv::Point(nBinWidth * (i - 1), nHistHeight - cvRound(hist.at<float>(i - 1))),
                cv::Point(nBinWidth * (i), nHistHeight - cvRound(hist.at<float>(i))),
                cv::Scalar(255, 0, 0),
                2,
                8,
                0);
                //std::cout<<i<<" : "<<hist.at<float>(i)<<std::endl;
            
        }
        std::vector<int> indexes;
        cv::Mat test = leftG.clone();
        int w = 20;
        bool flag;
           //求峰值点
        for(int i = 0;i<=255;i++)
        {
            flag = true;
            for(int j = i-w;j<i+w;j++)
            {
                if(j>0 && i<=255 )
                {
                    if(hist.at<float>(i)<hist.at<float>(j) || hist.at<float>(i)==0)
                    {
                        flag = false;
                        break;
                    }
                        
                }
            }
            if(flag)
            {
               
                if(indexes.size()>0)
                {
                    if(abs(indexes[indexes.size()-1]-i)>5)
                    {
                       
                        indexes.push_back(i);
                    }
                }
                else if(indexes.size() == 0)
                {
                    indexes.push_back(i);
                }
                
            }
            
        }
        
        for(int i = 0;i<indexes.size();i++)
            std::cout<<"**********: "<<indexes[i]<<std::endl;

        int vw = 20;
//阈值分割
        if(indexes.size()>0)
        {
            for(int y = 0;y<leftG.rows;y++)
            {
                for(int x = 0;x<leftG.cols;x++)
                {
                    if(test.at<uchar>(y,x)>indexes[0]-vw && test.at<uchar>(y,x)<indexes[0]+vw)
                    {
                        test.at<uchar>(y,x) = 0;
                    }
                }
                imshow("test", test);
            }
        }
           
       
        // 显示直方图
        imshow("histogram", matHistImage);
        
        cv::waitKey(0);
    }
    return 0;
}