halcon边缘检测-autobahn车道线的快速检测

基本思路：

先获得主要感兴趣区域，去除车的干扰

然后通过sobel_amp算子检测边缘明显变化的图像，得到原始图像边缘位置的图像数据

然后通过阈值获取目标边缘。

通过膨胀目标边缘获得感兴趣区域，再次通过阈值分割获得目标

* autobahn.hdev: Fast detection of lane markers    * 车道线的快速检测
* 
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')

* 获得网格 MinSize 小网格大小，512-网格的大小
gen_grid_region (Grid, MinSize, MinSize, 'lines', 512, 512)

*对这个网格以矩形修剪
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
    read_image (ActualImage, 'autobahn/scene_' + (i$'02'))

*用修剪过的网格剪切图片
    reduce_domain (ActualImage, StreetGrid, Mask)

*sobel算法
    sobel_amp (Mask, Gradient, 'sum_abs', 3)

*阈值分割
    threshold (Gradient, Points, 20, 255)

*膨胀操作
    dilation_rectangle1 (Points, RegionDilation, MinSize, MinSize)

*用膨胀后的区域剪切原图像
    reduce_domain (ActualImage, RegionDilation, StripGray)

*阈值分割
    threshold (StripGray, Strip, 190, 255)

*填充
    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)