基于霍夫变换条件筛选的车道线识别-Opencv实现

程序是基于MFC的,所以只有部分,必须修改下才能运行;

这是做车道识别最原始的想法

效果很一般的,不实际,霍夫变换相当耗时ddd

float keytheta=0.0,keyrho=0.0;
vector<Vec2f> GetThreeLineEx(Mat line,int colhaf)
{
	/*if (line.cols<=3)
	{
		return line;
	}*/
	vector<Vec2f> threeline;
	int idx=0;
	float distance=0.0;

	Vec2f tempVec;
	
	Vec2f VEC;
	VEC[0]=0;
	VEC[1]=CV_PI/2;

	float theta2;
	float rho;
	float theta;
	double sum;
	for(int i=1;i<=5;i++)
	{

		sum=CV_PI;
		tempVec[0]=0;
		tempVec[1]=0;
		for (int k=0;k<line.cols;k++)
		{
			rho=line.at<Vec2f>(k)[0];
			theta=line.at<Vec2f>(k)[1];
			if (theta>(CV_PI/3.0)&&theta<(CV_PI*2/3.0))
			{
				continue;
			}
			if (theta<(CV_PI/36.0)||((CV_PI-theta)<CV_PI/36.0))
			{
				if (abs(rho-colhaf)>20)
				{
					continue;
				}

			}
			distance=abs(rho-keyrho*cos(theta-keytheta));
			if (distance>50)