opencv检测车道线

环境

ubuntu 18.04
opencv 3.2.0
cmake 3.10.2

代码

#include <iostream>
#include <opencv/cv.hpp>
using namespace std;
using namespace cv;

int main(int argc, char **argv)
{
	Mat img = imread(argv[1]);
	if (img.empty())
		return 0;
	resize(img,img,Size(416,416));
	imshow("img",img);
	Mat gray,binary,sobel;
	cvtColor(img,gray,COLOR_BGR2GRAY);
	
	//大津法阈值分割
	threshold(gray,binary,0,255,CV_THRESH_OTSU);
	imshow("thresh",binary);

	//提取水平边缘信息
	Sobel(gray,sobel,CV_8UC1,1,0,3);
	threshold(sobel,sobel,32,255,THRESH_BINARY);
	imshow("sobel",sobel);
	
	//合并两个分支的结果，获得车道线区域
	bitwise_and(binary,sobel,binary);
	
	//均值滤波+二值化，代替膨胀，减少长线出现锯齿、中断等现象
	blur(binary,binary,Size(3,3));
	threshold(binary,binary,32,255,THRESH_BINARY);
	imshow("result",binary);
	waitKey(0);
	return 0;
}

测试

原图

二值图

sobel边缘

结果