总共分三个部分
第一步采用hls提取颜色空间,选择S通道
后面的阈值可以根据自己的需要进行调整,一般取值min=80,max=255
def hls_select(img, channel='S', thresh=(90, 255)):
# 1) Convert to HLS color space
# 2) Apply a threshold to the S channel
# 3) Return a binary image of threshold result
hls = cv2.cvtColor(img, cv2.COLOR_RGB2HLS)
if channel == 'S':
X = hls[:, :, 2]
elif channel == 'H':
X = hls[:, :, 0]
elif channel == 'L':
X = hls[:, :, 1]
else:
print('illegal channel !!!')
return
binary_output = np.zeros_like(X)
binary_output[(X > thresh[0]) & (X <= thresh[1])] = 1
return binary_output
然后是提取白色车道线部分,阈值化提取
参数可自行调整,一般min=200+ ,max=255
def r_select(img, thresh=(222, 255)):
R = img[:,:,0]
binary = np.zeros