效果
![在这里插入图片描述](https://i-blog.csdnimg.cn/blog_migrate/61450d00311d6690e4884608eedae3b9.gif)
复现代码
void lane_detection(cv::Mat &src, cv::Mat &dst)
{
dst = cv::Mat::zeros(src.size(),src.type());
cv::Mat grid =cv::Mat::zeros(src.size(),src.type());
int iStep = 25;
int iNUmsX = src.cols / iStep;
int inUmsY = src.rows / iStep;
for(int i = 1; i <= inUmsY; i++)
{
int yPos = i * iStep + src.cols / 5;
cv::Point2d pt1,pt2;
int iOffset = 10;
pt1.x = 0 + iOffset;
pt1.y = yPos;
pt2.x = src.cols - iOffset;
pt2.y = yPos;
cv::line(grid,pt1,pt2,cv::Scalar(255), 1, cv::LINE_4);
}
for(int i = 1; i <= iNUmsX; i++)
{
int xPos = i * iStep;
cv::Point2d pt1,pt2;
int iOffset = 10;
pt1.x = xPos;
pt1.y = 0 + iOffset + src.rows / 5;
pt2.x = xPos;
pt2.y = src.rows - iOffset;
cv::line(grid,pt1,pt2,cv::Scalar(255), 1, cv::LINE_4);
}
cv::imshow("grid", grid);
cv::Mat bitNot;
cv::bitwise_and(src, grid, bitNot);
cv::Mat add = cv::Mat::zeros(bitNot.rows, bitNot.cols,bitNot.type());
int iDiffTh = 200;
QTime timer;
timer.start();
//#pragma omp parallel for num_threads(10)
for (int i = 1; i < bitNot.rows - 1; i++)
{
for (int j = 1; j < bitNot.cols - 1; j++)
{
int iValueX = (int)bitNot.at<uchar>(i, j);
int iValueXPre = (int)bitNot.at<uchar>(i-1, j);
int iValueXNext = (int)bitNot.at<uchar>(i+1, j);
int iValueY = (int)bitNot.at<uchar>(i, j);
int iValueYPre = (int)bitNot.at<uchar>(i, j-1);
int iValueYNext = (int)bitNot.at<uchar>(i, j+1);
if((iValueX - iValueXPre > iDiffTh && iValueX - iValueXNext > iDiffTh) ||
(iValueY - iValueYPre > iDiffTh && iValueY - iValueYNext > iDiffTh))
{
add.at<uchar>(i, j) = 255;
}
}
}
qDebug()<<"process time: "<<timer.elapsed()<<" ms";
//形态学预处理
cv::Mat matDilate;
cv::Mat k33 = cv::getStructuringElement(cv::MORPH_RECT, cv::Size(9, 9), cv::Point(-1, -1));
cv::morphologyEx(add, matDilate, cv::MORPH_DILATE, k33, cv::Point(-1, -1), 3);
cv::imshow("matDilate", matDilate);
//cv::bitwise_not(src, matDilate, matRoi);
cv::Mat matRoi;
cv::bitwise_and(src, matDilate, matRoi);
cv::imshow("matRoi", matRoi);
cv::Mat matThresh;
cv::threshold(matRoi, matThresh, 200, 255,cv::THRESH_BINARY);
cv::imshow("matThresh", matThresh);
//std::vector<std::vector<cv::Point>> contours;
//cv::findContours(matThresh,contours,)
std::vector<std::vector<cv::Point> > contoursDefect;
std::vector<cv::Vec4i> hierarchyDefect;
cv::Mat canves;
cv::cvtColor(src, canves,cv::COLOR_RGBA2RGB);
cv::findContours(matThresh, contoursDefect, hierarchyDefect, cv::RETR_EXTERNAL, cv::CHAIN_APPROX_NONE);
for (size_t i = 0; i < contoursDefect.size(); i++)
{
cv::Mat contour(contoursDefect.at(i));//第i个轮廓
double area = contourArea(contour);
if (area >= 50)
{
cv::Moments moment;//矩
moment = moments(contour, false);
cv::Point2d pt1;
double m00 = moment.m00 + 0.01;
pt1.x = moment.m10 / m00;//计算重心横坐标
pt1.y = moment.m01 / m00;//计算重心纵坐标
cv::drawContours(canves, contoursDefect, i, cv::Scalar(255, 255, 0), -1);
}
}
cv::imshow("canves", canves);
cv::waitKey(0);
}
void test_lane_detection()
{
int i = 0;
while(1)
{
cv::Mat src;
QString dir("D:\\QtProject\\Opencv_Example\\gen_grid_region\\scene_");
QString path;
if(i>9) path = QString("%1%2%3").arg(dir).arg(i++).arg(".png");
else path = QString("%1%2%3%4").arg(dir).arg("0").arg(i++).arg(".png");
cout<<path.toStdString();
src = cv::imread(path.toStdString(), cv::IMREAD_GRAYSCALE);
if (src.empty()) {
cout << "Cannot load image" << endl;
return;
}
cv::imshow("src", src);
cv::Mat dst;
lane_detection(src, dst);
}
}