opencv-车道线检测

今天记录一下简单的车道线检测，为一下几个步骤

0.导入数据

import matplotlib.pyplot as plt
import matplotlib.image as mpimg
import numpy as np
import cv2
%matplotlib inline

import os
# 导入视频路径
TEST_IMAGES = "./test_images/"
TEST_VIDEO = "./test_videos/"
image_list = os.listdir("test_images/")
video_list = os.listdir("test_videos/")

image_list = [TEST_IMAGES+path for path in image_list]
video_list = [TEST_VIDEO+path for path in video_list]
print(image_list)
print(video_list)
image = cv2.imread(image_list[0])

1.读取图片和视频

读取图片

def show_image(name, img):
    cv2.imshow(name, img)
    cv2.waitKey(0)
    cv2.destroyWindow(name)

读取视频

import cv2
ret=True
cap = cv2.VideoCapture(video_list[1])
while ret:
    ret, images = cap.read()
    # 必须检测ret，因为有可能为False,images 为空
    if ret == True:
		cv2.imshow("capture", images)
	if cv2.waitKey(50) & 0xFF == ord('q'):
		break
cv2.destroyAllWindows()
cap.release()

2.灰度处理

def grayscale(img):
    return cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)

3.高斯滤波

#高斯模糊
def gaussian(img, kernel_size):
    g_img = cv2.GaussianBlur(img, (kernel_size, kernel_size), 0)
    return g_img

4.边缘检测

def canny(img, low_threshold, high_threshold):
    """Applies the Canny transform"""
    return cv2.Canny(img, low_threshold, high_threshold)

5.感兴趣区域检测

我们将感兴趣区域设置为梯形，具体顶尖可以手动调整

# 区域选择
def select_regions(img):
    rows, cols = img.shape[:2]
    # 设置边界点
    pt_top_left = [cols*0.4, rows*0.65]
    pt_top_right = [cols*0.62, rows*0.65]
    
    pt_bottom_left = [cols*0.12, rows*0.99]
    pt_bottom_right = [cols*0.95, rows*0.99]
    # 点为顺时针顺序
    verties = np.array([[pt_top_left, pt_top_right, pt_bottom_right, pt_bottom_left ]], dtype=np.int32)

    mask = np.zeros_like(img)
    cv2.fillPoly(mask, verties, 255)
    img_region = cv2.bitwise_and(img, mask)
    return img_region

6.霍夫变换

通过霍夫变换来得到直线

def draw_lines(img, lines, color=[255, 0, 0], thickness=10):
    left_x = []
    left_y = []
    right_x = []
    right_y = []
    for line in lines:
        for x1,y1,x2,y2 in line:
            # 根据得到直线的斜率来区分是左边的线还是右边的线
            k = ((y2-y1)/(x2-x1))
            # 右侧线
            if k >=0.2:
                right_x.extend((x1, x2))
                right_y.extend((y1, y2))  
                #cv2.line(img, (x1, y1), (x2, y2), [0,255,0], thickness)
            # 左侧线
            elif  k <=-0.2:
                left_x.extend((x1, x2))
                left_y.extend((y1, y2))
                #cv2.line(img, (x1, y1), (x2, y2), [0,0,255], thickness)
    # 通过点来拟合一条直线right_fit 为直线的参数
    # right_fit[0]为k 斜率
    # right_fit[1]为b 截距
    right_fit = np.polyfit(right_x, right_y, 1)
    r_y1= 351
    # 根据直线方程的y推出x
    r_x1 = int((r_y1 - right_fit[1])/right_fit[0])
    r_y2= 529
    r_x2 = int((r_y2 - right_fit[1])/right_fit[0])
    cv2.line(img, (r_x1, r_y1), (r_x2, r_y2), [0,0,255], thickness)
    
    left_fit = np.polyfit(left_x, left_y, 1)
    l_y1= 529
    l_x1 = int((l_y1 - left_fit[1])/left_fit[0])
    l_y2= 351
    l_x2 = int((l_y2 - left_fit[1])/left_fit[0])
    cv2.line(img, (l_x1, l_y1), (l_x2, l_y2), [0,0,255], thickness)
    
    return img

def hough_lines(img):
    lines = cv2.HoughLinesP(img, rho=1, theta=np.pi/180, threshold=15, minLineLength=9, maxLineGap=10)
    mask = np.zeros((img.shape[0], img.shape[1], 3), dtype=np.uint8)
    line_img = draw_lines(mask, lines)

    return line_img

7.图片混合

def weighted_img(img, initial_img, α=0.8, β=1., γ=0.):
    """
    `img` is the output of the hough_lines(), An image with lines drawn on it.
    Should be a blank image (all black) with lines drawn on it.
    
    `initial_img` should be the image before any processing.
    
    The result image is computed as follows:
    
    initial_img * α + img * β + γ
    NOTE: initial_img and img must be the same shape!
    """
    return cv2.addWeighted(initial_img, α, img, β, γ)

显示视频

import cv2
ret=True
cap = cv2.VideoCapture(video_list[1])
while ret:
    ret, images = cap.read()
    if ret == True:
    	# 灰度处理
        imgray = grayscale(images)
        # 高斯滤波
        g_img = gaussian(imgray, 5)
        # 边缘检测
        canny_imag = canny(g_img, 100, 200)
        # 选择区域
        img_region = select_regions(canny_imag)
        # 霍夫转换，寻找直线
        line_img = hough_lines(img_region)
        # 在原图上混合车道线
        img_limes = weighted_img(line_img, images)
		# 显示图片
        cv2.imshow("capture", img_limes)
        if cv2.waitKey(50) & 0xFF == ord('q'):
            break
cv2.destroyAllWindows()
cap.release()