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)
			{
				continue;
			}
			if (theta>CV_PI/2.0)
			{
				theta2=CV_PI-theta;
			}
			else
			{
				theta2=theta;
			}
			if (theta2<sum)
			{
				sum=theta2;
				tempVec[0]=rho;
				tempVec[1]=theta;
				idx=k;
			}
		}
		
		if (tempVec[0]!=0)
		{
			line.at<Vec2f>(idx)=VEC;
			threeline.push_back(tempVec);
		}
		
	}
	return threeline;
}
void COpenCV_testDlg::VideoTest(Mat frame)
{
	Mat frame_gray;
	cvtColor( frame, frame_gray, CV_BGR2GRAY );
	//do here
	Mat img;
	Mat temp;
	//resize(frame_gray,frame_gray,Size(0,0),0.5,0.5,INTER_LINEAR);
	blur(frame_gray,frame_gray,Size(3,3));
	Canny(frame_gray, frame_gray, 30, 90, 3);
	keytheta=atan(2.0*frame.rows/frame.cols/3.0);
	keyrho=0;
	keyrho=sqrt(pow(frame.cols/2.0,2)+pow(frame.rows/3.0,2));
	Mat hl;
	vector<Vec2f> lines;


	HoughLines(frame_gray, hl, 1, CV_PI/180, 100, 0, 0 );
	imshow( "gray", frame_gray );
	lines=GetThreeLineEx(hl,frame_gray.cols/2);
	for( size_t i = 0; i < lines.size(); i++ )
	{
		float rho = lines[i][0], theta = lines[i][1];
		Point pt1, pt2;
		double a = cos(theta), b = sin(theta);
		double x0 = a*rho, y0 = b*rho;
		pt1.x = cvRound(x0 + 1000*(-b));
		pt1.y = cvRound(y0 + 1000*(a));
		pt2.x = cvRound(x0 - 1000*(-b));
		pt2.y = cvRound(y0 - 1000*(a));
		line( frame, pt1, pt2, Scalar(0,0,255), 2, CV_AA);
	}


	//
	imshow( "edges", frame );
}

void COpenCV_testDlg::PlayVideoFromAVI(CString filepath)
{


		UpdateData(TRUE);
		USES_CONVERSION;


		//调用函数，T2A和W2A均支持ATL和MFC中的字符转换
		char * pFileName = T2A(filepath);
		m_cap.open(pFileName); // open the default camera
		if(!m_cap.isOpened()) // check if we succeeded
		{
			AfxMessageBox(_T("open avi file error"));
			return;
		}
		int iFramCount=(int)m_cap.get(CV_CAP_PROP_FRAME_COUNT);
		if (iFramCount!=0)
		{
			m_SliderCtrl.SetRange(0,iFramCount-1,TRUE);
			m_SliderCtrl.SetPos(0);
		}
		//Mat edges;
		//namedWindow(window_name,1);
		namedWindow("edges",1);


		//Mat frame;
		while(1)
		{
			//cap >> frame; // get a new frame from camera
			if (m_PauseFlage)
			{


			}
			else
			{
				if (m_cap.read(frame))
				{
					
					VideoTest(frame);
					m_SliderCtrl.SetPos((int)m_cap.get(CV_CAP_PROP_POS_FRAMES));
				}
				else
				{
					return;
				}
				
			}
			
			
			if(waitKey(30) >= 0)
				break;
		}
		//frame.release();
		//edges.release();
}