//---------------------車道線檢測-------------------------//

/*可以處理攝像頭，也可以處理視頻文件*/


#include?
#include?
#include?
#include?
#include?
#include?


using?namespace?cv;
using?namespace?std;

CvCapture*?g_capture?=?NULL;
IplImage*?PreProcessImg?=?NULL;
CvPoint?point1?point2?point3?pointend?pointtemp;
CvPoint?pointmeet;//相交點(diǎn)

vector?points;
vector?pointsleft;
vector?pointsright;

//結(jié)構(gòu)體1，左側(cè)的線，右側(cè)的線
struct?line
{
	CvPoint?pointbottom;
	CvPoint?pointtop;
}lineleft?lineright;

//結(jié)構(gòu)體2
struct?greycount
{
	uchar?grey;
	int?count;
};

//大津閾值車道從背景中分離出來
void?ImproveOTSU（IplImage*?image?IplImage*?image2）
{


	//int?lc?=?cvRound（（image->height?/?2）?+?1）;
	//cvSetImageROI（image?cvRect（0?lc?image->width?image->height））;

	//如果只對(duì)下半幅圖像做大津閾值，效果不好
	//cvThreshold（image?image?80?255?CV_THRESH_BINARY）;//速度慢，與OSTU差100ms
	//cvThreshold（image?image2?180?235?CV_THRESH_BINARY_INV?|?CV_THRESH_OTSU）;//BINARY能檢測出視頻3-2
	cvThreshold（image?image2?0?255?CV_THRESH_OTSU）;//改變閾值沒效果
	//cvResetImageROI（image）;
	//cvCopy（image?image2）;

}

//改進(jìn)的hough變換檢測車道
int?Hough（IplImage*?image?float*?tabSin?float?*tabCos?int?*accum?int?numrho?int?&predistance1?int?&preangle1?int?&predistance2?int?&preangle2）
{
	int?r?angle1?=?1?angle2?=?1?distance1?=?0?distance2?=?0?n?=?0;
	long?j;
	int?angelstart1?=?40;
	int?angleend1?=?70;
	int?anglestart2?=?110;
	int?angleend2?=?160;

	if?（preangle1?!=?0）
	{
		angelstart1?=?preangle1?-?5;
		angleend1?=?preangle1?+?5;
	}
	if?（preangle2?!=?0）
	{
		anglestart2?=?preangle2?-?5;
		angleend2?=?preangle2?+?5;
	}

	int?step?=?image->widthStep?/?sizeof（uchar）;
	uchar?*data0?=?（uchar?*）image->imageData;

	for?（int?i?=?image->height?/?2;?i?height;?i++）
	{
		for?（j?=?0;?j?width;?j++）
		{
			if?（data0[i*step?+?j]?==?255）//??
			{
				for?（n?=?angelstart1;?n?				{
					r?=?cvRound（j?*?tabCos[n]?+?i?*?tabSin[n]）;
					r?+=?（numrho?-?1）?/?2;
					accum[（n?+?1）?*?（numrho?+?2）?+?r?+?1]++;
				}
				for?（n?=?anglestart2;?n?				{

					r?=?cvRound（j?*?tabCos[n]?+?i?*?tabSin[n]）;
					r?+=?（numrho?-?1）?/?2;
					accum[（n?+?1）?*?（numrho?+?2）?+?r?+?1]++;
				}
			}
		}
	}
	//printf（“preangle1preangle2:%d?%d\n?“preangle1preangle2）;
	//找出數(shù)值最大的小格
	int?numbermax1?=?30?numbermax2?=?30;

	for?（r?=?0;?r?	{
		for?（n?=?40;?n?		{
			int?base?=?（n?+?1）?*?（numrho?+?2）?+?r?+?1;
			if?（accum[base]?>?numbermax1）
			{
				numbermax1?=?accum[base];
				angle1?=?n;
				distance1?=?cvRound（r?-?（numrho?-?1）*0.5f）;
			}
		}
		for?（n?=?110;?n<160;?n++）
		{
			int?base?=?（n?+?1）?*?（numrho?+?2）?+?r?+?1;
			if?（accum[base]?>?numbermax2）
			{
				numbermax2?=?accum[base];
				angle2?=?n;
				distance2?=?cvRound（r?-?（numrho?-?1）*0.5f）;
			}
		}
	}
	

?屬性????????????大小?????日期????時(shí)間???名稱
-----------?---------??----------?-----??----

?????文件??????18490??2017-11-20?18:23??車道線.cpp

?????文件????6457025??2017-11-21?08:59??1.mp4

-----------?---------??----------?-----??----

??????????????6475515????????????????????2