使用opencv实现车道线检测实战代码

 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; pt1.x = xPos; pt1.y = 0 + iOffset + src.rows / 5; pt2.x = xPos; pt2.y = src.rows - iOffset; 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 (i, j); int iValueXPre = (int)bitNot.at(i-1, j); int iValueXNext = (int)bitNot.at(i+1, j); int iValueY = (int)bitNot.at(i, j); int iValueYPre = (int)bitNot.at(i, j-1); int iValueYNext = (int)bitNot.at(i, j+1); if((iValueX - iValueXPre > iDiffTh && iValueX - iValueXNext > iDiffTh) || (iValueY - iValueYPre > iDiffTh && iValueY - iValueYNext > iDiffTh)) { add.at(i, j) = 255; } } } qDebug()<<"process time: "<> contours; //cv::findContours(matThresh,contours,) std::vector > contoursDefect; std::vector 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 =  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-600"); else path = QString("%1%2%3%4").arg(dir).arg("0").arg(i++).arg(".png-600"); cout<