道路识别demo

最近做的道路识别一开始终于弄懂了点东西，一开始在网上找到了一个简单的道路识别的opencvsharp的版本。我觉得opencvsharp真的是一个很好的东西，它封装了比opencv更多的数据结构和库，而且得益于.net平台的强大，使用起来也非常的便捷。唯一的缺点就是目前关于这方面的资料还是少之又少，后来我还是想一想把这个demo转换成cpp版本，也是一个非常简单的demo。

opencvsharp版本

using System;

using System.Collections.Generic;

using System.Linq;

using System.Windows.Forms;

using OpenCvSharp;

namespace LaneDetection

{

    class Program

    {

        [STAThread]

        static void Main()

        {

            CvCapture cap = CvCapture.FromFile("test1.mp4");

            CvWindow w = new CvWindow("Lane Detection");

            CvWindow canny = new CvWindow("Canny");

            IplImage src, gray, dstCanny, halfFrame, smallImg;

            CvMemStorage storage = new CvMemStorage();

            CvSeq lines;

            while (CvWindow.WaitKey(10) < 0)

            {

                src = cap.QueryFrame();

                halfFrame = new IplImage(new CvSize(src.Size.Width / 2, src.Size.Height / 2), BitDepth.U8, 3);

                Cv.PyrDown(src, halfFrame, CvFilter.Gaussian5x5);

                gray = new IplImage(src.Size, BitDepth.U8, 1);

                dstCanny = new IplImage(src.Size, BitDepth.U8, 1);

                storage.Clear();

                // Crop off top half of image since we're only interested in the lower portion of the video

                int halfWidth = src.Width / 2;

                int halfHeight = src.Height / 2;

                int startX = halfWidth - (halfWidth / 2);

                src.SetROI(new CvRect(0, halfHeight - 0, src.Width - 1, src.Height - 1));

                gray.SetROI(src.GetROI());

                dstCanny.SetROI(src.GetROI());

                src.CvtColor(gray, ColorConversion.BgrToGray);

                Cv.Smooth(gray, gray, SmoothType.Gaussian, 5, 5);

                Cv.Canny(gray, dstCanny, 50, 200, ApertureSize.Size3);

                canny.Image = dstCanny;

                storage.Clear();

                lines = dstCanny.HoughLines2(storage, HoughLinesMethod.Probabilistic, 1, Math.PI / 180, 50, 50, 100);

                for (int i = 0; i < lines.Total; i++)

                {

                    CvLineSegmentPoint elem = lines.GetSeqElem<CvLineSegmentPoint>(i).Value;

                    int dx = elem.P2.X - elem.P1.X;

                    int dy = elem.P2.Y - elem.P1.Y;

                    double angle = Math.Atan2(dy, dx) * 180 / Math.PI;

                    if (Math.Abs(angle) <= 10)

                        continue;

                    if (elem.P1.Y > elem.P2.Y + 50  || elem.P1.Y < elem.P2.Y -50 )

                    {

                        src.Line(elem.P1, elem.P2, CvColor.Red, 2, LineType.AntiAlias, 0);

                    }

                }

                src.ResetROI();

                storage.Clear();

                w.Image = src;

            }

        }

    }

}

opencv版本

#include "stdafx.h"

#include <highgui.h>

#include <cv.h>

#include <math.h>

using namespace cv;

using namespace std;

#define INF 99999999

CvCapture* g_capture = NULL;

int g_slider_pos = 0 ;

int frame_count = 0;

CvSeq* lines;

int main(int argc,char* argv[])

{

    cvNamedWindow( "show");

    g_capture=cvCreateFileCapture( "D:\\road.avi");

    IplImage* frame;

    while(1)

    {

        CvMemStorage* storage = cvCreateMemStorage();

        frame=cvQueryFrame(g_capture);

        //set the ROI of the original image

        int x = 0,y = frame->height/2;

        int width = frame->width,height = frame->height/2;

        if(!frame)

            break; 

        cvSetImageROI(frame,cvRect(x,y,width,height));

        IplImage* gray = cvCreateImage(cvGetSize(frame),8,1);

        cvCvtColor(frame,gray,CV_BGR2GRAY);

        cvCanny(gray,gray,50,100);

        cvShowImage("canny",gray);

        cvSmooth(gray,gray,CV_GAUSSIAN,3,1,0);

        //Hough

        lines = cvHoughLines2(gray,storage,CV_HOUGH_PROBABILISTIC,1,CV_PI/180,50,90,50);

        //select approprivate lines acoording to the slope

        for (int i = 0;i < lines->total;i ++)

        {

            double k =INF;

            CvPoint* line = (CvPoint*)cvGetSeqElem(lines,i);

            int dx = line[1].x - line[0].x;

            int dy = line[1].x - line[0].y;

            double angle = atan2(dy,dx) * 180 /CV_PI;

            if (abs(angle) <= 10)

                continue;

            if (line[0].y > line[1].y + 50 || line[0].y < line[1].y - 50)

            {

                cvLine(frame,line[0],line[1],CV_RGB(255,0,0),2,CV_AA);

            }

        }

        cvResetImageROI(frame);

        cvShowImage( "show",frame);

        char c = cvWaitKey(33);

        if(c==27)

            break;

    }

    cvReleaseCapture(&g_capture);

    cvDestroyWindow( "show");

    return 0;

}

非常希望有弄这方面的人能和我讨论一下，若转载请注明出处，谢谢。

巴特西

道路识别demo

opencvsharp版本

opencv版本

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