基于图像处理的车道线识别算法研究

长春理工大学本科毕业论文

附录1

车道线识别程序源代码，编译要求：Linux Kernel2.6或以上，Glibc2.13或以上，OpenCV2.1或以上，Gcc4.7或以上版本。 #include #include #include #include

#include #include

#define RED cvScalar(0,0,255,0) #define GREEN cvScalar(0,255,0,0) #define BLUE cvScalar(255,0,0,0)

#define ROI cvRect(0,(int)src->height / 3,src->width,src->height) #define LOW_THRESH 80 #define HIGH_THRESH 255 #define MAXDISTANCE 10

//img为加载的源图像，src为处理过程中所用的灰度图像 //temp为临时需要时的中转图像，out为最后输出的三通道图像 IplImage *img,*src,*temp,*out; CvMemStorage *storage; CvSeq *lines; CvSeq *contours; typedef struct {

float a; float b; float c;

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长春理工大学本科毕业论文

int is_vertical; }Line;

Line *get_tangent(CvSeq *seq,int n); Line get_line_func(CvPoint p1,CvPoint p2);

CvPoint *get_join(CvPoint *p1,Line l1,CvPoint *p2,Line l2); CvPoint get_center(CvPoint p1,CvPoint p2); double points_distance(CvPoint p1,CvPoint p2); int is_ellipse(CvSeq *); int main(int argc,char *argv[]) {

//图像的加载过程 if (argc != 2) { puts(\ exit(1);

}

if ((img = cvLoadImage(argv[1],CV_LOAD_IMAGE_UNCHANGED)) NULL)

{ printf(\ exit(1);

}

src = cvCreateImage(cvGetSize(img),IPL_DEPTH_8U,1); temp = cvCreateImage(cvGetSize(img),IPL_DEPTH_8U,1); out = cvCreateImage(cvGetSize(img),img->depth,3); if (img->nChannels >= 3) { cvCvtColor(img,src,CV_RGB2GRAY); cvCopy(img,out,NULL);

}

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== 长春理工大学本科毕业论文

else { cvCopy(img,src,0);

cvCvtColor(img,out,CV_GRAY2RGB);

}

storage = cvCreateMemStorage(0); //设置ROI

cvSetImageROI(src,ROI); //滤波 cvSmooth(src,src,CV_MEDIAN,5,5,0,0);

cvSmooth(src,src,CV_GAUSSIAN,5,5,0,0);

//大津法阈值分割

cvThreshold(src,src,LOW_THRESH,HIGH_THRESH,CV_THRESH_OTSU);

//边缘检测 cvSetImageROI(temp,ROI);

cvCanny(src,temp,LOW_THRESH,HIGH_THRESH,3); cvResetImageROI(src); cvResetImageROI(temp); cvCopy(temp,src,0);

cvSetImageROI(src,ROI);

//hough直线检测

lines=cvHoughLines2(src,storage,CV_HOUGH_PROBABILISTIC,0.5,CV_PI

180,5,10,5); //绘制检测到的直线 int i;

cvSetImageROI(out,ROI); for (i = 0;i < lines->total;i++) {

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

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长春理工大学本科毕业论文

}

cvLine(out,endpoints[0],endpoints[1],RED,2,8,0);

//边缘提取 int sum_of_area = 0;

sum_of_area=cvFindContours(src,storage,&contours,sizeof(CvContour),CV_RETR_EXTERNAL,CV_CHAIN_APPROX_SIMPLE,cvPoint(0,0));

for (i = 0;i < sum_of_area;contours = contours->h_next,i++) { if (contours->total <= 50) continue;

if (is_ellipse(contours)) {

puts(\ cvDrawContours(out,contours,BLUE,GREEN,LOW_THRESH,2,8,cvPoint(0,0));

}

}

cvResetImageROI(out);

cvRectangle(out,cvPoint(0,(int)out->height 3),cvPoint(out->width,out->height),GREEN,2,8,0);

cvNamedWindow(\ cvNamedWindow(\ cvShowImage(\ cvShowImage(\ cvWaitKey(0); return 0;

}

Line *get_tangent(CvSeq *seq,int n) { Line *result = (Line *)malloc(sizeof(Line)); if (n >= seq->total || n < 4)

return (Line *)NULL;

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