车道检测之halcon算法实现

* autobahn.hdev: Fast detection of lane markers

* 

dev_update_window ('off')

dev_close_window ()

dev_open_window (0, 0, 768, 575, 'black', WindowID)

MinSize := 30

get_system ('init_new_image', Information)

set_system ('init_new_image', 'false')

*生成一个网格区域

gen_grid_region (Grid, MinSize, MinSize, 'lines', 512, 512)

clip_region (Grid, StreetGrid, 130, 10, 450, 502)

dev_set_line_width (3)

dev_set_color ('green')

read_image (ActualImage, 'autobahn/scene_00')

dev_display (ActualImage)

stop ()

dev_display (StreetGrid)

stop ()

for i := 0 to 28 by 1

  *读取图片

    read_image (ActualImage, 'autobahn/scene_'+(i$'02'))

    reduce_domain (ActualImage, StreetGrid, Mask)

   *根据区域网格裁剪原图，缩小目标区域提高检测效率

  dev_clear_window()

    dev_display(Mask)

    sobel_amp (Mask, Gradient, 'sum_abs', 3)

   * sobel算子分割图片

    threshold (Gradient, Points, 20, 255)

  *二值化

    dilation_rectangle1 (Points, RegionDilation, MinSize, MinSize)

   *膨胀区域

    reduce_domain (ActualImage, RegionDilation, StripGray)

   *将图片剪切成膨胀区域.

    dev_clear_window()

    dev_display(StripGray)

    threshold (StripGray, Strip, 190, 255)

   * 二值化

    fill_up (Strip, RegionFillUp)

  * 填充图片

    dev_display (ActualImage)

    dev_display (RegionFillUp)

endfor

dev_set_line_width (1)

dev_update_window ('on')

set_system ('init_new_image', Information)