halcon例程学习笔记(6)----车道线快速检测autobahn

本例程来自halcon例程中的Blob分析中的autobahn例程

通过此例程可以很好的掌握sobel_amp算子的使用。详细使用请查看halcon算子说明文档

例程耿总目标的基本思路：

先获得主要感兴趣区域，去除车的干扰

然后通过sobel_amp算子检测边缘明显变化的图像，得到原始图像边缘位置的图像数据

然后通过阈值获取目标边缘。

通过膨胀目标边缘获得感兴趣区域，再次通过阈值分割获得目标

原始例程如下：

* 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')
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
    read_image (ActualImage, 'autobahn/scene_'+(i$'02'))
    reduce_domain (ActualImage, StreetGrid, Mask)
    dev_clear_window ()
    dev_display(StreetGrid)
    dev_clear_window ()
    dev_display(Mask)
    sobel_amp (Mask, Gradient, 'sum_abs', 3)
    threshold (Gradient, Points, 20, 255)
    dilation_rectangle1 (Points, RegionDilation, MinSize, MinSize)
    reduce_domain (ActualImage, RegionDilation, StripGray)
    threshold (StripGray, Strip, 190, 255)
    fill_up (Strip, RegionFillUp)
    dev_display (ActualImage)
    dev_display (RegionFillUp)
endfor
dev_set_line_width (1)
dev_update_window ('on')
set_system ('init_new_image', Information)

 

 

经过分析，修改后的分析方法程序如下：

 

* autobahn.hdev: Fast detection of lane markers* dev_update_window ('off')dev_close_window ()dev_open_window (0, 0, 768, 575, 'black', WindowID)MinSize := 30get_system ('init_new_image', Information)set_system ('init_new_image', 'false')dev_set_line_width (3)dev_set_color ('green')stop ()for i := 0 to 28 by 1    read_image (ActualImage, 'autobahn/scene_'+(i$'02'))        gen_rectangle1 (Rectangle, 130, 0, 512, 512)    reduce_domain (ActualImage, Rectangle, ReduceImage)    sobel_amp (ReduceImage, Amp, 'sum_abs', 3)    threshold (Amp, Points, 20, 255)    dilation_rectangle1 (Points, RegionDilation, MinSize, MinSize)    reduce_domain (ActualImage, RegionDilation, StripGray)    threshold (StripGray, Strip, 190, 255)    fill_up (Strip, RegionFillUp)    dev_display (ActualImage)    dev_display (RegionFillUp)    stop()endfordev_set_line_width (1)dev_update_window ('on')set_system ('init_new_image', Information)