车道线检测程序

迈不过友情╰ 2022-12-01 11:48 179阅读 0赞

#!/usr/bin/env python3
    #-*- coding:utf-8 -*-
    # 引入操作图片的库
    import matplotlib.pyplot as plt
    import matplotlib.image as mpimg
    import numpy as np
    
    # 读入图片并输出一些状态
    image = mpimg.imread('test.jpg')
    print('This image is: ',type(image),   'with dimensions:', image.shape)
    
    # 获取图片长和宽
    ysize = image.shape[0]
    xsize = image.shape[1]
    # Note: 记住用的是copy() 而不是"="
    color_select = np.copy(image)
    # 定义我们选择原则
    # Note: 如果你运行了这个代码,你会发现这都是不可见的值
    # 但是你很快有机会在测试中用到
    red_threshold = 0
    green_threshold = 0
    blue_threshold = 0
    rgb_threshold = [red_threshold, green_threshold, blue_threshold]
    
    # 识别阈值之下的像素
    thresholds = (image[:,:,0] < rgb_threshold[0]) \
                | (image[:,:,1] < rgb_threshold[1]) \
                | (image[:,:,2] < rgb_threshold[2])
    color_select[thresholds] = [0,0,0]
    
    # 展示图片
    plt.imshow(color_select)
    plt.show()

下面展示例程图片  
![在这里插入图片描述][watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L0NDQ3J1bm5lcg_size_16_color_FFFFFF_t_70_pic_center]  
运行程序之后的效果如下:  
![在这里插入图片描述][watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L0NDQ3J1bm5lcg_size_16_color_FFFFFF_t_70_pic_center 1]  
修改如下代码,效果图为

red_threshold = 255
    green_threshold = 0
    blue_threshold = 0

![在这里插入图片描述][watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L0NDQ3J1bm5lcg_size_16_color_FFFFFF_t_70_pic_center 2]  
修改如下代码,效果图为

red_threshold = 0
    green_threshold = 255
    blue_threshold = 0

![在这里插入图片描述][watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L0NDQ3J1bm5lcg_size_16_color_FFFFFF_t_70_pic_center 3]

red_threshold = 0
    green_threshold = 0
    blue_threshold = 255

![在这里插入图片描述][watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L0NDQ3J1bm5lcg_size_16_color_FFFFFF_t_70_pic_center 4]

当`red_threshold,green_threshold ,blue_threshold`都被设置为0时,意味着筛选的阈值是0,所有的像素都会被保留下来。

当设置如下代码时，`red_threshold = green_threshold = blue_threshold = 200` 车道线效果最好  
![在这里插入图片描述][watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L0NDQ3J1bm5lcg_size_16_color_FFFFFF_t_70_pic_center 5]

[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L0NDQ3J1bm5lcg_size_16_color_FFFFFF_t_70_pic_center]: /images/20221123/68ee331b61014633809c79f25730756d.png
[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L0NDQ3J1bm5lcg_size_16_color_FFFFFF_t_70_pic_center 1]: /images/20221123/1d5af35f4cfb43e294d27fe154f0a575.png
[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L0NDQ3J1bm5lcg_size_16_color_FFFFFF_t_70_pic_center 2]: /images/20221123/62110de286c4412cbf175006a8d3a6a1.png
[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L0NDQ3J1bm5lcg_size_16_color_FFFFFF_t_70_pic_center 3]: /images/20221123/48374e94ad7e479a83c48bc7e2f58d6f.png
[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L0NDQ3J1bm5lcg_size_16_color_FFFFFF_t_70_pic_center 4]: /images/20221123/ecd8c87e93b54baeb9909bc9a15bb86b.png
[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L0NDQ3J1bm5lcg_size_16_color_FFFFFF_t_70_pic_center 5]: /images/20221123/53ae515eac914b6082bc0eaa54ee0ec2.png