Python OpenCV / PyQt5 车道检测与可视化

最新推荐文章于 2025-05-20 21:01:55 发布

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最新推荐文章于 2025-05-20 21:01:55 发布 · 2.7k 阅读

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OpenCV C++版本 车道检测 https://blog.youkuaiyun.com/francislucien2017/article/details/83443639

lane detection.py

import os
import sys
import cv2
import numpy as np
from PyQt5.QtWidgets import QApplication
import GUI

# pre-define function

def grayscale(img):
    return cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)


def canny(img, low_threshold, high_threshold):
    return cv2.Canny(img, low_threshold, high_threshold)


def gaussian_blur(img, kernel_size):
    return cv2.GaussianBlur(img, (kernel_size, kernel_size), 0)


# crop the region of interest
def ROI(img, vertices):   
    mask = np.zeros_like(img)
    if len(img.shape) > 2:
        channel_count = img.shape[2]
        ignore_mask_color = (255,) * channel_count
    else:
        ignore_mask_color = 255
    cv2.fillPoly(mask, vertices, ignore_mask_color)
    masked_img = cv2.bitwise_and(img, mask)
    return masked_img


def draw_lines(img, lines, color=[255,0,0], thickness=2):
    for line in lines:
        for x1, y1, x2, y2 in line:
            cv2.line(img, (x1, y1), (x2, y2), color, thickness)


def hough_lines(img, rho, theta, threshold, min_line_len, max_line_gap):
    lines = cv2.HoughLinesP(img, rho, theta, threshold, np.array([]),
                            minLineLength=min_line_len, maxLineGap=max_line_gap)
    return lines


# angle filter
def bypass_angle_filter(lines, low_thres, hi_thres):
    filtered_lines = []
    for line in lines:
        for x1, y1, x2, y2 in line:
            angle = abs(np.arctan((y2-y1)/(x2-x1+