Python 轨道区域检测（基于霍夫变换）

效果演示：（顺时针方向 - Ori-image（裁剪过）/After canny/Final area/Hough lines）

Main

def getline(imgpath):

    save_Edges = True
    save_Lines = True

    # Default - rate = 0.25
    img, general_point = img_Preprocess(imgpath)  
    gray, edges, orgb, orgb_lines, lines = mask_Preprocess(img, general_point)
	filted_lines, slopes = line_filter(lines)
    try:
        orgb, orgb_lines = draw_rail(orgb, orgb_lines, filted_lines, slopes)
    except:
        pass

    return orgb_lines,edges, orgb

1.传入图片路径或者图片 对应ROI区域坐标(默认为原图中间1/2大小区域)

def img_Preprocess(imgpath, rate = 0.25):

    if str(imgpath):
        img = cv2.imread(imgpath)
    else :
        img = imgpath

    h, w = img.shape[:2]
    left_top, right_top, right_buttom, left_buttom = (int(w * rate), int(h * rate)), \
                                                     (int(w