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speed20: 搜线强化(GaussianBlur5x5+形态学7x7)

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spdis
2026-07-06 19:00:10 +08:00
parent ad48c955d9
commit 97e06314cc
1 changed files with 2 additions and 2 deletions
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src/image_cv.cpp
+2 -2
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@@ -104,7 +104,7 @@ cv::Mat image_binerize(cv::Mat &frame)
// ============================================================ // ============================================================
cv::Mat find_road(cv::Mat &frame) cv::Mat find_road(cv::Mat &frame)
{ {
static cv::Mat kernel = cv::getStructuringElement(cv::MORPH_CROSS, cv::Size(5, 5)); static cv::Mat kernel = cv::getStructuringElement(cv::MORPH_CROSS, cv::Size(7, 7));
cv::morphologyEx(binarizedFrame, morphologyExFrame, cv::MORPH_OPEN, kernel); cv::morphologyEx(binarizedFrame, morphologyExFrame, cv::MORPH_OPEN, kernel);
static cv::Mat mask; static cv::Mat mask;
@@ -174,7 +174,7 @@ void image_main()
cv::cvtColor(labFrame, resizedFrame, cv::COLOR_Lab2BGR); cv::cvtColor(labFrame, resizedFrame, cv::COLOR_Lab2BGR);
// ── 1.6 高斯模糊 → 融合反光噪点 ──────────────────── // ── 1.6 高斯模糊 → 融合反光噪点 ────────────────────
cv::GaussianBlur(resizedFrame, resizedFrame, cv::Size(3, 3), 0); cv::GaussianBlur(resizedFrame, resizedFrame, cv::Size(5, 5), 0);
// ── 2. HSV 双通道 Otsu 二值化 ───────────────────── // ── 2. HSV 双通道 Otsu 二值化 ─────────────────────
// 赛道区域 = 白色(255)，背景/边界 = 黑色(0) // 赛道区域 = 白色(255)，背景/边界 = 黑色(0)