初始提交：龙芯2K0300智能车卖家Demo完整代码

src/image_cv.cpp

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+/*
+ * @Author: ilikara 3435193369@qq.com
+ * @Date: 2025-01-04 06:50:56
+ * @LastEditors: ilikara 3435193369@qq.com
+ * @LastEditTime: 2025-03-13 08:15:10
+ * @FilePath: /2k300_smartcar/src/image_cv.cpp
+ * @Description: 这是默认设置,请设置`customMade`, 打开koroFileHeader查看配置 进行设置: https://github.com/OBKoro1/koro1FileHeader/wiki/%E9%85%8D%E7%BD%AE
+ */
+#include "image_cv.h"
+
+cv::Mat raw_frame;
+cv::Mat grayFrame;
+cv::Mat binarizedFrame;
+cv::Mat morphologyExFrame;
+cv::Mat track;
+
+std::vector<int> left_line;              // 左边缘列号数组
+std::vector<int> right_line;             // 右边缘列号数组
+std::vector<int> mid_line;               // 中线列号数组
+std::vector<double> left_line_filtered;  // 中线列号数组
+std::vector<double> right_line_filtered; // 中线列号数组
+std::vector<double> mid_line_filtered;   // 中线列号数组
+
+int line_tracking_width;
+int line_tracking_height;
+
+cv::Mat image_binerize(cv::Mat &frame)
+{
+    cv::Mat output;
+    cv::Mat binarizedFrame;
+    cv::Mat hsvImage;
+    cv::cvtColor(frame, hsvImage, cv::COLOR_BGR2HSV);
+
+    std::vector<cv::Mat> hsvChannels;
+    cv::split(hsvImage, hsvChannels);
+
+    cv::threshold(hsvChannels[0], binarizedFrame, 0, 255, cv::THRESH_BINARY_INV | cv::THRESH_OTSU);
+    cv::threshold(hsvChannels[1], output, 0, 255, cv::THRESH_BINARY_INV | cv::THRESH_OTSU);
+
+    cv::bitwise_or(output, binarizedFrame, output);
+
+    return output;
+}
+
+cv::Mat find_road(cv::Mat &frame)
+{
+    cv::Mat kernel = cv::getStructuringElement(cv::MORPH_CROSS, cv::Size(2, 2));
+    cv::morphologyEx(binarizedFrame, morphologyExFrame, cv::MORPH_OPEN, kernel);
+
+    cv::Mat mask = cv::Mat::zeros(line_tracking_height + 2, line_tracking_width + 2, CV_8UC1);
+
+    cv::Point seedPoint(line_tracking_width / 2, line_tracking_height - 10);
+
+    cv::circle(morphologyExFrame, seedPoint, 10, 255, -1);
+
+    cv::Scalar newVal(128);
+
+    cv::Scalar loDiff = cv::Scalar(20);
+    cv::Scalar upDiff = cv::Scalar(20);
+
+    cv::floodFill(morphologyExFrame, mask, seedPoint, newVal, 0, loDiff, upDiff, 8);
+
+    cv::Mat outputImage = cv::Mat::zeros(line_tracking_width, line_tracking_height, CV_8UC1);
+
+    mask(cv::Rect(1, 1, line_tracking_width, line_tracking_height)).copyTo(outputImage);
+
+    return outputImage;
+}
+
+void image_main()
+{
+    cv::Mat resizedFrame;
+
+    cv::resize(raw_frame, resizedFrame, cv::Size(line_tracking_width, line_tracking_height));
+
+    binarizedFrame = image_binerize(resizedFrame);
+
+    track = find_road(binarizedFrame);
+
+    left_line.clear();
+    right_line.clear();
+    mid_line.clear();
+    left_line_filtered.clear();
+    right_line_filtered.clear();
+    mid_line_filtered.clear();
+
+    left_line.resize(line_tracking_height, -1);
+    right_line.resize(line_tracking_height, -1);
+    mid_line.resize(line_tracking_height, -1);
+    left_line_filtered.resize(line_tracking_height, -1);
+    right_line_filtered.resize(line_tracking_height, -1);
+    mid_line_filtered.resize(line_tracking_height, -1);
+
+    uchar(*IMG)[line_tracking_width] = reinterpret_cast<uchar(*)[line_tracking_width]>(track.data);
+
+    for (int i = 0; i < line_tracking_height; ++i)
+    {
+        int max_start = -1;
+        int max_end = -1;
+        int current_start = -1;
+        int current_length = 0;
+        int max_length = 0;
+
+        for (int j = 0; j < line_tracking_width; ++j)
+        {
+            if (IMG[i][j])
+            {
+                if (current_length == 0)
+                {
+                    current_start = j;
+                    current_length = 1;
+                }
+                else
+                {
+                    current_length++;
+                }
+                if (current_length >= max_length)
+                {
+                    max_length = current_length;
+                    max_start = current_start;
+                    max_end = j;
+                }
+            }
+            else
+            {
+                current_length = 0;
+                current_start = -1;
+            }
+        }
+        if (max_length > 0)
+        {
+            left_line[i] = max_start;
+            right_line[i] = max_end;
+        }
+        else
+        {
+            left_line[i] = -1;
+            right_line[i] = -1;
+        }
+    }
+
+    double a = 0.4;
+    for (int row = line_tracking_height - 1; row >= 10; --row)
+    {
+        if (left_line[row] == -1 && right_line[row] == -1)
+        {
+            mid_line[row] = mid_line[row + 1];
+            if (mid_line[row] > line_tracking_width / 2)
+            {
+                right_line[row] = line_tracking_width - 1;
+                left_line[row] = mid_line[row + 1];
+            }
+            else
+            {
+                left_line[row] = 0;
+                right_line[row] = mid_line[row + 1];
+            }
+        }
+        else
+        {
+            mid_line[row] = (left_line[row] + right_line[row]) / 2;
+        }
+        if (row == line_tracking_height - 1)
+        {
+            left_line_filtered[row] = left_line[row];
+            right_line_filtered[row] = right_line[row];
+            mid_line_filtered[row] = mid_line[row];
+        }
+        else
+        {
+            left_line_filtered[row] = a * left_line[row] + (1 - a) * left_line_filtered[row + 1];
+            right_line_filtered[row] = a * right_line[row] + (1 - a) * right_line_filtered[row + 1];
+            // mid_line_filtered[row] = a * mid_line[row] + (1 - a) * mid_line_filtered[row + 1];
+            mid_line_filtered[row] = (left_line_filtered[row] + right_line_filtered[row]) / 2.0;
+        }
+    }
+}