halcon例程讲解_halcon例程学习笔记(6)

本例程来自halcon例程中的Blob分析中的autobahn例程

通过此例程可以很好的掌握sobel_amp算子的使用。详细使用请查看halcon算子说明文档

例程耿总目标的基本思路：

先获得主要感兴趣区域，去除车的干扰

然后通过sobel_amp算子检测边缘明显变化的图像，得到原始图像边缘位置的图像数据

然后通过阈值获取目标边缘。

通过膨胀目标边缘获得感兴趣区域，再次通过阈值分割获得目标

原始例程如下：

* autobahn.hdev: Fast detection of lane markers

*

dev_update_window ('off')

dev_close_window ()

dev_open_window (0, 0, 768, 575, 'black', WindowID)

MinSize := 30

get_system ('init_new_image', Information)

set_system ('init_new_image', 'false')

gen_grid_region (Grid, MinSize, MinSize, 'lines', 512, 512)

clip_region (Grid, StreetGrid, 130, 10, 450, 502)

dev_set_line_width (3)

dev_set_color ('green')

read_image (ActualImage, 'autobahn/scene_00')

dev_display (ActualImage)

stop ()

dev_display (StreetGrid)

stop ()

for i := 0 to 28 by 1

read_image (ActualImage, 'autobahn/scene_'+(i$'02'))

reduce_domain (ActualImage, StreetGrid, Mask)

dev_clear_window ()

dev_display(StreetGrid)

dev_clear_window ()

dev_display(Mask)

sobel_amp (Mask, Gradient, 'sum_abs', 3)

threshold (Gradient, Points, 20, 255)

dilation_rectangle1 (Points, RegionDilation, MinSize, MinSize)

reduce_domain (ActualImage, RegionDilation, StripGray)

threshold (StripGray, Strip, 190, 255)

fill_up (Strip, RegionFillUp)

dev_display (ActualImage)

dev_display (RegionFillUp)

endfor

dev_set_line_width (1)

dev_update_window ('on')

set_system ('init_new_image', Information)

经过分析，修改后的分析方法程序如下：

* autobahn.hdev: Fast detection of lane markers

*

dev_update_window ('off')

dev_close_window ()

dev_open_window (0, 0, 768, 575, 'black', WindowID)

MinSize := 30

get_system ('init_new_image', Information)

set_system ('init_new_image', 'false')

dev_set_line_width (3)

dev_set_color ('green')

stop ()

for i := 0 to 28 by 1

read_image (ActualImage, 'autobahn/scene_'+(i$'02'))

gen_rectangle1 (Rectangle, 130, 0, 512, 512)

reduce_domain (ActualImage, Rectangle, ReduceImage)

sobel_amp (ReduceImage, Amp, 'sum_abs', 3)

threshold (Amp, Points, 20, 255)

dilation_rectangle1 (Points, RegionDilation, MinSize, MinSize)

reduce_domain (ActualImage, RegionDilation, StripGray)

threshold (StripGray, Strip, 190, 255)

fill_up (Strip, RegionFillUp)

dev_display (ActualImage)

dev_display (RegionFillUp)

stop()

endfor

dev_set_line_width (1)

dev_update_window ('on')

set_system ('init_new_image', Information)