怎么使用opencv实现车道线检测

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效果

 void lane_detection(cv::Mat &src, cv::Mat &dst) {     dst = cv::Mat::zeros(src.size(),src.type());     cv::Mat grid =cv::Mat::zeros(src.size(),src.type());     int iStep = 25;     int iNUmsX = src.cols / iStep;     int inUmsY = src.rows / iStep;     for(int i = 1; i <= inUmsY; i++)     {         int yPos = i * iStep + src.cols / 5;         cv::Point2d pt1,pt2;         int iOffset = 10;         pt1.x = 0 + iOffset;         pt1.y = yPos;         pt2.x = src.cols - iOffset;         pt2.y = yPos;         cv::line(grid,pt1,pt2,cv::Scalar(255), 1, cv::LINE_4);     }     for(int i = 1; i <= iNUmsX; i++)         int xPos = i * iStep;         pt1.x = xPos;         pt1.y = 0 + iOffset + src.rows / 5;         pt2.x = xPos;         pt2.y = src.rows - iOffset;     cv::imshow("grid", grid);     cv::Mat bitNot;     cv::bitwise_and(src, grid, bitNot);     cv::Mat add = cv::Mat::zeros(bitNot.rows, bitNot.cols,bitNot.type());     int iDiffTh = 200;          QTime timer;     timer.start();     //#pragma omp parallel for num_threads(10)      for (int i = 1; i < bitNot.rows - 1; i++)      {          for (int j = 1; j < bitNot.cols - 1; j++)          {              int iValueX = (int)bitNot.at(i, j);              int iValueXPre = (int)bitNot.at(i-1, j);              int iValueXNext = (int)bitNot.at(i+1, j);              int iValueY = (int)bitNot.at(i, j);              int iValueYPre = (int)bitNot.at(i, j-1);              int iValueYNext = (int)bitNot.at(i, j+1);              if((iValueX - iValueXPre > iDiffTh && iValueX - iValueXNext > iDiffTh) ||                  (iValueY - iValueYPre > iDiffTh && iValueY - iValueYNext > iDiffTh))              {                  add.at(i, j) = 255;              }          }      }      qDebug()<<"process time: "<> contours;    //cv::findContours(matThresh,contours,)    std::vector > contoursDefect;    std::vector hierarchyDefect;    cv::Mat canves;    cv::cvtColor(src, canves,cv::COLOR_RGBA2RGB);    cv::findContours(matThresh, contoursDefect, hierarchyDefect, cv::RETR_EXTERNAL, cv::CHAIN_APPROX_NONE);    for (size_t i = 0; i < contoursDefect.size(); i++)    {     cv::Mat contour(contoursDefect.at(i));//第i个轮廓     double area = contourArea(contour);     if (area >=  50)         cv::Moments moment;//矩         moment = moments(contour, false);         cv::Point2d pt1;         double m00 = moment.m00 + 0.01;         pt1.x = moment.m10 / m00;//计算重心横坐标         pt1.y = moment.m01 / m00;//计算重心纵坐标         cv::drawContours(canves, contoursDefect, i, cv::Scalar(255, 255, 0), -1);    }    cv::imshow("canves", canves);    cv::waitKey(0); } void test_lane_detection()     int i = 0;     while(1)         cv::Mat src;         QString  dir("D:\\QtProject\\Opencv_Example\\gen_grid_region\\scene_");         QString path;         if(i>9)  path =  QString("%1%2%3").arg(dir).arg(i++).arg(".png");         else path = QString("%1%2%3%4").arg(dir).arg("0").arg(i++).arg(".png");         cout<
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