LDW

逆透视变换车道线检测源码

vet_ipm_ldw/build-vet_ipm_ldw-Desktop_Qt_5_10_1_GCC_64bit-Debug/.qmake.stash

@@ -0,0 +1,24 @@
+QMAKE_CXX.INCDIRS = \
+    /usr/include/c++/5 \
+    /usr/include/x86_64-linux-gnu/c++/5 \
+    /usr/include/c++/5/backward \
+    /usr/lib/gcc/x86_64-linux-gnu/5/include \
+    /usr/local/include \
+    /usr/lib/gcc/x86_64-linux-gnu/5/include-fixed \
+    /usr/include/x86_64-linux-gnu \
+    /usr/include
+QMAKE_CXX.LIBDIRS = \
+    /usr/lib/gcc/x86_64-linux-gnu/5 \
+    /usr/lib/x86_64-linux-gnu \
+    /usr/lib \
+    /lib/x86_64-linux-gnu \
+    /lib
+QMAKE_CXX.QT_COMPILER_STDCXX = 199711L
+QMAKE_CXX.QMAKE_GCC_MAJOR_VERSION = 5
+QMAKE_CXX.QMAKE_GCC_MINOR_VERSION = 4
+QMAKE_CXX.QMAKE_GCC_PATCH_VERSION = 0
+QMAKE_CXX.COMPILER_MACROS = \
+    QT_COMPILER_STDCXX \
+    QMAKE_GCC_MAJOR_VERSION \
+    QMAKE_GCC_MINOR_VERSION \
+    QMAKE_GCC_PATCH_VERSION

vet_ipm_ldw/build/file/SettingFile.xml

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+<?xml version="1.0"?>
+<opencv_storage>
+<!-- This setting file is to set experiment parameters --> 
+<!-- =====Set video source===== -->
+<video_path>file\\video\\</video_path>
+<!-- read file path -->
+<calibrationSettingFile_path>file\\calibrationSettingFile.xml</calibrationSettingFile_path>
+<pixel_path>file\\pixel.xml</pixel_path>
+<ROI_HEIGHT>30000</ROI_HEIGHT>
+<ROI_WIDTH>3750</ROI_WIDTH>
+</opencv_storage>

vet_ipm_ldw/build/file/calibrationSettingFile.xml

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+<?xml version="1.0"?>
+<opencv_storage>
+<comprehensiveParameters>
+  3.1807900000000000e-001 9.6635299999999993e-002
+  -4.8396999999999997e-003 2.3091899999999999e-002
+  -9.3867100000000001e-006 1.5981799999999999e-004
+  6.4010299999999995e+002 5.7899599999999998e+002</comprehensiveParameters>
+<Distance_of_2_near_circles>1680</Distance_of_2_near_circles>
+<Distance_of_2_far_circles>1680</Distance_of_2_far_circles>
+<Distance_of_2_vertical_circles>2000</Distance_of_2_vertical_circles>
+<Distance_from_car_to_original_coordinate>3900</Distance_from_car_to_original_coordinate>
+<car_front_width>1730</car_front_width>
+<Extand_width>1000</Extand_width>
+</opencv_storage>

vet_ipm_ldw/build/file/pixel.xml

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+<?xml version="1.0"?>
+<opencv_storage>
+<one_x>3.6999925639520211e+002</one_x>
+<one_y>5.7849997037617891e+002</one_y>
+<two_x>4.2649970115376783e+002</two_x>
+<two_y>4.7400020455151628e+002</two_y>
+<three_x>8.3900055935883290e+002</three_x>
+<three_y>4.7350021043274643e+002</three_y>
+<four_x>9.1450004322865084e+002</four_x>
+<four_y>5.7949991401582884e+002</four_y>
+<five_x>-3.0956595226845128e+001</five_x>
+<five_y>1.2814095111316901e+003</five_y>
+<six_x>1.4606018418322392e+003</six_x>
+<six_y>1.3151492455386626e+003</six_y>
+</opencv_storage>

vet_ipm_ldw/build/file/video/list.txt

@@ -0,0 +1,5 @@
+ldw_20180505124501794.avi
+test1.avi
+highway2.avi
+highway1.avi
+

vet_ipm_ldw/vet_ipm_ldw/calibration.cpp

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+
+#include<calibration.h>
+
+using namespace std;
+using namespace cv;
+
+void initialize(){
+    //读取设置文件
+    FileStorage _fs("file\\SettingFile.xml", FileStorage::READ);
+    if(!_fs.isOpened())
+    {
+        cout << "failed to open SettingFile.xml" << endl;
+    }
+    _fs["video_path"]>>video_path;
+    _fs["calibrationSettingFile_path"]>>calibrationSettingFile_path;
+    _fs["pixel_path"]>>pixel_path;
+    _fs["ROI_HEIGHT"]>>ROI_HEIGHT;
+    _fs["ROI_WIDTH"]>>ROI_WIDTH;
+
+    _fs.release();
+}
+
+Calibration* Calibration::vet_ptr_calibration = NULL;
+
+Calibration::Calibration()
+{
+    //初始化参数值
+    for(int i=0;i<8;i++)
+    {
+        comprehensive_parameters[i] = 0;
+    }
+}
+
+Calibration* Calibration::instance()
+{
+    //获取单例模式
+    if(NULL==vet_ptr_calibration)
+    {
+        vet_ptr_calibration = new Calibration();
+    }
+    return vet_ptr_calibration;
+}
+
+void Calibration::destoryInstance()
+{
+    if(NULL!=vet_ptr_calibration)
+    {
+        delete vet_ptr_calibration;
+        vet_ptr_calibration = NULL;
+    }
+}
+
+bool Calibration::initComprehensiveParameters()
+{
+//    cout<<"$$$$$$$$$$$$$$$$$: "<<calibrationSettingFile_path<<endl;
+    FileStorage _fs(calibrationSettingFile_path, FileStorage::READ);
+//    cout<<"%%%%%%%%%%%%%%%%%%%%%%%%%%%"<<endl;
+    if(!_fs.isOpened()){
+        cout << "Fail to open calibrationSettingFile.xml" << endl;
+        return false;
+    }
+
+    FileNode arr_node = _fs["comprehensiveParameters"];
+    FileNodeIterator fni = arr_node.begin();
+    FileNodeIterator fniEnd = arr_node.end();
+    for(int i = 0; fni != fniEnd; fni++){
+        comprehensive_parameters[i++] = *fni;
+    }
+
+    //show only 2018.4.2
+//    for(int i=0;i<8;i++)
+//    {
+//        cout<<comprehensive_parameters[i]<<endl;
+//    }
+
+    _fs.release();
+
+    return true;
+}
+
+bool Calibration::createPixelFile()//创建一个xml文件，文件包含6个实际点对应的像素点。
+{
+
+    FileStorage _fs(calibrationSettingFile_path, FileStorage::READ);
+    if(!_fs.isOpened()){
+        cout << "Fail to open calibrationSettingFile.xml" << endl;
+        return false;
+    }
+    float _DistNearCircles;
+    float _DistFarCircles;
+    float _DistVerticalCircles;
+    float _CarFrontDist;
+    float _ExtandWidth;
+    float _CarFrontWidth;
+
+    //标定时确定的实际坐标参数
+    _fs["Distance_of_2_near_circles"] >> _DistNearCircles;
+    _fs["Distance_of_2_far_circles"] >> _DistFarCircles;
+    _fs["Distance_of_2_vertical_circles"] >> _DistVerticalCircles;
+    _fs["Distance_from_car_to_original_coordinate"] >> _CarFrontDist;
+    _fs["Extand_width"] >> _ExtandWidth;
+    _fs["car_front_width"] >> _CarFrontWidth;
+
+    _fs.release();
+
+    //WRITE XML
+    FileStorage fs(pixel_path, FileStorage::WRITE);
+    if(!fs.isOpened()){
+        cout << "failed to create pixl.xml" << endl;
+        return false;
+    }
+
+    Point2d _Real_coordinate[6];//实际坐标
+    Point2d _pixel_coordinate[6];//像素坐标
+    _Real_coordinate[0]=Point2d(-0.5*_DistNearCircles,0);
+    _Real_coordinate[1]=Point2d(-0.5*_DistNearCircles,_DistVerticalCircles);
+    _Real_coordinate[2]=Point2d(0.5*_DistNearCircles,_DistVerticalCircles);
+    _Real_coordinate[3]=Point2d(0.5*_DistNearCircles,0);
+    _Real_coordinate[4]=Point2d(-0.5*_CarFrontWidth,-_CarFrontDist);
+    _Real_coordinate[5]=Point2d(0.5*_CarFrontWidth,-_CarFrontDist);
+    for(int ii=0;ii<6;ii++)
+    {
+        double x = _Real_coordinate[ii].x;
+        double y = _Real_coordinate[ii].y;
+//        cout<<x<<"  "<<y<<endl;
+        //像素坐标
+        if(0!=(1+comprehensive_parameters[4]*x+comprehensive_parameters[5]*y))
+        {
+            double ux = (comprehensive_parameters[6]+comprehensive_parameters[0]*x+comprehensive_parameters[1]*y)/(1+comprehensive_parameters[4]*x+comprehensive_parameters[5]*y);
+            double vy = (comprehensive_parameters[7]+comprehensive_parameters[2]*x+comprehensive_parameters[3]*y)/(1+comprehensive_parameters[4]*x+comprehensive_parameters[5]*y);
+            _pixel_coordinate[ii] = Point2d(ux,vy);
+        }
+        else
+        {
+            cout<<"The Comprehensive Parameters Error!!!"<<endl;
+        }
+    }
+
+    fs << "one_x" << _pixel_coordinate[0].x;
+    fs << "one_y" << _pixel_coordinate[0].y;
+    fs << "two_x" << _pixel_coordinate[1].x;
+    fs << "two_y"<< _pixel_coordinate[1].y;
+    fs << "three_x" << _pixel_coordinate[2].x;
+    fs << "three_y" << _pixel_coordinate[2].y;
+    fs << "four_x" << _pixel_coordinate[3].x;
+    fs << "four_y" << _pixel_coordinate[3].y;
+    fs << "five_x" << _pixel_coordinate[4].x;
+    fs << "five_y" << _pixel_coordinate[4].y;
+    fs << "six_x" << _pixel_coordinate[5].x;
+    fs << "six_y" << _pixel_coordinate[5].y;
+    fs.release();
+    return true;
+}
+
+
+//将像素坐标转换成实际坐标
+void Calibration::pixel2Vehicle(StructPixelAndReal& pixelAndReal)
+{
+    double ux = pixelAndReal._pixel_coordinate.x;
+    double vy = pixelAndReal._pixel_coordinate.y;
+
+    double a1 = comprehensive_parameters[0]-ux*comprehensive_parameters[4];
+    double a2 = comprehensive_parameters[1]-ux*comprehensive_parameters[5];
+    double b1 = comprehensive_parameters[2]-vy*comprehensive_parameters[4];
+    double b2 = comprehensive_parameters[3]-vy*comprehensive_parameters[5];
+    double c1 = ux-comprehensive_parameters[6];
+    double c2 = vy-comprehensive_parameters[7];
+
+    //世界坐标
+    if(0!=(a1*b2-a2*b1))
+    {
+        double real_x = (b2*c1-a2*c2)/(a1*b2-a2*b1);
+        double real_y = (a1*c2-b1*c1)/(a1*b2-a2*b1);
+        pixelAndReal._real_coordinate = Point2d(real_x,real_y);
+    }
+    else
+    {
+        cout<<"The Comprehensive Parameters Error!"<<endl;
+    }
+}
+
+//将实际坐标转换为像素坐标
+void Calibration::vehicle2Pixel(StructPixelAndReal& pixelAndReal)
+{
+    double x = pixelAndReal._real_coordinate.x;
+    double y = pixelAndReal._real_coordinate.y;
+
+    //像素坐标
+    if(0!=(1+comprehensive_parameters[4]*x+comprehensive_parameters[5]*y))
+    {
+        double ux = (comprehensive_parameters[6]+comprehensive_parameters[0]*x+comprehensive_parameters[1]*y)/(1+comprehensive_parameters[4]*x+comprehensive_parameters[5]*y);
+        double vy = (comprehensive_parameters[7]+comprehensive_parameters[2]*x+comprehensive_parameters[3]*y)/(1+comprehensive_parameters[4]*x+comprehensive_parameters[5]*y);
+        pixelAndReal._pixel_coordinate = Point2d(ux,vy);
+    }
+    else
+    {
+        cout<<"The Comprehensive Parameters Error!!!"<<endl;
+    }
+}
+
+bool Calibration::getAllPixelPoint(vector<Point2d>& allPixelPoint)
+{
+    //2018.4.11 每次换标定文件时必须重新生成一次，覆盖原来的文件（仅仅生成一次）。
+    createPixelFile();
+    FileStorage _fs(pixel_path, FileStorage::READ);
+    if(!_fs.isOpened()){
+        cout << "Fail to1 open pixl.xml" << endl;
+        return false;
+    }
+
+    double tmp[6][2] = {0}; //读取6行
+    //标定时确定的实际坐标参数
+    _fs["one_x"]>>tmp[0][0];
+    _fs["one_y"]>>tmp[0][1];
+    _fs["two_x"]>>tmp[1][0];
+    _fs["two_y"]>>tmp[1][1];
+    _fs["three_x"]>>tmp[2][0];
+    _fs["three_y"]>>tmp[2][1];
+    _fs["four_x"]>>tmp[3][0];
+    _fs["four_y"]>>tmp[3][1];
+    _fs["five_x"]>>tmp[4][0];
+    _fs["five_y"]>>tmp[4][1];
+    _fs["six_x"]>>tmp[5][0];
+    _fs["six_y"]>>tmp[5][1];
+
+    _fs.release();
+
+    //所有像素坐标值
+    for(int j=0;j<6;j++)
+    {
+        allPixelPoint.push_back(Point2d(tmp[j][0],tmp[j][1]));
+    }
+    return true;
+
+}
+
+bool Calibration::getAllRealPoint(vector<Point2d>& allRealPoint)
+{
+    FileStorage _fs(calibrationSettingFile_path, FileStorage::READ);
+    if(!_fs.isOpened()){
+        cout << "Fail to open calibrationSettingFile.xml" << endl;
+        return false;
+    }
+
+    float _DistNearCircles;
+    float _DistFarCircles;
+    float _DistVerticalCircles;
+    float  _CarFrontDist;
+    float _ExtandWidth;
+    float _CarFrontWidth;
+
+    //标定时确定的实际坐标参数
+    _fs["Distance_of_2_near_circles"] >> _DistNearCircles;
+    _fs["Distance_of_2_far_circles"] >> _DistFarCircles;
+    _fs["Distance_of_2_vertical_circles"] >> _DistVerticalCircles;
+    _fs["Distance_from_car_to_original_coordinate"] >> _CarFrontDist;
+    _fs["Extand_width"] >> _ExtandWidth;
+    _fs["car_front_width"] >> _CarFrontWidth;
+
+    _fs.release();
+
+    //所有世界坐标值
+    allRealPoint.push_back(Point2d(-0.5*_DistNearCircles,0));
+    allRealPoint.push_back(Point2d(-0.5*_DistNearCircles,_DistVerticalCircles));
+    allRealPoint.push_back(Point2d(0.5*_DistNearCircles,_DistVerticalCircles));
+    allRealPoint.push_back(Point2d(0.5*_DistNearCircles,0));
+    allRealPoint.push_back(Point2d(-0.5*_CarFrontWidth,-_CarFrontDist));
+    allRealPoint.push_back(Point2d(0.5*_CarFrontWidth,-_CarFrontDist));
+    return true;
+}
+

vet_ipm_ldw/vet_ipm_ldw/calibration.h

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+#ifndef Calibration_H
+#define Calibration_H
+#include "global.h"
+
+void initialize();
+
+class Calibration
+{
+public:
+    static Calibration *instance();//设计成单例模式类，因为后面有三处类里用到了这个类
+    static void destoryInstance();
+    bool initComprehensiveParameters();  //获取8个标定参数
+    void pixel2Vehicle(StructPixelAndReal&);   //像素坐标到实际坐标变换
+    void vehicle2Pixel(StructPixelAndReal&);   //实际坐标到像素坐标变换
+    bool getAllPixelPoint(vector<Point2d>&); //获取所有点的像素坐标：标定圆的四个点及车前端左侧、右侧两个像素点坐标
+    bool getAllRealPoint(vector<Point2d>&);//获取所有点的世界坐标：标定圆的四个点及车前端左侧、右侧两个世界坐标
+    bool createPixelFile();//生成一个xml文件，里面包含对应的六个像素坐标，用来给后面的代码读取，在图像上计算距离，用来预警。
+
+private:
+    Calibration();
+
+private:
+    static Calibration *vet_ptr_calibration;
+    double comprehensive_parameters[8]; //用来存放综合参数
+};
+
+
+
+#endif // Calibration
+