基于matlab的车道线检测完整代码

好的，下面是基于MATLAB的车道线检测完整代码，包括了上述步骤中所涉及的函数和实现细节。请注意，这只是一个简单的实现，可能需要根据实际情况进行调整和优化。

% 读取图像
img = imread('test.jpg');

% 转换为灰度图像
gray_img = rgb2gray(img);

% 高斯滤波
filtered_img = imgaussfilt(gray_img, 3);

% Canny边缘检测
edge_img = edge(filtered_img, 'Canny', [0.1 0.2]);

% 霍夫变换
[H,theta,rho] = hough(edge_img);
peaks = houghpeaks(H, 50);
lines = houghlines(edge_img,theta,rho,peaks,'FillGap',50,'MinLength',30);

% 过滤车道线
left_lines = [];
right_lines = [];
for i = 1:length(lines)
    if lines(i).theta > 0 && lines(i).theta < 30 && lines(i).point1(1) < size(img,2)/2 ...
            && lines(i).point2(1) < size(img,2)/2
        left_lines = [left_lines; lines(i)];
    elseif lines(i).theta > -30 && lines(i).theta < 0 && lines(i).point1(1) > size(img,2)/2 ...
            && lines(i).point2(1) > size(img,2)/2
        right_lines = [right_lines; lines(i)];
    end
end

% 计算车道线斜率和截距
left_slope = [];
left_intercept = [];
for i = 1:length(left_lines)
    left_slope = [left_slope; (left_lines(i).point2(2)-left_lines(i).point1(2)) / ...
        (left_lines(i).point2(1)-left_lines(i).point1(1))];
    left_intercept = [left_intercept; left_lines(i).point1(2) - ...
        left_slope(i)*left_lines(i).point1(1)];
end

right_slope = [];
right_intercept = [];
for i = 1:length(right_lines)
    right_slope = [right_slope; (right_lines(i).point2(2)-right_lines(i).point1(2)) / ...
        (right_lines(i).point2(1)-right_lines(i).point1(1))];
    right_intercept = [right_intercept; right_lines(i).point1(2) - ...
        right_slope(i)*right_lines(i).point1(1)];
end

% 计算左右车道线的平均斜率和截距
avg_left_slope = mean(left_slope);
avg_left_intercept = mean(left_intercept);
avg_right_slope = mean(right_slope);
avg_right_intercept = mean(right_intercept);

% 计算左右车道线的起点和终点坐标
y1 = size(img,1);
y2 = round(size(img,1)/2+50);
left_x1 = (y1-avg_left_intercept)/avg_left_slope;
left_x2 = (y2-avg_left_intercept)/avg_left_slope;
right_x1 = (y1-avg_right_intercept)/avg_right_slope;
right_x2 = (y2-avg_right_intercept)/avg_right_slope;

% 在原始图像上绘制车道线
figure;
imshow(img);
hold on;
plot([left_x1 left_x2], [y1 y2], 'LineWidth', 2, 'Color', 'green');
plot([right_x1 right_x2], [y1 y2], 'LineWidth', 2, 'Color', 'green');

这段代码中，`test.jpg`是车道线检测的测试图像，可以根据实际情况进行替换。运行代码后，可以得到在原始图像上绘制的车道线。