* autobahn.hdev: Fast detection of lane markers
*
dev_update_window ('off')
*指定操作符调用返回的所有图标对象不显示在活动图像窗口中
dev_close_window ()
dev_open_window (0, 0, 768, 575, 'black', WindowID)
*打开一个窗口
MinSize := 30
get_system ('init_new_image', Information)
*返回图片信息参数
set_system ('init_new_image', 'false')
*不允许更改系统参数
gen_grid_region (Grid, MinSize, MinSize, 'lines', 512, 512)
*创建一个512*512的网格
clip_region (Grid, StreetGrid, 130, 10, 450, 502)
*将网格剪辑到制定矩形内
dev_set_line_width (3)
dev_set_color ('green')
*设定线宽为3，颜色为绿色
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'))
*读取以“autobahn/scene"开头的文件，后面表示数字是两位数
reduce_domain (ActualImage, StreetGrid, Mask)
*给定图像缩小到指定区域
sobel_amp (Mask, Gradient, 'sum_abs', 3)
*边缘检测sobel算子
threshold (Gradient, Points, 20, 255)
*阈值分割
dilation_rectangle1 (Points, RegionDilation, MinSize, MinSize)
*通过MinSize*MinSize结构元素对输入区域进行扩展
reduce_domain (ActualImage, RegionDilation, StripGray)
threshold (StripGray, Strip, 190, 255)
fill_up (Strip, RegionFillUp)
*填补区域漏洞
dev_display (ActualImage)
dev_display (RegionFillUp)
endfor
dev_set_line_width (1)
dev_update_window ('on')
set_system ('init_new_image', Information)