程序步骤：

1.输入图像

2.灰度化

3.计算直方图

4.求峰值点

#include "../LaneDetecte_SRC/detector_lane.hpp"
#include "../common_src/unity.hpp"
#include "../common_src/common_func.hpp"
#include <chrono>
#include <thread>#include <opencv2/opencv.hpp>int main()
{for(int z = 1;z<100;z++){std::string leftName = cv::format(ROOT_DIR"/data%d/left%d.png",1,z);cv::Mat left,leftG;left = cv::imread(leftName);cv::Rect rect(0,left.rows - 200 , left.cols, 200);cv::Mat half_left(left, rect);cv::cvtColor(half_left,leftG,cv::COLOR_BGR2GRAY);cv::namedWindow( "leftG", 1);cv::imshow( "leftG", leftG);int Channels[] = { 0 };cv::Mat hist;int nHistSize[] = { 256 };float range[] = { 0, 255 };const float* fHistRanges[] = { range };cv::calcHist(&leftG, 1, Channels, cv::Mat(), hist, 1, nHistSize, fHistRanges, true, false);// 创建直方图画布int nHistWidth = 800;int nHistHeight = 600;int nBinWidth = cvRound((double)nHistWidth / nHistSize[0]);cv::Mat matHistImage(nHistHeight, nHistWidth, CV_8UC3, cv::Scalar(255, 255, 255));// 直方图归一化cv::normalize(hist, hist, 0.0, matHistImage.rows, cv::NORM_MINMAX, -1, cv::Mat());std::cout<<nHistSize[0]<<std::endl;//画值方图for (int i = 1; i < nHistSize[0]; i++){line(matHistImage,cv::Point(nBinWidth * (i - 1), nHistHeight - cvRound(hist.at<float>(i - 1))),cv::Point(nBinWidth * (i), nHistHeight - cvRound(hist.at<float>(i))),cv::Scalar(255, 0, 0),2,8,0);//std::cout<<i<<" : "<<hist.at<float>(i)<<std::endl;}std::vector<int> indexes;cv::Mat test = leftG.clone();int w = 20;bool flag;//求峰值点for(int i = 0;i<=255;i++){flag = true;for(int j = i-w;j<i+w;j++){if(j>0 && i<=255 ){if(hist.at<float>(i)<hist.at<float>(j) || hist.at<float>(i)==0){flag = false;break;}}}if(flag){if(indexes.size()>0){if(abs(indexes[indexes.size()-1]-i)>5){indexes.push_back(i);}}else if(indexes.size() == 0){indexes.push_back(i);}}}for(int i = 0;i<indexes.size();i++)std::cout<<"**********: "<<indexes[i]<<std::endl;int vw = 20;
//阈值分割if(indexes.size()>0){for(int y = 0;y<leftG.rows;y++){for(int x = 0;x<leftG.cols;x++){if(test.at<uchar>(y,x)>indexes[0]-vw && test.at<uchar>(y,x)<indexes[0]+vw){test.at<uchar>(y,x) = 0;}}imshow("test", test);}}// 显示直方图imshow("histogram", matHistImage);cv::waitKey(0);}return 0;
}