//原始图像表达
            pictureBox1.BackgroundImage = originMat.Bitmap;

            //转为灰度图像
            Mat grayMat = new Mat();
            CvInvoke.CvtColor(originMat, grayMat, ColorConversion.Bgr2Gray);
            pictureBox2.BackgroundImage = grayMat.Bitmap;

            // 高斯模糊
            Mat bulrMat = new Mat();
            CvInvoke.GaussianBlur(grayMat, bulrMat, new Size(5, 5), 0);
            pictureBox3.BackgroundImage = bulrMat.Bitmap;

            // sobel 边缘检测
            Mat sobelMat = new Mat();
            CvInvoke.Sobel(bulrMat, sobelMat, DepthType.Cv8U, 2, 0);
            pictureBox4.BackgroundImage = sobelMat.Bitmap;

            // 遮蔽区域
            int checkTop = 256;
            VectorOfVectorOfPoint fillPolyPoints = new VectorOfVectorOfPoint();
            fillPolyPoints.Push(new VectorOfPoint(
                new Point[]{
                new Point(0, 0),
                new Point(originMat.Width, 0),
                new Point(originMat.Width, originMat.Height - checkTop),
                new Point(0, originMat.Height - checkTop)
                }));
            CvInvoke.FillPoly(sobelMat, fillPolyPoints, new Bgr(0, 0, 0).MCvScalar);
            pictureBox5.BackgroundImage = sobelMat.Bitmap;

            //二值化处理
            Mat ThresholdMat = new Mat();
            CvInvoke.Threshold(sobelMat, ThresholdMat, 0, 100, ThresholdType.Otsu);
            pictureBox6.BackgroundImage = ThresholdMat.Bitmap;

            // 形态学滤波
            Mat kernelMat = CvInvoke.GetStructuringElement(ElementShape.Rectangle, new Size(3, 3), new Point(1, 0));
            CvInvoke.Dilate(ThresholdMat,ThresholdMat, kernelMat, new Point(2, 2), 1, BorderType.Default, new MCvScalar(0));
            pictureBox7.BackgroundImage = ThresholdMat.Bitmap;

            //拉普拉斯处理+Canny边缘处理
            Mat cannyMat = new Mat();
            CvInvoke.Laplacian(ThresholdMat, ThresholdMat, ThresholdMat.Depth, 5);
            CvInvoke.Canny(ThresholdMat, cannyMat, 100, 300, 3);

            // 车道线检验
            LineSegment2D[] lines = CvInvoke.HoughLinesP(cannyMat, 1.0, Math.PI / 180, 100, 25, 300);
            Mat laneMat = originMat.Clone();

            foreach (var line in lines)
            {
                CvInvoke.Line(laneMat, line.P1, line.P2, new MCvScalar(0, 0, 255), 2, LineType.AntiAlias);
            }
            pictureBox8.BackgroundImage = laneMat.Bitmap;