#include?
#include?“opencv2/imgproc/imgproc.hpp“
#include?“opencv2/highgui/highgui.hpp“
#include?
#include?
#include?“utils.h“

#define?USE_VIDEO?1

#undef?MIN
#undef?MAX
#define?MAX（ab）?（（a）<（b）?（b）:（a））
#define?MIN（ab）?（（a）>（b）?（b）:（a））

void?crop（IplImage*?src??IplImage*?dest?CvRect?rect）?{
????cvSetImageROI（src?rect）;?
????cvCopy（src?dest）;?
????cvResetImageROI（src）;?
}

struct?Lane?{
	Lane（）{}
	Lane（CvPoint?a?CvPoint?b?float?angle?float?kl?float?bl）:?p0（a）p1（b）angle（angle）
		votes（0）visited（false）found（false）k（kl）b（bl）?{?}

	CvPoint?p0?p1;
	int?votes;
	bool?visited?found;
	float?angle?k?b;
};

struct?Status?{
	Status（）:reset（true）lost（0）{}
	ExpMovingAverage?k?b;
	bool?reset;
	int?lost;
};

struct?Vehicle?{
	CvPoint?bmin?bmax;
	int?symmetryX;
	bool?valid;
	unsigned?int?lastUpdate;
};

struct?VehicleSample?{
	CvPoint?center;
	float?radi;
	unsigned?int?frameDetected;
	int?vehicleIndex;
};

#define?GREEN?CV_RGB（02550）
#define?RED?CV_RGB（25500）
#define?BLUE?CV_RGB（2550255）
#define?PURPLE?CV_RGB（2550255）

Status?laneR?laneL;
std::vector?vehicles;
std::vector?samples;

enum{
????SCAN_STEP?=?5			??//?in?pixels
	LINE_REJECT_DEGREES?=?10?//?in?degrees
????BW_TRESHOLD?=?250		??//?edge?response?strength?to?recognize?for?‘WHITE‘
????BORDERX?=?10			??//?px?skip?this?much?from?left?&?right?borders
	MAX_RESPONSE_DIST?=?5	??//?px
	
	CANNY_MIN_TRESHOLD?=?1	??//?edge?detector?minimum?hysteresis?threshold
	CANNY_MAX_TRESHOLD?=?100?//?edge?detector?maximum?hysteresis?threshold

	HOUGH_TRESHOLD?=?50		//?line?approval?vote?threshold
	HOUGH_MIN_LINE_LENGTH?=?50	//?remove?lines?shorter?than?this?treshold
	HOUGH_MAX_LINE_GAP?=?100???//?join?lines?to?one?with?smaller?than?this?gaps

	CAR_DETECT_LINES?=?4????//?minimum?lines?for?a?region?to?pass?validation?as?a?‘CAR‘
	CAR_H_LINE_LENGTH?=?10??//?minimum?horizontal?line?length?from?car?body?in?px

	MAX_VEHICLE_SAMPLES?=?30??????//?max?vehicle?detection?sampling?history
	CAR_DETECT_POSITIVE_SAMPLES?=?MAX_VEHICLE_SAMPLES-2?//?probability?positive?matches?for?valid?car
	MAX_VEHICLE_NO_UPDATE_FREQ?=?15?//?remove?car?after?this?much?no?update?frames
};

#define?K_VARY_FACTOR?0.2f
#define?B_VARY_FACTOR?20
#define?MAX_LOST_frameS?30

void?FindResponses（IplImage?*img?int?startX?int?endX?int?y?std::vector&?list）
{
????//?scans?for?single?response:?/^\_

	const?int?row?=?y?*?img->width?*?img->nChannels;
	unsigned?char*?ptr?=?（unsigned?char*）img->imageData;

????int?step?=?（endX?????int?range?=?（endX?>?startX）???endX-startX+1?:?startX-endX+1;

????for（int?x?=?startX;?range>0;?x?+=?step?range--）
????{
????????if（ptr[row?+?x]?<=?BW_TRESHOLD）?continue;?//?skip?black:?loop?until?white?pixels?show?up

????????//?first?response?found
????????int?idx?=?x?+?step;

????????//?skip?same?response（white）

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????目錄???????????0??2018-04-20?20:03??opencv-lane-vehicle-track-master\
?????目錄???????????0??2018-04-20?20:03??opencv-lane-vehicle-track-master\Debug\
?????文件???????12676??2018-04-06?21:24??opencv-lane-vehicle-track-master\Debug\CL.read.1.tlog
?????文件?????????420??2018-04-06?21:24??opencv-lane-vehicle-track-master\Debug\CL.write.1.tlog
?????文件?????????706??2018-04-06?21:24??opencv-lane-vehicle-track-master\Debug\cl.command.1.tlog
?????文件???????????2??2018-04-06?21:24??opencv-lane-vehicle-track-master\Debug\flowdemo.exe.embed.manifest
?????文件??????????68??2018-04-06?21:24??opencv-lane-vehicle-track-master\Debug\flowdemo.exe.embed.manifest.res
?????文件??????????82??2018-04-07?09:44??opencv-lane-vehicle-track-master\Debug\flowdemo.lastbuildstate
?????文件????????2658??2018-04-07?09:44??opencv-lane-vehicle-track-master\Debug\flowdemo.log
?????文件???????????0??2018-04-07?09:44??opencv-lane-vehicle-track-master\Debug\flowdemo.unsuccessfulbuild
?????文件???????????0??2018-04-06?21:24??opencv-lane-vehicle-track-master\Debug\flowdemo.write.1.tlog
?????文件?????????206??2018-04-06?21:24??opencv-lane-vehicle-track-master\Debug\flowdemo_manifest.rc
?????文件???????????2??2018-04-07?09:44??opencv-lane-vehicle-track-master\Debug\link.command.1.tlog
?????文件???????????2??2018-04-07?09:44??opencv-lane-vehicle-track-master\Debug\link.read.1.tlog
?????文件???????????2??2018-04-07?09:44??opencv-lane-vehicle-track-master\Debug\link.write.1.tlog
?????文件??????460482??2018-04-06?21:24??opencv-lane-vehicle-track-master\Debug\main.obj
?????文件?????????594??2018-04-06?21:24??opencv-lane-vehicle-track-master\Debug\rc.command.1.tlog
?????文件?????????350??2018-04-06?21:24??opencv-lane-vehicle-track-master\Debug\rc.read.1.tlog
?????文件?????????358??2018-04-06?21:24??opencv-lane-vehicle-track-master\Debug\rc.write.1.tlog
?????文件??????478208??2018-04-06?21:24??opencv-lane-vehicle-track-master\Debug\vc100.idb
?????文件?????1003520??2018-04-06?21:24??opencv-lane-vehicle-track-master\Debug\vc100.pdb
?????目錄???????????0??2018-04-20?20:03??opencv-lane-vehicle-track-master\bin\
?????目錄???????????0??2018-04-20?20:03??opencv-lane-vehicle-track-master\bin\haar\
?????文件????????3311??2014-04-06?03:09??opencv-lane-vehicle-track-master\bin\haar\MIT?cars128x128.txt
?????文件?????????353??2014-04-06?03:09??opencv-lane-vehicle-track-master\bin\haar\README
?????文件??????118803??2014-04-06?03:09??opencv-lane-vehicle-track-master\bin\haar\cars3.xml
?????文件?????2000896??2014-04-06?03:09??opencv-lane-vehicle-track-master\bin\opencv_core242.dll
?????文件??????668672??2014-04-06?03:09??opencv-lane-vehicle-track-master\bin\opencv_features2d242.dll
?????文件?????9156997??2014-04-06?03:09??opencv-lane-vehicle-track-master\bin\opencv_ffmpeg242.dll
?????文件??????460800??2014-04-06?03:09??opencv-lane-vehicle-track-master\bin\opencv_flann242.dll
?????文件??????385536??2014-04-06?03:09??opencv-lane-vehicle-track-master\bin\opencv_gpu242.dll
............此處省略26個文件信息