//?Author:?Francis?Liu
//?Email:?francislucien2017@126.com
//?This?code?is?about?lane?detection?by?using?OpenCV3.

#include
#include
#include
#include
#include
#include				
#include
#include

using?std::cout;
typedef?std::vector?linesType;
const?double?PI?=?3.1415926535;
bool?show_steps?=?false;

//?m:?斜率?b:?截距?norm:?線長
struct?hough_pts?{
	double?m?b?norm;
	hough_pts（double?m?double?b?double?norm）?:
		m（m）?b（b）?norm（norm）?{};
};

void?getROI（cv::Mat?img?std::vector?vertices?cv::Mat&?masked）?{
	cv::Mat?mask?=?cv::Mat::zeros（img.size（）?img.type（））;
	if?（img.channels（）?==?1）?{
		cv::fillConvexPoly（mask?vertices?cv::Scalar（255））;
	}
	else?if（img.channels（）?==?3）{
		cv::fillConvexPoly（mask?vertices?cv::Scalar（255255255））;
	}
	int?a?=?10;
	cv::bitwise_and（img?img?masked?mask）;
}

void?drawLines（cv::Mat&?img?linesType?lines?cv::Scalar?color）?{
	for?（int?i?=?0;?i?		cv::Point?pt1?=?cv::Point（lines[i][0]?lines[i][1]）;
		cv::Point?pt2?=?cv::Point（lines[i][2]?lines[i][3]）;
		cv::line（img?pt1?pt2?color?4?8）;
	}
}


void?averageLines（cv::Mat?linesType?lines?double?y_min?double?y_max?linesType&?output）?{
	std::vector?left_lane?right_lane;
	for?（int?i?=?0;?i?		cv::Point2f?pt1?=?cv::Point2f（lines[i][0]?lines[i][1]）;
		cv::Point2f?pt2?=?cv::Point2f（lines[i][2]?lines[i][3]）;
		double?m?=?（pt2.y?-?pt1.y）?/?（pt2.x?-?pt1.x）;
		double?b?=?-m?*?pt1.x?+?pt1.y;
		double?norm?=?sqrt（（pt2.x?-?pt1.x）*（pt2.x?-?pt1.x）?+?（pt2.y?-?pt1.y）*（pt2.y?-?pt1.y））;
		if?（m?			left_lane.push_back（hough_pts（m?b?norm））;
		}
		if?（m?>?0）?{?//?right?lane
			right_lane.push_back（hough_pts（m?b?norm））;
		}
	}

	double?b_avg_left?=?0.0?m_avg_left?=?0.0?xmin_left?xmax_left;
	for?（int?i?=?0;?i?		b_avg_left?+=?left_lane[i].b;
		m_avg_left?+=?left_lane[i].m;
	}
	b_avg_left?/=?left_lane.size（）;
	m_avg_left?/=?left_lane.size（）;
	xmin_left?=?int（（y_min?-?b_avg_left）?/?m_avg_left）;
	xmax_left?=?int（（y_max?-?b_avg_left）?/?m_avg_left）;
	//?left?lane
	output.push_back（cv::Vec4i（xmin_left?y_min?xmax_left?y_max））;

	double?b_avg_right?=?0.0?m_avg_right?=?0.0?xmin_right?xmax_right;
	for?（int?i?=?0;?i?		b_avg_right?+=?right_lane[i].b;
		m_avg_right?+=?right_lane[i].m;
	}
	b_avg_right?/=?right_lane.size（）;
	m_avg_right?/=?right_lane.size（）;
	xmin_right?=?int（（y_min?-?b_avg_right）?/?m_avg_right）;
	xmax_right?=?int（（y_max?-?b_avg_right）?/?m_avg_right）;
	//?right?lane
	output.push_back（cv::Vec4i（xmin_right?y_min?xmax_right?y_max））;

	//?left?lane:?output[0]
	//?right?lane:?output[1]
}

void?bypassAngleFilter（linesType?lines?double?low_thres?double?high_thres?linesType&?output）?{
	for?（int

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????文件????????6980??2018-10-27?09:52??lane?detection.cpp
?????文件????????6720??2018-10-26?22:26??lane?detection.py
?????目錄???????????0??2018-10-27?10:18??test_videos\
?????文件????15093678??2018-04-23?23:06??test_videos\test.mp4