//?lanedetect.cpp?:?定義控制臺應用程序的入口點。

#include?“stdafx.h“
#include?
#include?
#include?

using?namespace?cv;
using?namespace?std;


/*

#define?INF?99999999
CvCapture*?g_capture?=?NULL;

int?g_slider_pos?=?0;
int?frame_count?=?0;
CvSeq*?lines;


int?main（int?argc?char*?argv[]）
{
	cvNamedWindow（“show“）;
	g_capture?=?cvCreateFileCapture（“D:\\shipin/2--2018-2-4--15-36-23-999.avi“）;
	IplImage*?frame;
	while?（1）
	{
		CvMemStorage*?storage?=?cvCreateMemStorage（）;
		frame?=?cvQueryframe（g_capture）;

		//set?the?ROI?of?the?original?image
		int?x?=?0?y?=?frame->height?/?2;
		int?width?=?frame->width?height?=?frame->height?/?2;

		if?（!frame）
			break;

		cvSetImageROI（frame?cvRect（x?y?width?height））;
		IplImage*?gray?=?cvCreateImage（cvGetSize（frame）?8?1）;
		cvCvtColor（frame?gray?CV_BGR2GRAY）;

		cvCanny（gray?gray?50?100）;
		cvShowImage（“canny“?gray）;
		cvSmooth（gray?gray?CV_GAUSSIAN?3?1?0）;

		//Hough
		lines?=?cvHoughLines2（gray?storage?CV_HOUGH_PROBABILISTIC?1?CV_PI?/?180?50?90?50）;

		//select?approprivate?lines?acoording?to?the?slope
		for?（int?i?=?0;?i?total;?i++）
		{
			double?k?=?INF;
			CvPoint*?line?=?（CvPoint*）cvGetSeqElem（lines?i）;
			int?dx?=?line[1].x?-?line[0].x;
			int?dy?=?line[1].x?-?line[0].y;
			double?angle?=?atan2（dy?dx）?*?180?/?CV_PI;
			if?（abs（angle）?<=?10）
				continue;
			if?（line[0].y?>?line[1].y?+?50?||?line[0].y?			{
				cvLine（frame?line[0]?line[1]?CV_RGB（255?0?0）?2?CV_AA）;
			}
		}
		cvResetImageROI（frame）;
		cvShowImage（“show“?frame）;
		char?c?=?cvWaitKey（33）;
		if?（c?==?27）
			break;
	}
	cvReleaseCapture（&g_capture）;
	cvDestroyWindow（“show“）;
	return?0;
}

*/



/*TODO
*?improve?edge?linking
*?remove?blobs?whose?axis?direction?doesnt?point?towards?vanishing?pt
*?Parallelisation
*?lane?prediction
*/


#include?
#include?“opencv2/imgproc/imgproc.hpp“
#include?
#include?
#include?
#include?
#include?
#include?

using?namespace?std;
using?namespace?cv;
clock_t?start?stop;

class?LaneDetect
{
public:
	Mat?currframe;?//stores?the?upcoming?frame
	Mat?temp;??????//stores?intermediate?results
	Mat?temp2;?????//stores?the?final?lane?segments

	int?diff?diffL?diffR;
	int?laneWidth;
	int?diffThreshTop;
	int?diffThreshLow;
	int?ROIrows;
	int?vertical_left;
	int?vertical_right;
	int?vertical_top;
	int?smallLaneArea;
	int?longLane;
	int??vanishingPt;
	float?maxLaneWidth;

	//to?store?various?blob?properties
	Mat?binary_image;?//used?for?blob?removal
	int?minSize;
	int?ratio;
	float??contour_area;
	float?blob_angle_deg;
	float?bounding_width;
	float?bounding_length;
	Size2f?sz;
	vector?>?contours;
	vector?hierarchy;
	RotatedRect?rotated_rect;


	LaneDetect（Mat?startframe）
	{
		//currframe?=?startFram

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????目錄???????????0??2018-02-11?19:44??lanedetect\
?????目錄???????????0??2018-02-10?21:59??lanedetect\.vs\
?????目錄???????????0??2018-02-10?21:59??lanedetect\.vs\lanedetect\
?????目錄???????????0??2018-02-10?21:59??lanedetect\.vs\lanedetect\v14\
?????文件???????39936??2018-02-11?19:44??lanedetect\.vs\lanedetect\v14\.suo
?????目錄???????????0??2018-02-10?22:03??lanedetect\Debug\
?????文件???????61440??2018-02-10?22:03??lanedetect\Debug\lanedetect.pdb
?????目錄???????????0??2018-02-10?21:59??lanedetect\ipch\
?????目錄???????????0??2018-02-10?22:20??lanedetect\ipch\LANEDETECT-2a780b78\
?????文件?????3538944??2018-02-10?22:01??lanedetect\ipch\LANEDETECT-2a780b78\LANEDETECT-13cafd85.ipch
?????文件?????3604480??2018-02-10?22:20??lanedetect\ipch\LANEDETECT-2a780b78\LANEDETECT-db0486a3.ipch
?????目錄???????????0??2018-02-11?19:44??lanedetect\lanedetect\
?????目錄???????????0??2018-02-10?22:03??lanedetect\lanedetect\Debug\
?????文件????????2466??2018-02-10?22:03??lanedetect\lanedetect\Debug\lanedetect.log
?????文件???????86719??2018-02-10?22:03??lanedetect\lanedetect\Debug\lanedetect.obj
?????文件?????3407872??2018-02-10?22:02??lanedetect\lanedetect\Debug\lanedetect.pch
?????目錄???????????0??2018-02-10?22:03??lanedetect\lanedetect\Debug\lanedetect.tlog\
?????文件????????1346??2018-02-10?22:03??lanedetect\lanedetect\Debug\lanedetect.tlog\CL.command.1.tlog
?????文件???????22310??2018-02-10?22:03??lanedetect\lanedetect\Debug\lanedetect.tlog\CL.read.1.tlog
?????文件?????????772??2018-02-10?22:03??lanedetect\lanedetect\Debug\lanedetect.tlog\CL.write.1.tlog
?????文件?????????180??2018-02-10?22:03??lanedetect\lanedetect\Debug\lanedetect.tlog\lanedetect.lastbuildstate
?????文件???????????2??2018-02-10?22:03??lanedetect\lanedetect\Debug\lanedetect.tlog\link-cvtres.read.1.tlog
?????文件???????????2??2018-02-10?22:03??lanedetect\lanedetect\Debug\lanedetect.tlog\link-cvtres.write.1.tlog
?????文件???????????2??2018-02-10?22:03??lanedetect\lanedetect\Debug\lanedetect.tlog\link-rc.read.1.tlog
?????文件???????????2??2018-02-10?22:03??lanedetect\lanedetect\Debug\lanedetect.tlog\link-rc.write.1.tlog
?????文件???????????2??2018-02-10?22:03??lanedetect\lanedetect\Debug\lanedetect.tlog\link.command.1.tlog
?????文件???????????2??2018-02-10?22:03??lanedetect\lanedetect\Debug\lanedetect.tlog\link.read.1.tlog
?????文件???????????2??2018-02-10?22:03??lanedetect\lanedetect\Debug\lanedetect.tlog\link.write.1.tlog
?????文件???????????0??2018-02-10?22:03??lanedetect\lanedetect\Debug\lanedetect.tlog\unsuccessfulbuild
?????文件???????11846??2018-02-10?22:02??lanedetect\lanedetect\Debug\stdafx.obj
?????文件??????560128??2018-02-10?22:03??lanedetect\lanedetect\Debug\vc140.idb
............此處省略31個文件信息