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#include 
   
    #include 
    
     #include "opencv2/core/core.hpp"#include "opencv2/imgproc/imgproc.hpp"#include "opencv2/highgui/highgui.hpp"using namespace std;using namespace cv;int main(int argc, char **argv) {
       Mat img, gray, blur_img, edges, mask, masked_edges;    img = imread("img.jpg",-1);    if(img.empty())	return -1;    cvtColor(img, gray, cv::COLOR_BGR2GRAY);    GaussianBlur(gray, blur_img, Size(5,5), 0);    Canny(blur_img, edges, 100, 250);        //ROI     mask = Mat::zeros(img.size(),CV_8UC1);    vector
     
      
        > contour;    vector
       
         pts;    pts.push_back(Point(0,img.rows));    pts.push_back(Point(img.cols/2.0-20,img.rows*0.6));    pts.push_back(Point(img.cols/2.0+20,img.rows*0.6));    pts.push_back(Point(img.cols,img.rows));    contour.push_back(pts);    drawContours(mask,contour,0,Scalar::all(255),-1);    edges.copyTo(masked_edges, mask);        vector
        
          lines, left_lines, right_lines; // Vec4i -> lines[i][0-3] HoughLinesP(masked_edges, lines, 2, CV_PI/180, 30, 10, 30); //lines' coordinate vector
         
           left_slope, right_slope; vector
          
            left_centers, right_centers; //Point2d -> left_centers[i].x list
           
             list_lines; double slo; Point2d center; int i = 0; for(auto v:lines) // vector -> list list_lines.push_back(v); for(auto iter = list_lines.begin(); iter != list_lines.end(); i++) //list to erase { slo = double((lines[i][3]-lines[i][1]))/double((lines[i][2]-lines[i][0])) ; center = Point( double(lines[i][2]+lines[i][0])/2 , double(lines[i][3]+lines[i][1])/2 ); if(fabs(slo)<0.35) { iter = list_lines.erase(iter); continue; } if(slo > 0) { right_lines.push_back(lines[i]); right_centers.push_back(center); right_slope.push_back(slo); } else { left_lines.push_back(lines[i]); left_centers.push_back(center); left_slope.push_back(slo); } *iter = lines[i]; iter++; } //left to mean slope and center double left_len, total_left_len=0, total_left_slope=0; Point2d total_left_center(0,0); for(int i = 0; i< left_lines.size(); i++) { left_len = sqrt( (left_lines[i][2]-left_lines[i][0])*(left_lines[i][2]-left_lines[i][0]) + (left_lines[i][3]-left_lines[i][1])*(left_lines[i][3]-left_lines[i][1]) ); total_left_slope = total_left_slope + left_len * left_slope[i]; total_left_len = total_left_len + left_len; total_left_center = Point(total_left_center.x + left_len * left_centers[i].x , total_left_center.y + left_len * left_centers[i].y ); } double mean_left_slope; Point2d mean_left_center; mean_left_slope = total_left_slope/ total_left_len; mean_left_center = Point( total_left_center.x/total_left_len, total_left_center.y/total_left_len); //right to mean slope and center double right_len, total_right_len=0, total_right_slope=0; Point2d total_right_center(0,0); for(int i = 0; i< right_lines.size(); i++) { right_len = sqrt( (right_lines[i][2]-right_lines[i][0])*(right_lines[i][2]-right_lines[i][0]) + (right_lines[i][3]-right_lines[i][1])*(right_lines[i][3]-right_lines[i][1]) ); total_right_slope = total_right_slope + right_len * right_slope[i]; total_right_len = total_right_len + right_len; total_right_center = Point(total_right_center.x + right_len * right_centers[i].x , total_right_center.y + right_len * right_centers[i].y ); } double mean_right_slope; Point2d mean_right_center; mean_right_slope = total_right_slope/ total_right_len; mean_right_center = Point( total_right_center.x/total_right_len, total_right_center.y/total_right_len); double start_y = img.rows * 0.6; double end_y = img.rows; double left_start_x = (start_y - mean_left_center.y)/mean_left_slope + mean_left_center.x; double left_end_x = (end_y - mean_left_center.y)/mean_left_slope + mean_left_center.x; double right_start_x = (start_y - mean_right_center.y)/mean_right_slope + mean_right_center.x; double right_end_x = (end_y - mean_right_center.y)/mean_right_slope + mean_right_center.x; line(img, Point(left_start_x, start_y), Point(left_end_x, end_y), Scalar(0,0,255), 3, 8); line(img, Point(right_start_x, start_y), Point(right_end_x, end_y), Scalar(0,0,255), 3, 8); // vector
            
              pro_lines; //list(after erase) -> vector// for(auto v:list_lines)// pro_lines.push_back(v); // for(int i=0; i
            
           
          
         
        
       
      
     
    
   

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