polyfitbelow.m

车道检测中弯道的检测

function [st,stNum]=PolyfitBelow(A,c,d)
s=size(A,1);
for(i=1:s)
    n=-A(i,1);
    for(k=2:n+1)
        X(k-1)=d(A(i,k));
        Y(k-1)=c(A(i,k));
    end
    LineStruct(i).fn=polyfit(X(1:n),Y(1:n),1);
    if(LineStruct(i).fn(1)<0)
        LineStruct(i).top.x=X(n);
        LineStruct(i).low.x=X(1);
    else
        LineStruct(i).top.x=X(1);
        LineStruct(i).low.x=X(n);
    end
    LineStruct(i).top.y=LineStruct(i).fn(1)*LineStruct(i).top.x+LineStruct(i).fn(2);
    LineStruct(i).low.y=LineStruct(i).fn(1)*LineStruct(i).low.x+LineStruct(i).fn(2);
    LineStruct(i).length = (Y(n)-Y(1))*(Y(n)-Y(1))+(X(n)-X(1))*(X(n)-X(1));
    LineStruct(i).flag = 1;
    LineStruct(i).StyleFlag=1;
    %LineStruct(i).k = LineStruct(i).fn(1);
end
st=LineStruct;
stNum=s;