text: #ifndef LANE_DETECTION_H
  #define LANE_DETECTION_H
  
  #include "stdio.h"
  #include <opencv2/imgproc/imgproc.hpp>
  #include <opencv2/highgui/highgui.hpp>
  #include "opencv2/core/core.hpp"
  
  #include <vector>
  #include <iostream>
  #include <iomanip>
  #include <strstream>
  
  #include "msac/MSAC.h"
  
  using namespace std;
  using namespace cv;
  
  #define MAX_NUM_LINES	30
  #define VIDEO_FRAME_WIDTH 640
  #define VIDEO_FRAME_HEIGHT 480
  
  
  void
  api_vanishing_point_init(MSAC &msac);
  
  void edgeProcessing(Mat org, Mat &dst, Mat element, string method = "Canny");
  void
  api_get_vanishing_point(Mat imgGray, // input
                          Rect roi,    // input
                          MSAC &msac,  // input
                          Point &vp,    // output vnishing point
                          bool is_show_output = false,
                          string method = "Wavelet");
                      //Current supported method: Canny, Sobel, Prewitt, Roberts
                      
  #endif                 
  