draw_lines.m

function draw_lines(BW, lines)

figure;
imshow(BW), hold on;

for k = 1:length(lines)
   xy = [lines(k).point1; lines(k).point2];
   plot(xy(:,1),xy(:,2),'LineWidth',3,'Color','green');
   % Plot beginnings and ends of lines
   plot(xy(1,1),xy(1,2),'x','LineWidth',2,'Color','yellow');
   plot(xy(2,1),xy(2,2),'x','LineWidth',2,'Color','red');     
end