You are an expert in writing code in many different languages. Your goal is to perform code completion for the following code, keeping in mind the rest of the code and the file meta data.
    Metadata details:
    filename: detectLanes.m
    path of file: ./repos/hongbomiao.com/automobile/detect-lane-by-lidar-point-cloud
    
    the code of the file until where you have to start completion: % Detect lane on a point cloud
function detectedLanePoints = detectLanes(ptCloud, horizontalBinResolution, num
    
function detectedLanePoints = detectLanes(ptCloud, horizontalBinResolution, numVerticalBins, startLanePoints)
    numLanes = numel(startLanePoints);
    verticalBins = zeros(numVerticalBins, 3, numLanes);
    lanes = zeros(numVerticalBins, 3, numLanes);
    laneStartX = linspace(ptCloud.XLimits(1), ptCloud.XLimits(2), numVerticalBins);
    for i = 1:numVerticalBins - 1
        for j = 1:numLanes
            laneStartY = startLanePoints(j);
            % Define a vertical roi window
            roi = [laneStartX(i), laneStartX(i + 1), laneStartY - horizontalBinResolution / 2, laneStartY + horizontalBinResolution / 2, -inf, inf];
            tmpPc = select(ptCloud, findPointsInROI(ptCloud, roi));

            if ~isempty(tmpPc.Location)
                [~, maxIndex] = max(tmpPc.Intensity);
                val = tmpPc.Location(maxIndex, :);
                verticalBins(i, :, j) = val;
                lanes(i, :, j) = val;
                % Slide the window with the update mean value along
                % y direction
                startLanePoints(j) = val(2);
                % For dash lanes update the sliding window by 2D polynomial
            else
                value = lanes(2:end