#ifndef COMMON_H_
#define COMMON_H_



#define IMAGE_H                     (MT9V03X_H)
#define IMAGE_W                     (MT9V03X_W)
#define BEGINH_L                    (61)
#define BEGINH_R                    (61)
#define BEGINW_L                    (-18)
#define BEGINW_R                    (-12)
#define PT_MAXLEN                   (75)
#define GET_PIX_1C(IMG, H, W)       (IMG[(H) * MT9V03X_W + (W)])   //获取像素点的值
#define FIX_BINTHRESHOLD            (140)                          //设置最开始的阈值
#define SELFADAPT_KERNELSIZE        (7)                            //巡线区域核大小
#define FILTER_KERNELSIZE           (7)                            //滤波核大小
#define SELFADAPT_OFFSET            (8)                           //适应性块大小
#define PIXPERMETER                 (56)
#define RESAMPLEDIST                (0.02)
#define ANGLEDIST                   (0.2)
#define ROADWIDTH                   (0.45)
#define FRAMENONE                   (1)
#define FRAMETOLEFT                 (5)
#define FRAMETORIGHT                (5)

typedef signed int          sint32;
typedef float               float32;

sint32 limit(sint32 x, sint32 low, sint32 up);
int clip(int x, int low, int up);
float fclip(float x, float low, float up) ;



#endif /* COMMON_H_ */