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图像尺寸改变

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元素测试完成，图像改为80，140
This commit is contained in:
Glz
2024-01-13 18:20:39 +08:00
parent a933b59a6c
commit 39ad54586a
16 changed files with 518 additions and 305 deletions
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4
app/gl_circle.c
View File

@@ -92,6 +92,8 @@ void RunCircle() {
Right_Border_ToLeft_Circle = 0;
Right_Border_ToRight_Circle = 0;
}
} else if (circle_type == CIRCLE_RIGHT_BEGIN) // 右环控制，前期寻左直道
{
track_type = TRACK_LEFT;
@@ -102,7 +104,7 @@ void RunCircle() {
}
if (pts_resample_right_count > 0.5 / RESAMPLEDIST &&
Right_Border_None_Circle > FRAMENONE) {
Right_Border_Have_Circle++;
Right_Border_Have_Circle++;
if (Right_Border_Have_Circle > FRAMENONE) {
circle_type = CIRCLE_RIGHT_IN;
Right_Border_None_Circle = 0;

5
app/gl_common.h
View File

@@ -3,8 +3,8 @@
#define IMAGE_H (MT9V03X_H)
#define IMAGE_W (MT9V03X_W)
#define BEGINH_L (80)
#define BEGINH_R (80)
#define BEGINH_L (50)
#define BEGINH_R (50)
#define BEGINW_L (-18)
#define BEGINW_R (-12)
#define PT_MAXLEN (75)
@@ -20,6 +20,7 @@
#define FRAMENONE (1)
#define FRAMETOLEFT (5)
#define FRAMETORIGHT (5)
#define PIXEL_PER_METER (100)
int32_t limit(int32_t x, int32_t low, int32_t up);
int clip(int x, int low, int up);

176
app/gl_cross.c
View File

@@ -4,6 +4,7 @@
enum cross_type_e cross_type = CROSS_NONE;
bool far_Lpt0_found, far_Lpt1_found;
int32_t Both_Boder_None_Cross;
int far_Lpt0_rpts0s_id, far_Lpt1_rpts1s_id;
void CheckCross() {
bool Xfound = Lpt0_found && Lpt1_found;
@@ -21,20 +22,19 @@ void RunCross() {
mid_left_count = pts_resample_left_count = Lpt0_rpts0s_id;
track_type = TRACK_LEFT;
}
if (Lpt1_found) {
else if(Lpt1_found) {
mid_right_count = pts_resample_right_count = Lpt1_rpts1s_id;
track_type = TRACK_RIGHT;
}
//近角点过少，进入远线控制
if ((Xfound && (Lpt0_rpts0s_id < 0.2 / RESAMPLEDIST || Lpt1_rpts1s_id < 0.2 / RESAMPLEDIST)) || (pts_resample_left_count <20 && pts_resample_right_count<20)) {
if ((Xfound && (Lpt0_rpts0s_id < 0.2 / RESAMPLEDIST && Lpt1_rpts1s_id < 0.2 / RESAMPLEDIST)) || (pts_resample_left_count <20 && pts_resample_right_count<20)) {
cross_type = CROSS_IN;
//cross_encoder = current_encoder;
}
}
//远线控制进十字,begin_y渐变靠近防丢线
else if (cross_type == CROSS_IN) {
if (cross_type == CROSS_IN) {
//寻远线,算法与近线相同
cross_farline();
@@ -47,11 +47,173 @@ void RunCross() {
}
if (far_Lpt1_found) { track_type = TRACK_RIGHT; }
else if (far_Lpt0_found) { track_type = TRACK_LEFT; }
else if (Both_Boder_None_Cross > 0 && pts_resample_right_count < 5) { track_type = TRACK_RIGHT; }
else if (Both_Boder_None_Cross > 0 && pts_resample_left_count < 5) { track_type = TRACK_LEFT; }
else if (Both_Boder_None_Cross > 0 && pts_far_resample_right_count < 5) { track_type = TRACK_RIGHT; }
else if (Both_Boder_None_Cross > 0 && pts_far_resample_left_count < 5) { track_type = TRACK_LEFT; }
}
}
void cross_farline(){}
void cross_farline(){
int cross_width = 4;
int far_y1 = 0, far_y2 = 0;
int far_x1 = 0, far_x2 = 0;
bool white_found = false;
pts_far_left_count = sizeof(pts_far_left) / sizeof(pts_far_left[0]);
int w1 = IMAGE_W / 2 - BEGINW_R, h1 = BEGINH_L;
for(;w1>cross_width*2; w1--)
{
if(GET_PIX_1C(mt9v03x_image_copy[0], h1, w1 - 1) < FIX_BINTHRESHOLD) {
far_x1 = w1 - cross_width;
break;
}
}
/*如果一行全为白色没写*/
if (far_x1 <= 20)
{
far_x1 = 20;
}
for (; h1 > 0; h1--) {
//先黑后白，先找white
if (GET_PIX_1C(mt9v03x_image_copy[0], h1, far_x1) >= FIX_BINTHRESHOLD) { white_found = true; }
if (GET_PIX_1C(mt9v03x_image_copy[0], h1 - 1, far_x1) < FIX_BINTHRESHOLD && white_found) {
far_y1 = h1;
break;
}
}
if (GET_PIX_1C(mt9v03x_image_copy[0], far_y1, far_x1) >= FIX_BINTHRESHOLD){
SearchLineAdaptive_Left(mt9v03x_image_copy[0], SELFADAPT_KERNELSIZE, SELFADAPT_OFFSET, far_y1, far_x1, pts_far_left, &pts_far_left_count);
}
else pts_far_left_count = 0;
int w2 = IMAGE_W / 2 + BEGINW_L, h2 = BEGINH_R;
white_found = false;
pts_far_right_count = sizeof(pts_far_right) / sizeof(pts_far_right[0]);
for(;w2 < IMAGE_W - cross_width*2; w2++)
{
if(GET_PIX_1C(mt9v03x_image_copy[0], h2, w2 + 1) < FIX_BINTHRESHOLD) {
far_x2 = w2 + cross_width;
break;
}
}
/*如果一行全为白色没写*/
if (far_x2 >= 100)
{
far_x2 = 100;
}
for (; h2 > 0; h2--) {
//先黑后白，先找white
if (GET_PIX_1C(mt9v03x_image_copy[0], h2, far_x2) >= FIX_BINTHRESHOLD) { white_found = true; }
if (GET_PIX_1C(mt9v03x_image_copy[0], h2 - 1, far_x2) < FIX_BINTHRESHOLD && white_found) {
far_y2 = h2;
break;
}
}
if (GET_PIX_1C(mt9v03x_image_copy[0], far_y2, far_x2) >= FIX_BINTHRESHOLD){
SearchLineAdaptive_Right(mt9v03x_image_copy[0], SELFADAPT_KERNELSIZE, SELFADAPT_OFFSET, far_y2, far_x2, pts_far_right, &pts_far_right_count);
}
else pts_far_right_count = 0;
//透视变换
for (int i = 0; i < pts_far_left_count; i++) {
pts_far_inv_l[i][1] = fclip(InverseMapW[pts_far_left[i][0]][pts_far_left[i][1]],0,IMAGE_W);
pts_far_inv_l[i][0] = fclip(InverseMapH[pts_far_left[i][0]][pts_far_left[i][1]],0,IMAGE_H);
}
pts_far_inv_l_count = pts_far_left_count;
for (int i = 0; i < pts_far_right_count; i++) {
pts_far_inv_r[i][1] = fclip(InverseMapW[pts_far_right[i][0]][pts_far_right[i][1]],0,IMAGE_W);
pts_far_inv_r[i][0] = fclip(InverseMapH[pts_far_right[i][0]][pts_far_right[i][1]],0,IMAGE_H);
}
pts_far_inv_r_count = pts_far_right_count;
// 边线滤波
GetLinesFilter(pts_far_inv_l, pts_far_inv_l_count, pts_far_filter_l, (int) round(FILTER_KERNELSIZE));
pts_far_filter_l_count = pts_far_inv_l_count;
GetLinesFilter(pts_far_inv_r, pts_far_inv_r_count, pts_far_filter_r, (int) round(FILTER_KERNELSIZE));
pts_far_filter_r_count = pts_far_inv_r_count;
// 边线等距采样
pts_far_resample_left_count = sizeof(pts_far_resample_left) / sizeof(pts_far_resample_left[0]);
GetLinesResample(pts_far_filter_l, pts_far_filter_l_count, pts_far_resample_left, &pts_far_resample_left_count, RESAMPLEDIST * PIXPERMETER);
pts_far_resample_right_count = sizeof(pts_far_resample_right) / sizeof(pts_far_resample_right[0]);
GetLinesResample(pts_far_filter_r, pts_far_filter_r_count, pts_far_resample_right, &pts_far_resample_right_count, RESAMPLEDIST * PIXPERMETER);
int valid_far_points_count = 0;
for (int i = 0; i < pts_far_resample_left_count; i++) {
int x = pts_far_resample_left[i][1];
int y = pts_far_resample_left[i][0];
if (y < IMAGE_H-3 && x > 3 && x < IMAGE_W-3 && y>=3 ) {
pts_far_resample_left[valid_far_points_count][0] = pts_far_resample_left[i][0];
pts_far_resample_left[valid_far_points_count][1] = pts_far_resample_left[i][1];
valid_far_points_count++;
}
}
pts_far_resample_left_count = valid_far_points_count;
valid_far_points_count = 0;
for (int i = 0; i < pts_far_resample_right_count; i++) {
int x = pts_far_resample_right[i][1];
int y = pts_far_resample_right[i][0];
if (y <= IMAGE_H-3 && x >= 3 && x <= IMAGE_W-3 && y>=3) {
pts_far_resample_right[valid_far_points_count][0] = pts_far_resample_right[i][0];
pts_far_resample_right[valid_far_points_count][1] = pts_far_resample_right[i][1];
valid_far_points_count++;
}
}
pts_far_resample_right_count = valid_far_points_count;
// 边线角度变化率
local_angle_points(pts_far_resample_left, pts_far_resample_left_count, far_angle_left, (int) round(ANGLEDIST / RESAMPLEDIST));
far_angle_left_num = pts_far_resample_left_count;
local_angle_points(pts_far_resample_right, pts_far_resample_right_count, far_angle_right, (int) round(ANGLEDIST / RESAMPLEDIST));
far_angle_right_num = pts_far_resample_right_count;
// 角度变化率非极大值抑制
nms_angle(far_angle_left, far_angle_left_num, far_angle_new_left, (int) round(ANGLEDIST / RESAMPLEDIST) * 2 + 1);
far_angle_new_left_num = far_angle_left_num;
nms_angle(far_angle_right, far_angle_right_num, far_angle_new_right, (int) round(ANGLEDIST / RESAMPLEDIST) * 2 + 1);
far_angle_new_right_num = far_angle_right_num;
// 找远线上的L角点
far_Lpt0_found = far_Lpt1_found = false;
// is_far_straight0 = pts_far_resample_left_count > 1.0 / RESAMPLEDIST;
// is_far_straight1 = pts_far_resample_right_count > 1.0 / RESAMPLEDIST;
for (int i = 0; i < pts_far_resample_left_count; i++) {
if (far_angle_new_left[i] == 0) continue;
int im1 = clip(i - (int) round(ANGLEDIST / RESAMPLEDIST), 0, pts_far_resample_left_count - 1);
int ip1 = clip(i + (int) round(ANGLEDIST / RESAMPLEDIST), 0, pts_far_resample_left_count - 1);
float conf = fabs(far_angle_left[i]) - (fabs(far_angle_left[im1]) + fabs(far_angle_left[ip1])) / 2;
//L角点阈值
if (far_Lpt0_found == false && (66. / 180. * PI) < conf && conf < (140. / 180. * PI) && i < 0.7 / RESAMPLEDIST) {
far_Lpt0_rpts0s_id = i;
far_Lpt0_found = true;
}
}
for (int i = 0; i < pts_far_resample_right_count; i++) {
if (far_angle_new_right[i] == 0) continue;
int im1 = clip(i - (int) round(ANGLEDIST / RESAMPLEDIST), 0, pts_far_resample_right_count - 1);
int ip1 = clip(i + (int) round(ANGLEDIST / RESAMPLEDIST), 0, pts_far_resample_right_count - 1);
float conf = fabs(far_angle_right[i]) - (fabs(far_angle_right[im1]) + fabs(far_angle_right[ip1])) / 2;
if (far_Lpt1_found == false && (66. / 180. * PI) < conf && conf < 140. / 180. * PI && i < 0.7 / RESAMPLEDIST) {
far_Lpt1_rpts1s_id = i;
far_Lpt1_found = true;
}
}
}

1
app/gl_cross.h
View File

@@ -9,6 +9,7 @@ enum cross_type_e {
};
extern enum cross_type_e cross_type;
extern int32_t Both_Boder_None_Cross;
extern int far_Lpt0_rpts0s_id, far_Lpt1_rpts1s_id;
void CheckCross(void);
void RunCross(void);

33
app/gl_data.c
View File

@@ -1,22 +1,42 @@
#include "gl_data.h"
uint8_t (*Img_Gray)[MT9V03X_W];
int32_t pts_left[PT_MAXLEN][2];
int32_t pts_right[PT_MAXLEN][2];
int32_t pts_left_count;
int32_t pts_right_count;
int32_t pts_far_left[PT_MAXLEN][2];
int32_t pts_far_right[PT_MAXLEN][2];
int32_t pts_far_left_count;
int32_t pts_far_right_count;
float pts_inv_l[PT_MAXLEN][2];
float pts_inv_r[PT_MAXLEN][2];
int32_t pts_inv_l_count;
int32_t pts_inv_r_count;
float pts_far_inv_l[PT_MAXLEN][2];
float pts_far_inv_r[PT_MAXLEN][2];
int32_t pts_far_inv_l_count;
int32_t pts_far_inv_r_count;
float pts_filter_l[PT_MAXLEN][2];
float pts_filter_r[PT_MAXLEN][2];
int32_t pts_filter_l_count;
int32_t pts_filter_r_count;
float pts_far_filter_l[PT_MAXLEN][2];
float pts_far_filter_r[PT_MAXLEN][2];
int32_t pts_far_filter_l_count;
int32_t pts_far_filter_r_count;
float pts_resample_left[PT_MAXLEN][2];
float pts_resample_right[PT_MAXLEN][2];
int32_t pts_resample_left_count;
int32_t pts_resample_right_count;
float pts_far_resample_left[PT_MAXLEN][2];
float pts_far_resample_right[PT_MAXLEN][2];
int32_t pts_far_resample_left_count;
int32_t pts_far_resample_right_count;
float mid_left[PT_MAXLEN][2];
float mid_right[PT_MAXLEN][2];
@@ -28,12 +48,21 @@ float angle_new_left[PT_MAXLEN];
float angle_new_right[PT_MAXLEN];
int angle_new_left_num;
int angle_new_right_num;
float far_angle_new_left[PT_MAXLEN];
float far_angle_new_right[PT_MAXLEN];
int far_angle_new_left_num;
int far_angle_new_right_num;
uint8_t mt9v03x_image_copy[MT9V03X_H][MT9V03X_W];
float angle_left[PT_MAXLEN];
float angle_right[PT_MAXLEN];
int angle_left_num;
int angle_right_num;
float far_angle_left[PT_MAXLEN];
float far_angle_right[PT_MAXLEN];
int far_angle_left_num;
int far_angle_right_num;
int Lpt0_rpts0s_id;
int Lpt1_rpts1s_id;
@@ -41,6 +70,8 @@ bool Lpt0_found;
bool Lpt1_found;
int Lpt1[2];
int Lpt0[2];
int far_Lpt1[2];
int far_Lpt0[2];
int Lpt_in0_rpts0s_id;
int Lpt_in1_rpts1s_id;
@@ -51,6 +82,8 @@ int Lpt_in0[2];
bool is_straight0;
bool is_straight1;
bool is_far_straight0;
bool is_far_straight1;
bool is_turn0;
bool is_turn1;

34
app/gl_data.h
View File

@@ -11,22 +11,43 @@ typedef enum track_type_e {
} track_type_e;
extern uint8_t (*Img_Gray)[MT9V03X_W];
//未逆透视前边线数组
extern int32_t pts_left[PT_MAXLEN][2];
extern int32_t pts_right[PT_MAXLEN][2];
extern int32_t pts_left_count;
extern int32_t pts_right_count;
extern int32_t pts_far_left[PT_MAXLEN][2];
extern int32_t pts_far_right[PT_MAXLEN][2];
extern int32_t pts_far_left_count;
extern int32_t pts_far_right_count;
//逆透视后边线数组
extern float pts_inv_l[PT_MAXLEN][2];
extern float pts_inv_r[PT_MAXLEN][2];
extern int32_t pts_inv_l_count;
extern int32_t pts_inv_r_count;
extern float pts_far_inv_l[PT_MAXLEN][2];
extern float pts_far_inv_r[PT_MAXLEN][2];
extern int32_t pts_far_inv_l_count;
extern int32_t pts_far_inv_r_count;
//滤波后边线数组
extern float pts_filter_l[PT_MAXLEN][2];
extern float pts_filter_r[PT_MAXLEN][2];
extern int32_t pts_filter_l_count;
extern int32_t pts_filter_r_count;
extern float pts_far_filter_l[PT_MAXLEN][2];
extern float pts_far_filter_r[PT_MAXLEN][2];
extern int32_t pts_far_filter_l_count;
extern int32_t pts_far_filter_r_count;
//重采样后边线数组
extern float pts_resample_left[PT_MAXLEN][2];
extern float pts_resample_right[PT_MAXLEN][2];
extern int32_t pts_resample_left_count;
extern int32_t pts_resample_right_count;
extern float pts_far_resample_left[PT_MAXLEN][2];
extern float pts_far_resample_right[PT_MAXLEN][2];
extern int32_t pts_far_resample_left_count;
extern int32_t pts_far_resample_right_count;
extern float mid_left[PT_MAXLEN][2];
extern float mid_right[PT_MAXLEN][2];
@@ -38,12 +59,21 @@ extern float angle_new_left[PT_MAXLEN];
extern float angle_new_right[PT_MAXLEN];
extern int angle_new_left_num;
extern int angle_new_right_num;
extern float far_angle_new_left[PT_MAXLEN];
extern float far_angle_new_right[PT_MAXLEN];
extern int far_angle_new_left_num;
extern int far_angle_new_right_num;
extern uint8_t mt9v03x_image_copy[MT9V03X_H][MT9V03X_W];
extern float angle_left[PT_MAXLEN];
extern float angle_right[PT_MAXLEN];
extern int angle_left_num;
extern int angle_right_num;
extern float far_angle_left[PT_MAXLEN];
extern float far_angle_right[PT_MAXLEN];
extern int far_angle_left_num;
extern int far_angle_right_num;
extern int Lpt0_rpts0s_id;
extern int Lpt1_rpts1s_id;
@@ -51,6 +81,8 @@ extern bool Lpt0_found;
extern bool Lpt1_found;
extern int Lpt1[2];
extern int Lpt0[2];
extern int far_Lpt1[2];
extern int far_Lpt0[2];
extern int Lpt_in0_rpts0s_id;
extern int Lpt_in1_rpts1s_id;
@@ -61,6 +93,8 @@ extern int Lpt_in0[2];
extern bool is_straight0;
extern bool is_straight1;
extern bool is_far_straight0;
extern bool is_far_straight1;
extern bool is_turn0;
extern bool is_turn1;

33
app/gl_garage.c
View File

@@ -18,6 +18,35 @@ float calculate_vector_angle(float x1, float y1, float x2, float y2) {
return angle_degrees;
}
void CheckGarage() {}
void CheckGarage() {
int change_num = 0;
int check_garage_h = 60;
for (int check_garage_w = 30; check_garage_w < IMAGE_W - 30; check_garage_w++)
{
if ((GET_PIX_1C(mt9v03x_image_copy[0], check_garage_h, check_garage_w) < FIX_BINTHRESHOLD && GET_PIX_1C(mt9v03x_image_copy[0], check_garage_h, check_garage_w + 1) >= FIX_BINTHRESHOLD) ||
(GET_PIX_1C(mt9v03x_image_copy[0], check_garage_h, check_garage_w) >= FIX_BINTHRESHOLD && GET_PIX_1C(mt9v03x_image_copy[0], check_garage_h, check_garage_w + 1) < FIX_BINTHRESHOLD))
{
change_num++;
}
}
void RunGarage(){}
if (change_num > 7)
{
garage_type = GARAGE_FOUND;
//printf("跳变点的数量为：%d\r\n", change_num);
}
change_num = 0;
}
void RunGarage(){
if (garage_type == GARAGE_FOUND)
{
printf("识别到车库\r\n");
}
}

1
app/gl_garage.h
View File

@@ -4,6 +4,7 @@
enum garage_type_e {
GARAGE_NONE, // 非车库模式
GARAGE_FOUND,
GARAGE_OUT_LEFT,
GARAGE_OUT_RIGHT, // 出库，陀螺仪转过45°，即出库完毕
GARAGE_FOUND_LEFT,

64
app/gl_get_corners.c
View File

@@ -5,7 +5,6 @@
void get_corners() {
//
Lpt0_found = Lpt1_found = false;
Lpt_in0_found = Lpt_in1_found = false;
is_straight0 = pts_resample_left_count > 1.0 / RESAMPLEDIST;
@@ -17,7 +16,7 @@ void get_corners() {
float conf = fabs(angle_left[i]) - (fabs(angle_left[im1]) + fabs(angle_left[ip1])) / 2;
//L角点阈值
if (Lpt0_found == false && (66. / 180. * PI) < conf && conf < (140. / 180. * PI) && i < 0.7 / RESAMPLEDIST) {
if (Lpt0_found == false && (66. / 180. * PI) < conf && conf < (140. / 180. * PI) && i < 0.5 / RESAMPLEDIST) {
Lpt0_rpts0s_id = i;
Lpt0_found = true;
transform(pts_resample_left[Lpt0_rpts0s_id][1],pts_resample_left[Lpt0_rpts0s_id][0],&Lpt0[1],&Lpt0[0]);
@@ -26,20 +25,20 @@ void get_corners() {
if (conf > (7. / 180. * PI) && i < 0.8 / RESAMPLEDIST) is_straight0 = false;
if (Lpt0_found == true && is_straight0 == false) break;
}
if(Lpt0_found){
float angle1 = calculate_vector_angle(pts_resample_left[Lpt0_rpts0s_id][1],pts_resample_left[Lpt0_rpts0s_id][0],pts_resample_left[Lpt0_rpts0s_id+5][1],pts_resample_left[Lpt0_rpts0s_id+5][0]);
if(angle1 < 85.) {
Lpt_in0_found = true;
Lpt0_found = false;
Lpt_in0_rpts0s_id = Lpt0_rpts0s_id;
}
}
else{
is_turn0 = is_curve(angle_left ,clip(angle_left_num - 10, 0,angle_left_num),0.05);
if(is_turn0){
state_type = TURN_STATE;
}
}
// if(Lpt0_found){
// float angle1 = calculate_vector_angle(pts_resample_left[Lpt0_rpts0s_id][1],pts_resample_left[Lpt0_rpts0s_id][0],pts_resample_left[Lpt0_rpts0s_id+5][1],pts_resample_left[Lpt0_rpts0s_id+5][0]);
// if(angle1 < 85.) {
// Lpt_in0_found = true;
// Lpt0_found = false;
// Lpt_in0_rpts0s_id = Lpt0_rpts0s_id;
// }
// }
// else{
// is_turn0 = is_curve(angle_left ,clip(angle_left_num - 10, 0,angle_left_num),0.05);
// if(is_turn0){
// state_type = TURN_STATE;
// }
// }
if(is_straight0){
state_type = STRAIGHT_STATE;
}
@@ -54,7 +53,7 @@ void get_corners() {
float conf = fabs(angle_right[i]) - (fabs(angle_right[im1]) + fabs(angle_right[ip1])) / 2;
if (Lpt1_found == false && (66. / 180. * PI) < conf && conf < 140. / 180. * PI && i < 0.7 / RESAMPLEDIST) {
if (Lpt1_found == false && (66. / 180. * PI) < conf && conf < 140. / 180. * PI && i < 0.5 / RESAMPLEDIST) {
Lpt1_rpts1s_id = i;
Lpt1_found = true;
transform(pts_resample_right[Lpt1_rpts1s_id][1],pts_resample_right[Lpt1_rpts1s_id][0],&Lpt1[1],&Lpt1[0]);
@@ -63,25 +62,24 @@ void get_corners() {
if (conf > (7. / 180. * PI) && i < 0.8 / RESAMPLEDIST) is_straight1 = false;
if (Lpt1_found == true && is_straight1 == false) break;
}
if(Lpt1_found){
float angle2 = calculate_vector_angle(pts_resample_right[Lpt1_rpts1s_id][1],pts_resample_right[Lpt1_rpts1s_id][0],pts_resample_right[Lpt1_rpts1s_id+5][1],pts_resample_right[Lpt1_rpts1s_id+5][0]);
if(angle2 > 100.) {
Lpt_in1_found = true;
Lpt1_found = false;
Lpt_in1_rpts1s_id = Lpt1_rpts1s_id;
}
}else{
is_turn1 = is_curve(angle_right, clip(angle_right_num - 10,0 ,angle_right_num), 0.05);
if(is_turn1){
state_type = TURN_STATE;
}
}
// if(Lpt1_found){
// float angle2 = calculate_vector_angle(pts_resample_right[Lpt1_rpts1s_id][1],pts_resample_right[Lpt1_rpts1s_id][0],pts_resample_right[Lpt1_rpts1s_id+5][1],pts_resample_right[Lpt1_rpts1s_id+5][0]);
// if(angle2 > 100.) {
// Lpt_in1_found = true;
// Lpt1_found = false;
// Lpt_in1_rpts1s_id = Lpt1_rpts1s_id;
// }
// }
//else{
// is_turn1 = is_curve(angle_right, clip(angle_right_num - 10,0 ,angle_right_num), 0.05);
// if(is_turn1){
// state_type = TURN_STATE;
// }
//}
if(is_straight1){
state_type = STRAIGHT_STATE;
}
//
}

11
app/gl_handle_img.c
View File

@@ -12,12 +12,15 @@ const int32_t direction_frontright[4][2] ={{1, -1},{1, 1},{-1, 1},{-1, -1}};
void SearchLineAdaptive_Left(uint8_t img_gray[], int32_t block_size, int32_t down_value, int32_t h, int32_t w, int32_t pts[][2], int32_t* line_num)
{
int half = block_size / 2;
int step = 0, dir = 0, turn = 0;
const int32_t half = block_size / 2;
int step = 0;
int dir = 0;
int turn = 0;
printf("shuzhi: %d\r\n", half);
while (step < *line_num && half < w && w < IMAGE_W - half -1 && half < h && h < IMAGE_H - half -1 && turn < 4) {
int local_thres = 0;
for (int dh = -half; dh <= half; dh++) {
for (int dw = -half; dw <= half; dw++) {
for (int dh = -1 * half; dh <= half; dh++) {
for (int dw = -1 * half; dw <= half; dw++) {
local_thres += GET_PIX_1C(img_gray, h + dh, w + dw);
}
}

21
app/gl_tracking.c
View File

@@ -34,6 +34,13 @@ void ElementJudge() {
CheckCircle();
}
}
if (garage_type != GARAGE_NONE)
{
cross_type = CROSS_NONE;
circle_type = CIRCLE_NONE;
}
}
void ElementRun() {
@@ -53,9 +60,15 @@ void ElementRun() {
void MidLineTrack() {
if (cross_type == CROSS_IN) {
if (track_type == TRACK_LEFT) {
mid_track = mid_left; // 这是为了预先分配内存
GetMidLine_Left(pts_far_resample_left + far_Lpt0_rpts0s_id, pts_far_resample_left_count - far_Lpt0_rpts0s_id, mid_left, (int) round(ANGLEDIST / RESAMPLEDIST), PIXPERMETER * ROADWIDTH / 2);
mid_track_count = pts_far_resample_left_count - far_Lpt0_rpts0s_id;
} else {
mid_track = mid_right; // 这是为了预先分配内存
GetMidLine_Right(pts_far_resample_right + far_Lpt1_rpts1s_id, pts_far_resample_right_count - far_Lpt1_rpts1s_id, mid_right, (int) round(ANGLEDIST / RESAMPLEDIST), PIXPERMETER * ROADWIDTH / 2);
mid_track_count =pts_far_resample_right_count - far_Lpt1_rpts1s_id;
}
}
else {
} else {
if (track_type == TRACK_LEFT) {
mid_track = mid_left;
mid_track_count = mid_left_count;
@@ -66,8 +79,8 @@ void MidLineTrack() {
}
// 车轮对应点 (纯跟踪起始点)
float cx = InverseMapW[(int) (IMAGE_H * 0.85f)][94];
float cy = InverseMapH[(int) (IMAGE_H * 0.85f)][94];
float cx = InverseMapW[(int) (IMAGE_H * 0.75f)][94];
float cy = InverseMapH[(int) (IMAGE_H * 0.75f)][94];
// 找最近点 (起始点中线归一化)
float min_dist = 1e10;

408
app/gl_transform_table.c
View File

@@ -2,7 +2,9 @@
#include "gl_headfile.h"
float H_inv[3][3] = {};
float H_inv[3][3] = {{0.092, -0.116, 7.559},
{0.002, 0, 2.415},
{0, -0.001, 0.161}};
// 逆变换，俯视->原图
void transform(float X, float Y, int* x, int* y) {
@@ -20,249 +22,169 @@ void transform(float X, float Y, int* x, int* y) {
}
const float InverseMapH[120][188] = {
{-492.47, -496.45, -500.49, -504.57, -508.71, -512.90, -517.14, -521.43, -525.78, -530.19, -534.65, -539.17, -543.75, -548.39, -553.09, -557.86, -562.69, -567.58, -572.54, -577.57, -582.67, -587.84, -593.09, -598.41, -603.80, -609.27, -614.82, -620.45, -626.16, -631.96, -637.84, -643.82, -649.88, -656.03, -662.28, -668.63, -675.07, -681.62, -688.27, -695.02, -701.89, -708.86, -715.95, -723.16, -730.48, -737.93, -745.51, -753.21, -761.04, -769.02, -777.13, -785.38, -793.78, -802.33, -811.04, -819.90, -828.93, -838.13, -847.50, -857.05, -866.78, -876.70, -886.81, -897.13, -907.64, -918.37, -929.32, -940.50, -951.90, -963.54, -975.43, -987.58, -999.99, -1012.67, -1025.63, -1038.88, -1052.43, -1066.29, -1080.47, -1094.98, -1109.84, -1125.05, -1140.63, -1156.60, -1172.96, -1189.74, -1206.94, -1224.59, -1242.70, -1261.29, -1280.38, -1299.99, -1320.14, -1340.86, -1362.16, -1384.08, -1406.64, -1429.87, -1453.80, -1478.47, -1503.89, -1530.13, -1557.20, -1585.15, -1614.03, -1643.88, -1674.76, -1706.71, -1739.79, -1774.07, -1809.61, -1846.48, -1884.75, -1924.52, -1965.87, -2008.89, -2053.69, -2100.38, -2149.08, -2199.93, -2253.07, -2308.66, -2366.87, -2427.90, -2491.95, -2559.25, -2630.05, -2704.65, -2783.34, -2866.49, -2954.47, -3047.72, -3146.72, -3252.04, -3364.29, -3484.18, -3612.51, -3750.22, -3898.37, -4058.19, -4231.11, -4418.82, -4623.31, -4846.92, -5092.46, -5363.34, -5663.68, -5998.57, -6374.34, -6798.96, -7282.61, -7838.52, -8484.19, -9243.28, -10148.55, -11246.71, -12606.79, -14335.15, -16604.81, -19717.29, -24249.08, -31457.71, -44709.00, -77083.09, -277235.15, 174484.46, 66481.60, 41110.25, 29779.16, 23359.60, 19226.98, 16344.01, 14218.31, 12586.15, 11293.52, 10244.47, 9376.06, 8645.35, 8021.98, 7483.92, 7014.78, 6602.12, 6236.31, 5909.80, 5616.59, 5351.83, 5111.57, 4892.55},
{-356.81, -359.28, -361.78, -364.30, -366.85, -369.42, -372.02, -374.64, -377.29, -379.97, -382.67, -385.40, -388.16, -390.95, -393.76, -396.60, -399.47, -402.38, -405.31, -408.27, -411.27, -414.29, -417.35, -420.45, -423.57, -426.73, -429.92, -433.15, -436.42, -439.72, -443.05, -446.43, -449.84, -453.29, -456.78, -460.31, -463.88, -467.50, -471.15, -474.85, -478.59, -482.38, -486.21, -490.09, -494.01, -497.98, -502.00, -506.07, -510.20, -514.37, -518.59, -522.87, -527.20, -531.59, -536.03, -540.54, -545.10, -549.72, -554.40, -559.14, -563.95, -568.82, -573.76, -578.76, -583.84, -588.98, -594.20, -599.49, -604.86, -610.30, -615.82, -621.42, -627.10, -632.86, -638.71, -644.65, -650.67, -656.79, -663.00, -669.30, -675.70, -682.21, -688.81, -695.52, -702.33, -709.26, -716.30, -723.45, -730.72, -738.11, -745.63, -753.27, -761.04, -768.95, -776.99, -785.18, -793.51, -801.98, -810.61, -819.40, -828.34, -837.46, -846.74, -856.19, -865.83, -875.65, -885.66, -895.86, -906.27, -916.89, -927.71, -938.76, -950.04, -961.55, -973.30, -985.30, -997.56, -1010.08, -1022.88, -1035.96, -1049.33, -1063.01, -1077.00, -1091.31, -1105.96, -1120.95, -1136.31, -1152.04, -1168.15, -1184.67, -1201.61, -1218.97, -1236.79, -1255.07, -1273.83, -1293.11, -1312.90, -1333.25, -1354.16, -1375.67, -1397.80, -1420.58, -1444.04, -1468.20, -1493.10, -1518.78, -1545.26, -1572.60, -1600.83, -1629.99, -1660.14, -1691.32, -1723.58, -1757.00, -1791.62, -1827.51, -1864.75, -1903.42, -1943.59, -1985.35, -2028.81, -2074.07, -2121.24, -2170.45, -2221.83, -2275.52, -2331.69, -2390.52, -2452.19, -2516.93, -2584.95, -2656.52, -2731.92, -2811.48, -2895.54, -2984.49, -3078.78, -3178.91, -3285.42, -3398.96, -3520.24, -3650.08, -3789.41, -3939.33, -4101.09, -4276.13, -4466.19, -4673.25},
{-269.11, -270.80, -272.50, -274.22, -275.95, -277.69, -279.45, -281.22, -283.01, -284.81, -286.62, -288.45, -290.30, -292.16, -294.04, -295.93, -297.84, -299.76, -301.70, -303.66, -305.63, -307.62, -309.63, -311.66, -313.70, -315.76, -317.84, -319.94, -322.05, -324.18, -326.34, -328.51, -330.70, -332.91, -335.15, -337.40, -339.67, -341.97, -344.28, -346.62, -348.98, -351.36, -353.76, -356.18, -358.63, -361.11, -363.60, -366.12, -368.67, -371.23, -373.83, -376.45, -379.09, -381.77, -384.47, -387.19, -389.94, -392.73, -395.54, -398.37, -401.24, -404.14, -407.07, -410.02, -413.01, -416.03, -419.09, -422.17, -425.29, -428.44, -431.63, -434.85, -438.11, -441.40, -444.73, -448.09, -451.50, -454.94, -458.42, -461.94, -465.50, -469.11, -472.75, -476.44, -480.17, -483.94, -487.76, -491.62, -495.54, -499.49, -503.50, -507.56, -511.66, -515.82, -520.03, -524.29, -528.60, -532.97, -537.40, -541.88, -546.42, -551.03, -555.69, -560.41, -565.19, -570.04, -574.96, -579.94, -584.99, -590.11, -595.30, -600.56, -605.90, -611.31, -616.80, -622.37, -628.02, -633.75, -639.56, -645.46, -651.45, -657.53, -663.70, -669.96, -676.33, -682.78, -689.34, -696.01, -702.78, -709.65, -716.64, -723.74, -730.96, -738.29, -745.75, -753.33, -761.04, -768.89, -776.86, -784.98, -793.24, -801.64, -810.19, -818.90, -827.77, -836.79, -845.99, -855.35, -864.89, -874.62, -884.52, -894.63, -904.92, -915.43, -926.14, -937.06, -948.21, -959.59, -971.21, -983.07, -995.18, -1007.55, -1020.18, -1033.10, -1046.30, -1059.80, -1073.60, -1087.72, -1102.16, -1116.95, -1132.08, -1147.58, -1163.46, -1179.72, -1196.40, -1213.49, -1231.02, -1249.00, -1267.45, -1286.40, -1305.85, -1325.84, -1346.37, -1367.49, -1389.20, -1411.55, -1434.54, -1458.22},
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{119.68, 119.68, 119.67, 119.66, 119.65, 119.65, 119.64, 119.63, 119.62, 119.62, 119.61, 119.60, 119.59, 119.59, 119.58, 119.57, 119.56, 119.56, 119.55, 119.54, 119.53, 119.53, 119.52, 119.51, 119.50, 119.50, 119.49, 119.48, 119.48, 119.47, 119.46, 119.45, 119.45, 119.44, 119.43, 119.42, 119.42, 119.41, 119.40, 119.39, 119.39, 119.38, 119.37, 119.36, 119.36, 119.35, 119.34, 119.33, 119.33, 119.32, 119.31, 119.30, 119.30, 119.29, 119.28, 119.27, 119.26, 119.26, 119.25, 119.24, 119.23, 119.23, 119.22, 119.21, 119.20, 119.20, 119.19, 119.18, 119.17, 119.17, 119.16, 119.15, 119.14, 119.14, 119.13, 119.12, 119.11, 119.11, 119.10, 119.09, 119.08, 119.08, 119.07, 119.06, 119.05, 119.04, 119.04, 119.03, 119.02, 119.01, 119.01, 119.00, 118.99, 118.98, 118.98, 118.97, 118.96, 118.95, 118.95, 118.94, 118.93, 118.92, 118.91, 118.91, 118.90, 118.89, 118.88, 118.88, 118.87, 118.86, 118.85, 118.85, 118.84, 118.83, 118.82, 118.81, 118.81, 118.80, 118.79, 118.78, 118.78, 118.77, 118.76, 118.75, 118.75, 118.74, 118.73, 118.72, 118.71, 118.71, 118.70, 118.69, 118.68, 118.68, 118.67, 118.66, 118.65, 118.64, 118.64, 118.63, 118.62, 118.61, 118.61, 118.60, 118.59, 118.58, 118.57, 118.57, 118.56, 118.55, 118.54, 118.53, 118.53, 118.52, 118.51, 118.50, 118.50, 118.49, 118.48, 118.47, 118.46, 118.46, 118.45, 118.44, 118.43, 118.42, 118.42, 118.41, 118.40, 118.39, 118.39, 118.38, 118.37, 118.36, 118.35, 118.35, 118.34, 118.33, 118.32, 118.31, 118.31, 118.30, 118.29, 118.28, 118.27, 118.27, 118.26, 118.25},
{119.85, 119.84, 119.83, 119.83, 119.82, 119.81, 119.80, 119.80, 119.79, 119.78, 119.78, 119.77, 119.76, 119.75, 119.75, 119.74, 119.73, 119.72, 119.72, 119.71, 119.70, 119.69, 119.69, 119.68, 119.67, 119.67, 119.66, 119.65, 119.64, 119.64, 119.63, 119.62, 119.61, 119.61, 119.60, 119.59, 119.58, 119.58, 119.57, 119.56, 119.55, 119.55, 119.54, 119.53, 119.52, 119.52, 119.51, 119.50, 119.50, 119.49, 119.48, 119.47, 119.47, 119.46, 119.45, 119.44, 119.44, 119.43, 119.42, 119.41, 119.41, 119.40, 119.39, 119.38, 119.38, 119.37, 119.36, 119.35, 119.35, 119.34, 119.33, 119.32, 119.32, 119.31, 119.30, 119.29, 119.29, 119.28, 119.27, 119.26, 119.26, 119.25, 119.24, 119.23, 119.23, 119.22, 119.21, 119.20, 119.20, 119.19, 119.18, 119.17, 119.17, 119.16, 119.15, 119.14, 119.14, 119.13, 119.12, 119.11, 119.11, 119.10, 119.09, 119.08, 119.07, 119.07, 119.06, 119.05, 119.04, 119.04, 119.03, 119.02, 119.01, 119.01, 119.00, 118.99, 118.98, 118.98, 118.97, 118.96, 118.95, 118.95, 118.94, 118.93, 118.92, 118.91, 118.91, 118.90, 118.89, 118.88, 118.88, 118.87, 118.86, 118.85, 118.85, 118.84, 118.83, 118.82, 118.82, 118.81, 118.80, 118.79, 118.78, 118.78, 118.77, 118.76, 118.75, 118.75, 118.74, 118.73, 118.72, 118.72, 118.71, 118.70, 118.69, 118.68, 118.68, 118.67, 118.66, 118.65, 118.65, 118.64, 118.63, 118.62, 118.61, 118.61, 118.60, 118.59, 118.58, 118.58, 118.57, 118.56, 118.55, 118.54, 118.54, 118.53, 118.52, 118.51, 118.51, 118.50, 118.49, 118.48, 118.47, 118.47, 118.46, 118.45, 118.44, 118.44},
{120.01, 120.00, 120.00, 119.99, 119.98, 119.98, 119.97, 119.96, 119.95, 119.95, 119.94, 119.93, 119.92, 119.92, 119.91, 119.90, 119.90, 119.89, 119.88, 119.87, 119.87, 119.86, 119.85, 119.84, 119.84, 119.83, 119.82, 119.82, 119.81, 119.80, 119.79, 119.79, 119.78, 119.77, 119.76, 119.76, 119.75, 119.74, 119.74, 119.73, 119.72, 119.71, 119.71, 119.70, 119.69, 119.68, 119.68, 119.67, 119.66, 119.66, 119.65, 119.64, 119.63, 119.63, 119.62, 119.61, 119.60, 119.60, 119.59, 119.58, 119.57, 119.57, 119.56, 119.55, 119.54, 119.54, 119.53, 119.52, 119.52, 119.51, 119.50, 119.49, 119.49, 119.48, 119.47, 119.46, 119.46, 119.45, 119.44, 119.43, 119.43, 119.42, 119.41, 119.40, 119.40, 119.39, 119.38, 119.37, 119.37, 119.36, 119.35, 119.34, 119.34, 119.33, 119.32, 119.31, 119.31, 119.30, 119.29, 119.28, 119.28, 119.27, 119.26, 119.25, 119.25, 119.24, 119.23, 119.22, 119.22, 119.21, 119.20, 119.19, 119.19, 119.18, 119.17, 119.16, 119.16, 119.15, 119.14, 119.13, 119.13, 119.12, 119.11, 119.10, 119.10, 119.09, 119.08, 119.07, 119.07, 119.06, 119.05, 119.04, 119.04, 119.03, 119.02, 119.01, 119.01, 119.00, 118.99, 118.98, 118.98, 118.97, 118.96, 118.95, 118.95, 118.94, 118.93, 118.92, 118.92, 118.91, 118.90, 118.89, 118.88, 118.88, 118.87, 118.86, 118.85, 118.85, 118.84, 118.83, 118.82, 118.82, 118.81, 118.80, 118.79, 118.79, 118.78, 118.77, 118.76, 118.75, 118.75, 118.74, 118.73, 118.72, 118.72, 118.71, 118.70, 118.69, 118.69, 118.68, 118.67, 118.66, 118.65, 118.65, 118.64, 118.63, 118.62, 118.62},
{120.17, 120.16, 120.16, 120.15, 120.14, 120.14, 120.13, 120.12, 120.11, 120.11, 120.10, 120.09, 120.09, 120.08, 120.07, 120.06, 120.06, 120.05, 120.04, 120.04, 120.03, 120.02, 120.01, 120.01, 120.00, 119.99, 119.99, 119.98, 119.97, 119.96, 119.96, 119.95, 119.94, 119.94, 119.93, 119.92, 119.91, 119.91, 119.90, 119.89, 119.88, 119.88, 119.87, 119.86, 119.86, 119.85, 119.84, 119.83, 119.83, 119.82, 119.81, 119.81, 119.80, 119.79, 119.78, 119.78, 119.77, 119.76, 119.75, 119.75, 119.74, 119.73, 119.73, 119.72, 119.71, 119.70, 119.70, 119.69, 119.68, 119.67, 119.67, 119.66, 119.65, 119.64, 119.64, 119.63, 119.62, 119.62, 119.61, 119.60, 119.59, 119.59, 119.58, 119.57, 119.56, 119.56, 119.55, 119.54, 119.54, 119.53, 119.52, 119.51, 119.51, 119.50, 119.49, 119.48, 119.48, 119.47, 119.46, 119.45, 119.45, 119.44, 119.43, 119.42, 119.42, 119.41, 119.40, 119.39, 119.39, 119.38, 119.37, 119.37, 119.36, 119.35, 119.34, 119.34, 119.33, 119.32, 119.31, 119.31, 119.30, 119.29, 119.28, 119.28, 119.27, 119.26, 119.25, 119.25, 119.24, 119.23, 119.22, 119.22, 119.21, 119.20, 119.19, 119.19, 119.18, 119.17, 119.16, 119.16, 119.15, 119.14, 119.13, 119.13, 119.12, 119.11, 119.10, 119.10, 119.09, 119.08, 119.07, 119.07, 119.06, 119.05, 119.04, 119.04, 119.03, 119.02, 119.01, 119.01, 119.00, 118.99, 118.98, 118.98, 118.97, 118.96, 118.95, 118.95, 118.94, 118.93, 118.92, 118.92, 118.91, 118.90, 118.89, 118.89, 118.88, 118.87, 118.86, 118.85, 118.85, 118.84, 118.83, 118.82, 118.82, 118.81, 118.80, 118.79},
{120.33, 120.32, 120.31, 120.31, 120.30, 120.29, 120.29, 120.28, 120.27, 120.27, 120.26, 120.25, 120.24, 120.24, 120.23, 120.22, 120.22, 120.21, 120.20, 120.19, 120.19, 120.18, 120.17, 120.17, 120.16, 120.15, 120.15, 120.14, 120.13, 120.12, 120.12, 120.11, 120.10, 120.10, 120.09, 120.08, 120.07, 120.07, 120.06, 120.05, 120.05, 120.04, 120.03, 120.02, 120.02, 120.01, 120.00, 120.00, 119.99, 119.98, 119.97, 119.97, 119.96, 119.95, 119.95, 119.94, 119.93, 119.92, 119.92, 119.91, 119.90, 119.90, 119.89, 119.88, 119.87, 119.87, 119.86, 119.85, 119.84, 119.84, 119.83, 119.82, 119.82, 119.81, 119.80, 119.79, 119.79, 119.78, 119.77, 119.77, 119.76, 119.75, 119.74, 119.74, 119.73, 119.72, 119.71, 119.71, 119.70, 119.69, 119.69, 119.68, 119.67, 119.66, 119.66, 119.65, 119.64, 119.63, 119.63, 119.62, 119.61, 119.61, 119.60, 119.59, 119.58, 119.58, 119.57, 119.56, 119.55, 119.55, 119.54, 119.53, 119.53, 119.52, 119.51, 119.50, 119.50, 119.49, 119.48, 119.47, 119.47, 119.46, 119.45, 119.44, 119.44, 119.43, 119.42, 119.42, 119.41, 119.40, 119.39, 119.39, 119.38, 119.37, 119.36, 119.36, 119.35, 119.34, 119.33, 119.33, 119.32, 119.31, 119.30, 119.30, 119.29, 119.28, 119.27, 119.27, 119.26, 119.25, 119.25, 119.24, 119.23, 119.22, 119.22, 119.21, 119.20, 119.19, 119.19, 119.18, 119.17, 119.16, 119.16, 119.15, 119.14, 119.13, 119.13, 119.12, 119.11, 119.10, 119.10, 119.09, 119.08, 119.07, 119.07, 119.06, 119.05, 119.04, 119.04, 119.03, 119.02, 119.01, 119.01, 119.00, 118.99, 118.98, 118.98, 118.97},
{120.48, 120.48, 120.47, 120.46, 120.46, 120.45, 120.44, 120.43, 120.43, 120.42, 120.41, 120.41, 120.40, 120.39, 120.39, 120.38, 120.37, 120.37, 120.36, 120.35, 120.34, 120.34, 120.33, 120.32, 120.32, 120.31, 120.30, 120.30, 120.29, 120.28, 120.27, 120.27, 120.26, 120.25, 120.25, 120.24, 120.23, 120.22, 120.22, 120.21, 120.20, 120.20, 120.19, 120.18, 120.18, 120.17, 120.16, 120.15, 120.15, 120.14, 120.13, 120.13, 120.12, 120.11, 120.11, 120.10, 120.09, 120.08, 120.08, 120.07, 120.06, 120.06, 120.05, 120.04, 120.03, 120.03, 120.02, 120.01, 120.01, 120.00, 119.99, 119.98, 119.98, 119.97, 119.96, 119.96, 119.95, 119.94, 119.93, 119.93, 119.92, 119.91, 119.91, 119.90, 119.89, 119.88, 119.88, 119.87, 119.86, 119.86, 119.85, 119.84, 119.83, 119.83, 119.82, 119.81, 119.81, 119.80, 119.79, 119.78, 119.78, 119.77, 119.76, 119.76, 119.75, 119.74, 119.73, 119.73, 119.72, 119.71, 119.70, 119.70, 119.69, 119.68, 119.68, 119.67, 119.66, 119.65, 119.65, 119.64, 119.63, 119.62, 119.62, 119.61, 119.60, 119.60, 119.59, 119.58, 119.57, 119.57, 119.56, 119.55, 119.54, 119.54, 119.53, 119.52, 119.52, 119.51, 119.50, 119.49, 119.49, 119.48, 119.47, 119.46, 119.46, 119.45, 119.44, 119.44, 119.43, 119.42, 119.41, 119.41, 119.40, 119.39, 119.38, 119.38, 119.37, 119.36, 119.35, 119.35, 119.34, 119.33, 119.33, 119.32, 119.31, 119.30, 119.30, 119.29, 119.28, 119.27, 119.27, 119.26, 119.25, 119.24, 119.24, 119.23, 119.22, 119.21, 119.21, 119.20, 119.19, 119.18, 119.18, 119.17, 119.16, 119.15, 119.15, 119.14}
const float InverseMapH[80][140] = {
{-17.59, -17.51, -17.44, -17.36, -17.29, -17.21, -17.14, -17.07, -16.99, -16.92, -16.84, -16.77, -16.70, -16.62, -16.55, -16.48, -16.41, -16.34, -16.26, -16.19, -16.12, -16.05, -15.98, -15.91, -15.84, -15.77, -15.70, -15.63, -15.56, -15.49, -15.42, -15.35, -15.28, -15.21, -15.14, -15.07, -15.01, -14.94, -14.87, -14.80, -14.73, -14.67, -14.60, -14.53, -14.47, -14.40, -14.33, -14.27, -14.20, -14.13, -14.07, -14.00, -13.94, -13.87, -13.81, -13.74, -13.68, -13.61, -13.55, -13.49, -13.42, -13.36, -13.29, -13.23, -13.17, -13.10, -13.04, -12.98, -12.92, -12.85, -12.79, -12.73, -12.67, -12.61, -12.54, -12.48, -12.42, -12.36, -12.30, -12.24, -12.18, -12.12, -12.06, -12.00, -11.94, -11.88, -11.82, -11.76, -11.70, -11.64, -11.58, -11.52, -11.46, -11.40, -11.35, -11.29, -11.23, -11.17, -11.11, -11.06, -11.00, -10.94, -10.88, -10.83, -10.77, -10.71, -10.66, -10.60, -10.54, -10.49, -10.43, -10.37, -10.32, -10.26, -10.21, -10.15, -10.10, -10.04, -9.99, -9.93, -9.88, -9.82, -9.77, -9.71, -9.66, -9.61, -9.55, -9.50, -9.44, -9.39, -9.34, -9.28, -9.23, -9.18, -9.13, -9.07, -9.02, -8.97, -8.92, -8.86},
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{83.92, 83.90, 83.89, 83.87, 83.85, 83.83, 83.81, 83.80, 83.78, 83.76, 83.74, 83.72, 83.71, 83.69, 83.67, 83.65, 83.63, 83.62, 83.60, 83.58, 83.56, 83.55, 83.53, 83.51, 83.49, 83.48, 83.46, 83.44, 83.42, 83.40, 83.39, 83.37, 83.35, 83.33, 83.32, 83.30, 83.28, 83.26, 83.25, 83.23, 83.21, 83.19, 83.18, 83.16, 83.14, 83.12, 83.11, 83.09, 83.07, 83.05, 83.04, 83.02, 83.00, 82.99, 82.97, 82.95, 82.93, 82.92, 82.90, 82.88, 82.86, 82.85, 82.83, 82.81, 82.80, 82.78, 82.76, 82.74, 82.73, 82.71, 82.69, 82.68, 82.66, 82.64, 82.62, 82.61, 82.59, 82.57, 82.56, 82.54, 82.52, 82.51, 82.49, 82.47, 82.45, 82.44, 82.42, 82.40, 82.39, 82.37, 82.35, 82.34, 82.32, 82.30, 82.29, 82.27, 82.25, 82.24, 82.22, 82.20, 82.18, 82.17, 82.15, 82.13, 82.12, 82.10, 82.08, 82.07, 82.05, 82.03, 82.02, 82.00, 81.98, 81.97, 81.95, 81.93, 81.92, 81.90, 81.89, 81.87, 81.85, 81.84, 81.82, 81.80, 81.79, 81.77, 81.75, 81.74, 81.72, 81.70, 81.69, 81.67, 81.65, 81.64, 81.62, 81.61, 81.59, 81.57, 81.56, 81.54},
{84.26, 84.24, 84.22, 84.20, 84.18, 84.17, 84.15, 84.13, 84.11, 84.09, 84.08, 84.06, 84.04, 84.02, 84.01, 83.99, 83.97, 83.95, 83.93, 83.92, 83.90, 83.88, 83.86, 83.85, 83.83, 83.81, 83.79, 83.78, 83.76, 83.74, 83.72, 83.71, 83.69, 83.67, 83.65, 83.64, 83.62, 83.60, 83.58, 83.57, 83.55, 83.53, 83.51, 83.50, 83.48, 83.46, 83.44, 83.43, 83.41, 83.39, 83.37, 83.36, 83.34, 83.32, 83.31, 83.29, 83.27, 83.25, 83.24, 83.22, 83.20, 83.18, 83.17, 83.15, 83.13, 83.12, 83.10, 83.08, 83.07, 83.05, 83.03, 83.01, 83.00, 82.98, 82.96, 82.95, 82.93, 82.91, 82.89, 82.88, 82.86, 82.84, 82.83, 82.81, 82.79, 82.78, 82.76, 82.74, 82.73, 82.71, 82.69, 82.68, 82.66, 82.64, 82.62, 82.61, 82.59, 82.57, 82.56, 82.54, 82.52, 82.51, 82.49, 82.47, 82.46, 82.44, 82.42, 82.41, 82.39, 82.37, 82.36, 82.34, 82.32, 82.31, 82.29, 82.28, 82.26, 82.24, 82.23, 82.21, 82.19, 82.18, 82.16, 82.14, 82.13, 82.11, 82.09, 82.08, 82.06, 82.04, 82.03, 82.01, 82.00, 81.98, 81.96, 81.95, 81.93, 81.91, 81.90, 81.88},
{84.58, 84.56, 84.55, 84.53, 84.51, 84.49, 84.48, 84.46, 84.44, 84.42, 84.40, 84.39, 84.37, 84.35, 84.33, 84.32, 84.30, 84.28, 84.26, 84.25, 84.23, 84.21, 84.19, 84.18, 84.16, 84.14, 84.12, 84.10, 84.09, 84.07, 84.05, 84.03, 84.02, 84.00, 83.98, 83.96, 83.95, 83.93, 83.91, 83.90, 83.88, 83.86, 83.84, 83.83, 83.81, 83.79, 83.77, 83.76, 83.74, 83.72, 83.70, 83.69, 83.67, 83.65, 83.64, 83.62, 83.60, 83.58, 83.57, 83.55, 83.53, 83.52, 83.50, 83.48, 83.46, 83.45, 83.43, 83.41, 83.40, 83.38, 83.36, 83.35, 83.33, 83.31, 83.29, 83.28, 83.26, 83.24, 83.23, 83.21, 83.19, 83.18, 83.16, 83.14, 83.13, 83.11, 83.09, 83.07, 83.06, 83.04, 83.02, 83.01, 82.99, 82.97, 82.96, 82.94, 82.92, 82.91, 82.89, 82.87, 82.86, 82.84, 82.82, 82.81, 82.79, 82.77, 82.76, 82.74, 82.72, 82.71, 82.69, 82.67, 82.66, 82.64, 82.63, 82.61, 82.59, 82.58, 82.56, 82.54, 82.53, 82.51, 82.49, 82.48, 82.46, 82.44, 82.43, 82.41, 82.40, 82.38, 82.36, 82.35, 82.33, 82.31, 82.30, 82.28, 82.26, 82.25, 82.23, 82.22},
{84.90, 84.89, 84.87, 84.85, 84.83, 84.81, 84.80, 84.78, 84.76, 84.74, 84.73, 84.71, 84.69, 84.67, 84.66, 84.64, 84.62, 84.60, 84.59, 84.57, 84.55, 84.53, 84.51, 84.50, 84.48, 84.46, 84.44, 84.43, 84.41, 84.39, 84.38, 84.36, 84.34, 84.32, 84.31, 84.29, 84.27, 84.25, 84.24, 84.22, 84.20, 84.18, 84.17, 84.15, 84.13, 84.11, 84.10, 84.08, 84.06, 84.05, 84.03, 84.01, 83.99, 83.98, 83.96, 83.94, 83.93, 83.91, 83.89, 83.87, 83.86, 83.84, 83.82, 83.81, 83.79, 83.77, 83.76, 83.74, 83.72, 83.70, 83.69, 83.67, 83.65, 83.64, 83.62, 83.60, 83.59, 83.57, 83.55, 83.54, 83.52, 83.50, 83.48, 83.47, 83.45, 83.43, 83.42, 83.40, 83.38, 83.37, 83.35, 83.33, 83.32, 83.30, 83.28, 83.27, 83.25, 83.23, 83.22, 83.20, 83.18, 83.17, 83.15, 83.13, 83.12, 83.10, 83.08, 83.07, 83.05, 83.03, 83.02, 83.00, 82.99, 82.97, 82.95, 82.94, 82.92, 82.90, 82.89, 82.87, 82.85, 82.84, 82.82, 82.80, 82.79, 82.77, 82.76, 82.74, 82.72, 82.71, 82.69, 82.67, 82.66, 82.64, 82.63, 82.61, 82.59, 82.58, 82.56, 82.54},
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{85.53, 85.51, 85.49, 85.47, 85.46, 85.44, 85.42, 85.40, 85.39, 85.37, 85.35, 85.33, 85.32, 85.30, 85.28, 85.26, 85.25, 85.23, 85.21, 85.19, 85.18, 85.16, 85.14, 85.12, 85.11, 85.09, 85.07, 85.05, 85.04, 85.02, 85.00, 84.98, 84.97, 84.95, 84.93, 84.92, 84.90, 84.88, 84.86, 84.85, 84.83, 84.81, 84.80, 84.78, 84.76, 84.74, 84.73, 84.71, 84.69, 84.68, 84.66, 84.64, 84.62, 84.61, 84.59, 84.57, 84.56, 84.54, 84.52, 84.51, 84.49, 84.47, 84.45, 84.44, 84.42, 84.40, 84.39, 84.37, 84.35, 84.34, 84.32, 84.30, 84.29, 84.27, 84.25, 84.23, 84.22, 84.20, 84.18, 84.17, 84.15, 84.13, 84.12, 84.10, 84.08, 84.07, 84.05, 84.03, 84.02, 84.00, 83.98, 83.97, 83.95, 83.93, 83.92, 83.90, 83.88, 83.87, 83.85, 83.84, 83.82, 83.80, 83.79, 83.77, 83.75, 83.74, 83.72, 83.70, 83.69, 83.67, 83.65, 83.64, 83.62, 83.60, 83.59, 83.57, 83.56, 83.54, 83.52, 83.51, 83.49, 83.47, 83.46, 83.44, 83.43, 83.41, 83.39, 83.38, 83.36, 83.34, 83.33, 83.31, 83.30, 83.28, 83.26, 83.25, 83.23, 83.22, 83.20, 83.18}
};
const float InverseMapW[120][188] = {
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{70.25, 70.49, 70.73, 70.97, 71.20, 71.44, 71.68, 71.91, 72.15, 72.39, 72.63, 72.87, 73.10, 73.34, 73.58, 73.82, 74.06, 74.29, 74.53, 74.77, 75.01, 75.25, 75.49, 75.73, 75.97, 76.20, 76.44, 76.68, 76.92, 77.16, 77.40, 77.64, 77.88, 78.12, 78.36, 78.60, 78.84, 79.08, 79.32, 79.56, 79.80, 80.04, 80.28, 80.52, 80.76, 81.00, 81.25, 81.49, 81.73, 81.97, 82.21, 82.45, 82.69, 82.94, 83.18, 83.42, 83.66, 83.90, 84.14, 84.39, 84.63, 84.87, 85.11, 85.36, 85.60, 85.84, 86.08, 86.33, 86.57, 86.81, 87.06, 87.30, 87.54, 87.79, 88.03, 88.27, 88.52, 88.76, 89.01, 89.25, 89.49, 89.74, 89.98, 90.23, 90.47, 90.72, 90.96, 91.20, 91.45, 91.69, 91.94, 92.18, 92.43, 92.68, 92.92, 93.17, 93.41, 93.66, 93.90, 94.15, 94.40, 94.64, 94.89, 95.13, 95.38, 95.63, 95.87, 96.12, 96.37, 96.61, 96.86, 97.11, 97.35, 97.60, 97.85, 98.10, 98.34, 98.59, 98.84, 99.09, 99.33, 99.58, 99.83, 100.08, 100.33, 100.58, 100.82, 101.07, 101.32, 101.57, 101.82, 102.07, 102.32, 102.57, 102.81, 103.06, 103.31, 103.56, 103.81, 104.06, 104.31, 104.56, 104.81, 105.06, 105.31, 105.56, 105.81, 106.06, 106.31, 106.56, 106.82, 107.07, 107.32, 107.57, 107.82, 108.07, 108.32, 108.57, 108.82, 109.08, 109.33, 109.58, 109.83, 110.08, 110.34, 110.59, 110.84, 111.09, 111.35, 111.60, 111.85, 112.10, 112.36, 112.61, 112.86, 113.12, 113.37, 113.62, 113.88, 114.13, 114.38, 114.64, 114.89, 115.14, 115.40, 115.65, 115.91, 116.16},
{70.46, 70.69, 70.93, 71.16, 71.40, 71.63, 71.87, 72.11, 72.34, 72.58, 72.81, 73.05, 73.28, 73.52, 73.76, 73.99, 74.23, 74.47, 74.70, 74.94, 75.17, 75.41, 75.65, 75.89, 76.12, 76.36, 76.60, 76.83, 77.07, 77.31, 77.55, 77.78, 78.02, 78.26, 78.50, 78.74, 78.97, 79.21, 79.45, 79.69, 79.93, 80.17, 80.40, 80.64, 80.88, 81.12, 81.36, 81.60, 81.84, 82.08, 82.32, 82.56, 82.79, 83.03, 83.27, 83.51, 83.75, 83.99, 84.23, 84.47, 84.71, 84.95, 85.20, 85.44, 85.68, 85.92, 86.16, 86.40, 86.64, 86.88, 87.12, 87.36, 87.60, 87.85, 88.09, 88.33, 88.57, 88.81, 89.05, 89.30, 89.54, 89.78, 90.02, 90.26, 90.51, 90.75, 90.99, 91.23, 91.48, 91.72, 91.96, 92.21, 92.45, 92.69, 92.94, 93.18, 93.42, 93.67, 93.91, 94.15, 94.40, 94.64, 94.89, 95.13, 95.37, 95.62, 95.86, 96.11, 96.35, 96.60, 96.84, 97.09, 97.33, 97.58, 97.82, 98.07, 98.31, 98.56, 98.80, 99.05, 99.30, 99.54, 99.79, 100.03, 100.28, 100.53, 100.77, 101.02, 101.26, 101.51, 101.76, 102.00, 102.25, 102.50, 102.75, 102.99, 103.24, 103.49, 103.73, 103.98, 104.23, 104.48, 104.73, 104.97, 105.22, 105.47, 105.72, 105.97, 106.21, 106.46, 106.71, 106.96, 107.21, 107.46, 107.71, 107.96, 108.20, 108.45, 108.70, 108.95, 109.20, 109.45, 109.70, 109.95, 110.20, 110.45, 110.70, 110.95, 111.20, 111.45, 111.70, 111.95, 112.20, 112.45, 112.71, 112.96, 113.21, 113.46, 113.71, 113.96, 114.21, 114.46, 114.72, 114.97, 115.22, 115.47, 115.72, 115.98},
{70.66, 70.89, 71.13, 71.36, 71.59, 71.83, 72.06, 72.29, 72.53, 72.76, 72.99, 73.23, 73.46, 73.70, 73.93, 74.16, 74.40, 74.63, 74.87, 75.10, 75.34, 75.57, 75.81, 76.04, 76.28, 76.51, 76.75, 76.98, 77.22, 77.45, 77.69, 77.93, 78.16, 78.40, 78.63, 78.87, 79.10, 79.34, 79.58, 79.81, 80.05, 80.29, 80.52, 80.76, 81.00, 81.23, 81.47, 81.71, 81.95, 82.18, 82.42, 82.66, 82.89, 83.13, 83.37, 83.61, 83.85, 84.08, 84.32, 84.56, 84.80, 85.04, 85.27, 85.51, 85.75, 85.99, 86.23, 86.47, 86.71, 86.95, 87.19, 87.42, 87.66, 87.90, 88.14, 88.38, 88.62, 88.86, 89.10, 89.34, 89.58, 89.82, 90.06, 90.30, 90.54, 90.78, 91.02, 91.26, 91.50, 91.75, 91.99, 92.23, 92.47, 92.71, 92.95, 93.19, 93.43, 93.68, 93.92, 94.16, 94.40, 94.64, 94.88, 95.13, 95.37, 95.61, 95.85, 96.10, 96.34, 96.58, 96.82, 97.07, 97.31, 97.55, 97.80, 98.04, 98.28, 98.53, 98.77, 99.01, 99.26, 99.50, 99.74, 99.99, 100.23, 100.48, 100.72, 100.96, 101.21, 101.45, 101.70, 101.94, 102.19, 102.43, 102.68, 102.92, 103.17, 103.41, 103.66, 103.90, 104.15, 104.39, 104.64, 104.89, 105.13, 105.38, 105.62, 105.87, 106.12, 106.36, 106.61, 106.86, 107.10, 107.35, 107.60, 107.84, 108.09, 108.34, 108.58, 108.83, 109.08, 109.33, 109.57, 109.82, 110.07, 110.32, 110.56, 110.81, 111.06, 111.31, 111.56, 111.81, 112.05, 112.30, 112.55, 112.80, 113.05, 113.30, 113.55, 113.80, 114.05, 114.30, 114.54, 114.79, 115.04, 115.29, 115.54, 115.79},
{70.86, 71.09, 71.32, 71.55, 71.78, 72.01, 72.25, 72.48, 72.71, 72.94, 73.17, 73.41, 73.64, 73.87, 74.10, 74.33, 74.57, 74.80, 75.03, 75.26, 75.50, 75.73, 75.96, 76.20, 76.43, 76.66, 76.90, 77.13, 77.36, 77.60, 77.83, 78.06, 78.30, 78.53, 78.77, 79.00, 79.23, 79.47, 79.70, 79.94, 80.17, 80.41, 80.64, 80.88, 81.11, 81.35, 81.58, 81.82, 82.05, 82.29, 82.52, 82.76, 82.99, 83.23, 83.46, 83.70, 83.94, 84.17, 84.41, 84.64, 84.88, 85.12, 85.35, 85.59, 85.83, 86.06, 86.30, 86.54, 86.77, 87.01, 87.25, 87.49, 87.72, 87.96, 88.20, 88.44, 88.67, 88.91, 89.15, 89.39, 89.62, 89.86, 90.10, 90.34, 90.58, 90.82, 91.05, 91.29, 91.53, 91.77, 92.01, 92.25, 92.49, 92.73, 92.97, 93.21, 93.44, 93.68, 93.92, 94.16, 94.40, 94.64, 94.88, 95.12, 95.36, 95.60, 95.84, 96.08, 96.33, 96.57, 96.81, 97.05, 97.29, 97.53, 97.77, 98.01, 98.25, 98.49, 98.74, 98.98, 99.22, 99.46, 99.70, 99.94, 100.19, 100.43, 100.67, 100.91, 101.15, 101.40, 101.64, 101.88, 102.12, 102.37, 102.61, 102.85, 103.10, 103.34, 103.58, 103.83, 104.07, 104.31, 104.56, 104.80, 105.04, 105.29, 105.53, 105.78, 106.02, 106.26, 106.51, 106.75, 107.00, 107.24, 107.49, 107.73, 107.98, 108.22, 108.47, 108.71, 108.96, 109.20, 109.45, 109.69, 109.94, 110.18, 110.43, 110.68, 110.92, 111.17, 111.41, 111.66, 111.91, 112.15, 112.40, 112.65, 112.89, 113.14, 113.39, 113.63, 113.88, 114.13, 114.38, 114.62, 114.87, 115.12, 115.37, 115.61},
{71.05, 71.28, 71.51, 71.74, 71.97, 72.20, 72.43, 72.66, 72.89, 73.12, 73.35, 73.58, 73.81, 74.04, 74.27, 74.50, 74.73, 74.96, 75.19, 75.42, 75.65, 75.89, 76.12, 76.35, 76.58, 76.81, 77.04, 77.27, 77.51, 77.74, 77.97, 78.20, 78.43, 78.66, 78.90, 79.13, 79.36, 79.59, 79.83, 80.06, 80.29, 80.52, 80.76, 80.99, 81.22, 81.46, 81.69, 81.92, 82.16, 82.39, 82.62, 82.86, 83.09, 83.32, 83.56, 83.79, 84.02, 84.26, 84.49, 84.73, 84.96, 85.20, 85.43, 85.67, 85.90, 86.13, 86.37, 86.60, 86.84, 87.07, 87.31, 87.55, 87.78, 88.02, 88.25, 88.49, 88.72, 88.96, 89.19, 89.43, 89.67, 89.90, 90.14, 90.38, 90.61, 90.85, 91.08, 91.32, 91.56, 91.80, 92.03, 92.27, 92.51, 92.74, 92.98, 93.22, 93.46, 93.69, 93.93, 94.17, 94.41, 94.64, 94.88, 95.12, 95.36, 95.60, 95.84, 96.07, 96.31, 96.55, 96.79, 97.03, 97.27, 97.51, 97.74, 97.98, 98.22, 98.46, 98.70, 98.94, 99.18, 99.42, 99.66, 99.90, 100.14, 100.38, 100.62, 100.86, 101.10, 101.34, 101.58, 101.82, 102.06, 102.30, 102.54, 102.79, 103.03, 103.27, 103.51, 103.75, 103.99, 104.23, 104.47, 104.72, 104.96, 105.20, 105.44, 105.68, 105.93, 106.17, 106.41, 106.65, 106.89, 107.14, 107.38, 107.62, 107.87, 108.11, 108.35, 108.59, 108.84, 109.08, 109.32, 109.57, 109.81, 110.05, 110.30, 110.54, 110.79, 111.03, 111.27, 111.52, 111.76, 112.01, 112.25, 112.50, 112.74, 112.99, 113.23, 113.48, 113.72, 113.97, 114.21, 114.46, 114.70, 114.95, 115.19, 115.44}
const float InverseMapW[80][140] = {
{-43.41, -41.64, -39.87, -38.10, -36.34, -34.58, -32.83, -31.09, -29.34, -27.61, -25.88, -24.15, -22.43, -20.72, -19.00, -17.30, -15.60, -13.90, -12.21, -10.52, -8.84, -7.16, -5.49, -3.82, -2.16, -0.50, 1.15, 2.80, 4.44, 6.08, 7.72, 9.35, 10.97, 12.60, 14.21, 15.82, 17.43, 19.04, 20.63, 22.23, 23.82, 25.40, 26.99, 28.56, 30.13, 31.70, 33.27, 34.83, 36.38, 37.93, 39.48, 41.02, 42.56, 44.10, 45.63, 47.15, 48.67, 50.19, 51.70, 53.21, 54.72, 56.22, 57.72, 59.21, 60.70, 62.19, 63.67, 65.15, 66.62, 68.09, 69.55, 71.02, 72.47, 73.93, 75.38, 76.82, 78.27, 79.71, 81.14, 82.57, 84.00, 85.42, 86.84, 88.26, 89.67, 91.08, 92.49, 93.89, 95.29, 96.68, 98.07, 99.46, 100.84, 102.22, 103.60, 104.97, 106.34, 107.71, 109.07, 110.43, 111.78, 113.14, 114.48, 115.83, 117.17, 118.51, 119.84, 121.18, 122.50, 123.83, 125.15, 126.47, 127.78, 129.10, 130.40, 131.71, 133.01, 134.31, 135.60, 136.90, 138.18, 139.47, 140.75, 142.03, 143.31, 144.58, 145.85, 147.12, 148.38, 149.64, 150.90, 152.15, 153.40, 154.65, 155.90, 157.14, 158.38, 159.61, 160.84, 162.07},
{-38.86, -37.16, -35.46, -33.77, -32.09, -30.41, -28.73, -27.06, -25.39, -23.73, -22.07, -20.42, -18.77, -17.13, -15.49, -13.85, -12.22, -10.60, -8.97, -7.36, -5.75, -4.14, -2.53, -0.93, 0.66, 2.25, 3.84, 5.42, 7.00, 8.57, 10.14, 11.70, 13.27, 14.82, 16.37, 17.92, 19.47, 21.01, 22.54, 24.07, 25.60, 27.13, 28.65, 30.16, 31.67, 33.18, 34.68, 36.18, 37.68, 39.17, 40.66, 42.14, 43.62, 45.10, 46.57, 48.04, 49.50, 50.96, 52.42, 53.87, 55.32, 56.77, 58.21, 59.65, 61.08, 62.51, 63.94, 65.36, 66.78, 68.20, 69.61, 71.02, 72.43, 73.83, 75.23, 76.62, 78.01, 79.40, 80.78, 82.16, 83.54, 84.92, 86.29, 87.65, 89.02, 90.37, 91.73, 93.08, 94.43, 95.78, 97.12, 98.46, 99.80, 101.13, 102.46, 103.79, 105.11, 106.43, 107.75, 109.06, 110.37, 111.68, 112.98, 114.28, 115.58, 116.87, 118.16, 119.45, 120.73, 122.01, 123.29, 124.57, 125.84, 127.11, 128.37, 129.64, 130.90, 132.15, 133.41, 134.66, 135.90, 137.15, 138.39, 139.63, 140.86, 142.10, 143.33, 144.55, 145.78, 147.00, 148.22, 149.43, 150.64, 151.85, 153.06, 154.26, 155.46, 156.66, 157.86, 159.05},
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{43.55, 43.95, 44.35, 44.75, 45.14, 45.54, 45.94, 46.33, 46.73, 47.13, 47.52, 47.92, 48.31, 48.71, 49.10, 49.49, 49.89, 50.28, 50.68, 51.07, 51.46, 51.85, 52.25, 52.64, 53.03, 53.42, 53.81, 54.20, 54.59, 54.98, 55.38, 55.76, 56.15, 56.54, 56.93, 57.32, 57.71, 58.10, 58.49, 58.87, 59.26, 59.65, 60.04, 60.42, 60.81, 61.19, 61.58, 61.97, 62.35, 62.74, 63.12, 63.50, 63.89, 64.27, 64.66, 65.04, 65.42, 65.81, 66.19, 66.57, 66.95, 67.33, 67.72, 68.10, 68.48, 68.86, 69.24, 69.62, 70.00, 70.38, 70.76, 71.14, 71.52, 71.90, 72.27, 72.65, 73.03, 73.41, 73.79, 74.16, 74.54, 74.92, 75.29, 75.67, 76.04, 76.42, 76.79, 77.17, 77.54, 77.92, 78.29, 78.67, 79.04, 79.41, 79.79, 80.16, 80.53, 80.91, 81.28, 81.65, 82.02, 82.39, 82.76, 83.14, 83.51, 83.88, 84.25, 84.62, 84.99, 85.36, 85.73, 86.09, 86.46, 86.83, 87.20, 87.57, 87.93, 88.30, 88.67, 89.04, 89.40, 89.77, 90.14, 90.50, 90.87, 91.23, 91.60, 91.96, 92.33, 92.69, 93.06, 93.42, 93.78, 94.15, 94.51, 94.87, 95.24, 95.60, 95.96, 96.32},
{43.82, 44.22, 44.61, 45.01, 45.40, 45.79, 46.19, 46.58, 46.97, 47.36, 47.75, 48.15, 48.54, 48.93, 49.32, 49.71, 50.10, 50.49, 50.88, 51.27, 51.66, 52.04, 52.43, 52.82, 53.21, 53.60, 53.98, 54.37, 54.76, 55.14, 55.53, 55.92, 56.30, 56.69, 57.07, 57.46, 57.84, 58.23, 58.61, 58.99, 59.38, 59.76, 60.14, 60.53, 60.91, 61.29, 61.67, 62.06, 62.44, 62.82, 63.20, 63.58, 63.96, 64.34, 64.72, 65.10, 65.48, 65.86, 66.24, 66.62, 66.99, 67.37, 67.75, 68.13, 68.50, 68.88, 69.26, 69.64, 70.01, 70.39, 70.76, 71.14, 71.51, 71.89, 72.26, 72.64, 73.01, 73.39, 73.76, 74.13, 74.51, 74.88, 75.25, 75.63, 76.00, 76.37, 76.74, 77.11, 77.48, 77.85, 78.23, 78.60, 78.97, 79.34, 79.71, 80.07, 80.44, 80.81, 81.18, 81.55, 81.92, 82.29, 82.65, 83.02, 83.39, 83.76, 84.12, 84.49, 84.85, 85.22, 85.59, 85.95, 86.32, 86.68, 87.05, 87.41, 87.78, 88.14, 88.50, 88.87, 89.23, 89.59, 89.96, 90.32, 90.68, 91.04, 91.40, 91.77, 92.13, 92.49, 92.85, 93.21, 93.57, 93.93, 94.29, 94.65, 95.01, 95.37, 95.73, 96.09},
{44.09, 44.48, 44.87, 45.26, 45.65, 46.04, 46.43, 46.82, 47.21, 47.59, 47.98, 48.37, 48.76, 49.14, 49.53, 49.92, 50.30, 50.69, 51.07, 51.46, 51.85, 52.23, 52.61, 53.00, 53.38, 53.77, 54.15, 54.53, 54.92, 55.30, 55.68, 56.06, 56.45, 56.83, 57.21, 57.59, 57.97, 58.35, 58.73, 59.11, 59.49, 59.87, 60.25, 60.63, 61.01, 61.39, 61.77, 62.14, 62.52, 62.90, 63.28, 63.65, 64.03, 64.41, 64.78, 65.16, 65.53, 65.91, 66.28, 66.66, 67.03, 67.41, 67.78, 68.16, 68.53, 68.90, 69.28, 69.65, 70.02, 70.40, 70.77, 71.14, 71.51, 71.88, 72.25, 72.62, 73.00, 73.37, 73.74, 74.11, 74.48, 74.84, 75.21, 75.58, 75.95, 76.32, 76.69, 77.06, 77.42, 77.79, 78.16, 78.53, 78.89, 79.26, 79.62, 79.99, 80.36, 80.72, 81.09, 81.45, 81.82, 82.18, 82.55, 82.91, 83.27, 83.64, 84.00, 84.36, 84.73, 85.09, 85.45, 85.81, 86.17, 86.54, 86.90, 87.26, 87.62, 87.98, 88.34, 88.70, 89.06, 89.42, 89.78, 90.14, 90.50, 90.86, 91.21, 91.57, 91.93, 92.29, 92.65, 93.00, 93.36, 93.72, 94.07, 94.43, 94.79, 95.14, 95.50, 95.85},
{44.36, 44.74, 45.13, 45.51, 45.90, 46.28, 46.67, 47.05, 47.44, 47.82, 48.21, 48.59, 48.97, 49.36, 49.74, 50.12, 50.50, 50.89, 51.27, 51.65, 52.03, 52.41, 52.79, 53.17, 53.55, 53.93, 54.31, 54.69, 55.07, 55.45, 55.83, 56.21, 56.59, 56.96, 57.34, 57.72, 58.10, 58.47, 58.85, 59.23, 59.60, 59.98, 60.35, 60.73, 61.11, 61.48, 61.85, 62.23, 62.60, 62.98, 63.35, 63.72, 64.10, 64.47, 64.84, 65.22, 65.59, 65.96, 66.33, 66.70, 67.07, 67.44, 67.82, 68.19, 68.56, 68.93, 69.30, 69.66, 70.03, 70.40, 70.77, 71.14, 71.51, 71.88, 72.24, 72.61, 72.98, 73.34, 73.71, 74.08, 74.44, 74.81, 75.18, 75.54, 75.91, 76.27, 76.64, 77.00, 77.36, 77.73, 78.09, 78.46, 78.82, 79.18, 79.55, 79.91, 80.27, 80.63, 80.99, 81.36, 81.72, 82.08, 82.44, 82.80, 83.16, 83.52, 83.88, 84.24, 84.60, 84.96, 85.32, 85.68, 86.03, 86.39, 86.75, 87.11, 87.47, 87.82, 88.18, 88.54, 88.89, 89.25, 89.61, 89.96, 90.32, 90.67, 91.03, 91.38, 91.74, 92.09, 92.45, 92.80, 93.16, 93.51, 93.86, 94.22, 94.57, 94.92, 95.27, 95.63}
};

4
app/gl_transform_table.h
View File

@@ -4,8 +4,8 @@
#include "zf_common_headfile.h"
extern const float InverseMapH[120][188] ;
extern const float InverseMapW[120][188] ;
extern const float InverseMapH[80][140] ;
extern const float InverseMapW[80][140] ;
void transform(float X, float Y, int* x, int* y);

10
app/main.c
View File

@@ -57,17 +57,17 @@ int main(void)
if (mt9v03x_finish_flag) {
// 该操作消耗大概 1970 个 tick，折合约 110us
memcpy(mt9v03x_image_copy[0], mt9v03x_image[0], (sizeof(mt9v03x_image_copy) / sizeof(uint8_t)));
adaptiveThreshold((uint8_t*)mt9v03x_image_copy, (uint8_t*)mt9v03x_image_copy, 188, 120, 7, 17);
ips200_show_gray_image(0, 0, mt9v03x_image_copy[0], MT9V03X_W, MT9V03X_H, MT9V03X_W, MT9V03X_H, 0);
//adaptiveThreshold((uint8_t*)mt9v03x_image_copy, (uint8_t*)mt9v03x_image_copy, 188, 120, 7, 17);
//ips200_show_gray_image(0, 0, mt9v03x_image_copy[0], MT9V03X_W, MT9V03X_H, MT9V03X_W, MT9V03X_H, 0);
mt9v03x_finish_flag = 0;
state_type = COMMON_STATE;
img_processing();
// get_corners();
get_corners();
aim_distance = COMMON_AIM;
tracking();
// ElementJudge();
// ElementRun();
ElementJudge();
ElementRun();
MidLineTrack();
}

14
app/page/page_ui_widget.c
View File

@@ -151,17 +151,31 @@ void Show_Marked_Image(void)
ips200_draw_frame(START_X - 3, START_Y - 3, START_X + IMAGE_DISPLAY_WIDTH + 2, START_Y + IMAGE_DISPLAY_HEIGHT + 2, 2, RGB565_BLUE);
// 确认边线数组在显示前不会清空
for (uint i = 0; i < PT_MAXLEN; i++) {
//寻近线逆透视后边线数组
uint16_t l_x = START_X + (uint16_t)((float)pts_inv_r[i][1] * horizontal_zoom_rate);
uint16_t l_y = START_Y + (uint16_t)((float)pts_inv_r[i][0] * vertical_zoom_rate);
uint16_t r_x = START_X + (uint16_t)((float)pts_inv_l[i][1] * horizontal_zoom_rate);
uint16_t r_y = START_Y + (uint16_t)((float)pts_inv_l[i][0] * vertical_zoom_rate);
//寻远线逆透视后边线数组
uint16_t far_l_x = START_X + (uint16_t)((float)pts_far_inv_r[i][1] * horizontal_zoom_rate);
uint16_t far_l_y = START_Y + (uint16_t)((float)pts_far_inv_r[i][0] * vertical_zoom_rate);
uint16_t far_r_x = START_X + (uint16_t)((float)pts_far_inv_l[i][1] * horizontal_zoom_rate);
uint16_t far_r_y = START_Y + (uint16_t)((float)pts_far_inv_l[i][0] * vertical_zoom_rate);
//寻近线中线数组
uint16_t mid_x_l = START_X + (uint16_t)(mid_left[i][1] * horizontal_zoom_rate);
uint16_t mix_y_l = START_Y + (uint16_t)(mid_left[i][0] * vertical_zoom_rate);
uint16_t mid_x_r = START_X + (uint16_t)(mid_right[i][1] * horizontal_zoom_rate);
uint16_t mix_y_r = START_Y + (uint16_t)(mid_right[i][0] * vertical_zoom_rate);
//近线数组显示
ips200_draw_rect(l_x, l_y, l_x + 2, l_y, RGB565_RED);
ips200_draw_rect(r_x - 2, r_y, r_x, r_y, RGB565_BLUE);
//远线数组显示
//ips200_draw_rect(far_l_x, far_l_y, far_l_x + 2, far_l_y, RGB565_RED);
//ips200_draw_rect(far_r_x - 2, far_r_y, far_r_x, far_r_y, RGB565_BLUE);
//中线数组显示
ips200_draw_rect(mid_x_l, mix_y_l, mid_x_l + 2, mix_y_l, RGB565_BLACK);
ips200_draw_rect(mid_x_r, mix_y_r, mid_x_r + 2, mix_y_r, RGB565_BLUE);

4
libraries/zf_device/zf_device_mt9v03x_dvp.h
View File

@@ -90,8 +90,8 @@
//--------------------------------------------------------------------------------------------------
// <20><><EFBFBD><EFBFBD>ͷĬ<CDB7>ϲ<EFBFBD><CFB2><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20>ڴ<EFBFBD><DAB4>޸<EFBFBD><DEB8><EFBFBD><EFBFBD><EFBFBD>ͷ<EFBFBD><CDB7><EFBFBD><EFBFBD>
//--------------------------------------------------------------------------------------------------
#define MT9V03X_W (188) // ͼ<><CDBC><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><>Χ [1-752]
#define MT9V03X_H (120) // ͼ<><CDBC><EFBFBD>߶<EFBFBD> <20><>Χ [1-480]
#define MT9V03X_W (140) // ͼ<><CDBC><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><>Χ [1-752]
#define MT9V03X_H (80) // ͼ<><CDBC><EFBFBD>߶<EFBFBD> <20><>Χ [1-480]
#define MT9V03X_IMAGE_SIZE ( MT9V03X_W * MT9V03X_H ) // <20><><EFBFBD><EFBFBD>ͼ<EFBFBD><CDBC><EFBFBD><EFBFBD>С<EFBFBD><D0A1><EFBFBD>ܳ<EFBFBD><DCB3><EFBFBD> 65535
#define MT9V03X_COF_BUFFER_SIZE ( 64 ) // <20><><EFBFBD>ô<EFBFBD><C3B4>ڻ<EFBFBD><DABB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>С <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> 64