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分辨率更新

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Glz
2024-03-08 19:58:36 +08:00
parent 690401acf1
commit aa69134eb7
9 changed files with 208 additions and 268 deletions
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4
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 (60)
#define BEGINH_R (60)
#define BEGINW_L (-18)
#define BEGINW_R (-12)
#define PT_MAXLEN (75)

2
app/gl_get_corners.c
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@@ -19,7 +19,7 @@ void get_corners() {
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]);
transform(pts_resample_left[Lpt0_rpts0s_id][1],pts_resample_left[Lpt0_rpts0s_id][0],&Lpt0[1],&Lpt0[0]); //待优化，是否用到，无用则删
}
//长直道阈值
if (conf > (7. / 180. * PI) && i < 0.8 / RESAMPLEDIST) is_straight0 = false;

4
app/gl_handle_img.c
View File

@@ -16,7 +16,6 @@ void SearchLineAdaptive_Left(uint8_t img_gray[], int32_t block_size, int32_t dow
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 = -1 * half; dh <= half; dh++) {
@@ -160,7 +159,7 @@ void GetLinesResample(float pts_in[][2], int32_t num1, float pts_out[][2], int32
*num2 = len;
}
//*************************** 函数中x,y的位置似乎反了 *************************//
void local_angle_points(float pts_in[][2], int num, float angle_out[], int dist) {
for (int i = 0; i < num; i++) {
if (i <= 0 || i >= num - 1) {
@@ -195,6 +194,7 @@ void nms_angle(float angle_in[], int num, float angle_out[], int kernel) {
}
}
//*********************************** 交叉相加减，dx接近与0导致y基本不变；dy接近于1导致x的值变得较多 *********************************//
void GetMidLine_Left(float pts_left[][2], int32_t pts_left_count, float mid_left[][2], int32_t approx_num, float dist)
{
for (int i = 0; i < pts_left_count; i++) {

26
app/gl_tracking.c
View File

@@ -3,8 +3,8 @@
float (*mid_track)[2];
int32_t mid_track_count;
float near_angle;
float pure_angle;
float dx;
float dx_near;
float (*rpts)[2];
int rpts_num;
@@ -79,8 +79,8 @@ void MidLineTrack() {
}
// 车轮对应点 (纯跟踪起始点)
float cx = InverseMapW[(int) (IMAGE_H * 0.75f)][100];
float cy = InverseMapH[(int) (IMAGE_H * 0.75f)][100];
float cx = InverseMapW[(int) (IMAGE_H * 0.75f)][90];
float cy = InverseMapH[(int) (IMAGE_H * 0.75f)][90];
// 找最近点 (起始点中线归一化)
float min_dist = 1e10;
@@ -107,24 +107,24 @@ void MidLineTrack() {
int aim_idx = clip(round(aim_distance / RESAMPLEDIST), 0, rptsn_num - 1);
//近锚点位置
int aim_idx_near = clip(round(0.25 / RESAMPLEDIST), 0, rptsn_num - 1);
int aim_idx_near = clip(round(0.15 / RESAMPLEDIST), 0, rptsn_num - 1);
// 计算远锚点偏差值
float dx = rptsn[aim_idx][1] - cx;
float dy = cy - rptsn[aim_idx][0] + 0.2 * PIXPERMETER;
float dn = sqrt(dx * dx + dy * dy);
// float dy = cy - rptsn[aim_idx][0] + 0.2 * PIXPERMETER;
// float dn = sqrt(dx * dx + dy * dy);
//float error = -atan2f(dx, dy) * 180 / PI;
// 计算近锚点偏差值
float dx_near = rptsn[aim_idx_near][1] - cx;
float dy_near = cy - rptsn[aim_idx_near][0] + 0.2 * PIXPERMETER;
float dn_near = sqrt(dx_near * dx_near + dy_near * dy_near);
// float dy_near = cy - rptsn[aim_idx_near][0] + 0.2 * PIXPERMETER;
// float dn_near = sqrt(dx_near * dx_near + dy_near * dy_near);
//float error_near = -atan2f(dx_near, dy_near) * 180 / PI;
//考虑近点
near_angle = -atanf(PIXPERMETER * 2 * 0.2 * dx_near / dn_near / dn_near) / PI * 180 ;
//考虑远点
pure_angle = -atanf(PIXPERMETER * 2 * 0.2 * dx/ dn / dn) / PI * 180 ;
// //考虑近点
// near_angle = -atanf(PIXPERMETER * 2 * 0.2 * dx_near / dn_near / dn_near) / PI * 180 ;
// //考虑远点
// pure_angle = -atanf(PIXPERMETER * 2 * 0.2 * dx/ dn / dn) / PI * 180 ;

4
app/gl_tracking.h
View File

@@ -2,8 +2,8 @@
#define TRACKING
extern float (*mid_track)[2];
extern float pure_angle;
extern float near_angle;
extern float dx;
extern float dx_near;
void tracking(void);
void ElementJudge(void);

424
app/gl_transform_table.c
View File

@@ -22,247 +22,187 @@ void transform(float X, float Y, int* x, int* y) {
}
const float InverseMapH[120][188] = {
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{113.53, 113.54, 113.54, 113.54, 113.54, 113.55, 113.55, 113.55, 113.56, 113.56, 113.56, 113.56, 113.57, 113.57, 113.57, 113.58, 113.58, 113.58, 113.58, 113.59, 113.59, 113.59, 113.59, 113.60, 113.60, 113.60, 113.61, 113.61, 113.61, 113.61, 113.62, 113.62, 113.62, 113.63, 113.63, 113.63, 113.63, 113.64, 113.64, 113.64, 113.65, 113.65, 113.65, 113.66, 113.66, 113.66, 113.66, 113.67, 113.67, 113.67, 113.68, 113.68, 113.68, 113.68, 113.69, 113.69, 113.69, 113.70, 113.70, 113.70, 113.71, 113.71, 113.71, 113.71, 113.72, 113.72, 113.72, 113.73, 113.73, 113.73, 113.73, 113.74, 113.74, 113.74, 113.75, 113.75, 113.75, 113.76, 113.76, 113.76, 113.76, 113.77, 113.77, 113.77, 113.78, 113.78, 113.78, 113.79, 113.79, 113.79, 113.80, 113.80, 113.80, 113.80, 113.81, 113.81, 113.81, 113.82, 113.82, 113.82, 113.83, 113.83, 113.83, 113.84, 113.84, 113.84, 113.84, 113.85, 113.85, 113.85, 113.86, 113.86, 113.86, 113.87, 113.87, 113.87, 113.88, 113.88, 113.88, 113.89, 113.89, 113.89, 113.89, 113.90, 113.90, 113.90, 113.91, 113.91, 113.91, 113.92, 113.92, 113.92, 113.93, 113.93, 113.93, 113.94, 113.94, 113.94, 113.95, 113.95, 113.95, 113.96, 113.96, 113.96, 113.97, 113.97, 113.97, 113.97, 113.98, 113.98, 113.98, 113.99, 113.99, 113.99, 114.00, 114.00, 114.00, 114.01, 114.01, 114.01, 114.02, 114.02, 114.02, 114.03, 114.03, 114.03, 114.04, 114.04, 114.04, 114.05, 114.05, 114.05, 114.06, 114.06, 114.06, 114.07, 114.07, 114.07, 114.08, 114.08, 114.08, 114.09, 114.09, 114.09, 114.10, 114.10, 114.10, 114.11},
{113.74, 113.74, 113.74, 113.74, 113.75, 113.75, 113.75, 113.76, 113.76, 113.76, 113.76, 113.77, 113.77, 113.77, 113.78, 113.78, 113.78, 113.79, 113.79, 113.79, 113.79, 113.80, 113.80, 113.80, 113.81, 113.81, 113.81, 113.81, 113.82, 113.82, 113.82, 113.83, 113.83, 113.83, 113.83, 113.84, 113.84, 113.84, 113.85, 113.85, 113.85, 113.86, 113.86, 113.86, 113.86, 113.87, 113.87, 113.87, 113.88, 113.88, 113.88, 113.89, 113.89, 113.89, 113.89, 113.90, 113.90, 113.90, 113.91, 113.91, 113.91, 113.92, 113.92, 113.92, 113.93, 113.93, 113.93, 113.93, 113.94, 113.94, 113.94, 113.95, 113.95, 113.95, 113.96, 113.96, 113.96, 113.96, 113.97, 113.97, 113.97, 113.98, 113.98, 113.98, 113.99, 113.99, 113.99, 114.00, 114.00, 114.00, 114.01, 114.01, 114.01, 114.01, 114.02, 114.02, 114.02, 114.03, 114.03, 114.03, 114.04, 114.04, 114.04, 114.05, 114.05, 114.05, 114.06, 114.06, 114.06, 114.07, 114.07, 114.07, 114.08, 114.08, 114.08, 114.08, 114.09, 114.09, 114.09, 114.10, 114.10, 114.10, 114.11, 114.11, 114.11, 114.12, 114.12, 114.12, 114.13, 114.13, 114.13, 114.14, 114.14, 114.14, 114.15, 114.15, 114.15, 114.16, 114.16, 114.16, 114.17, 114.17, 114.17, 114.18, 114.18, 114.18, 114.19, 114.19, 114.19, 114.20, 114.20, 114.20, 114.21, 114.21, 114.21, 114.22, 114.22, 114.22, 114.23, 114.23, 114.23, 114.24, 114.24, 114.24, 114.25, 114.25, 114.25, 114.26, 114.26, 114.26, 114.27, 114.27, 114.27, 114.28, 114.28, 114.28, 114.29, 114.29, 114.30, 114.30, 114.30, 114.31, 114.31, 114.31, 114.32, 114.32, 114.32, 114.33},
{113.94, 113.94, 113.94, 113.94, 113.95, 113.95, 113.95, 113.96, 113.96, 113.96, 113.96, 113.97, 113.97, 113.97, 113.98, 113.98, 113.98, 113.99, 113.99, 113.99, 113.99, 114.00, 114.00, 114.00, 114.01, 114.01, 114.01, 114.02, 114.02, 114.02, 114.02, 114.03, 114.03, 114.03, 114.04, 114.04, 114.04, 114.05, 114.05, 114.05, 114.05, 114.06, 114.06, 114.06, 114.07, 114.07, 114.07, 114.08, 114.08, 114.08, 114.09, 114.09, 114.09, 114.09, 114.10, 114.10, 114.10, 114.11, 114.11, 114.11, 114.12, 114.12, 114.12, 114.13, 114.13, 114.13, 114.14, 114.14, 114.14, 114.14, 114.15, 114.15, 114.15, 114.16, 114.16, 114.16, 114.17, 114.17, 114.17, 114.18, 114.18, 114.18, 114.19, 114.19, 114.19, 114.20, 114.20, 114.20, 114.21, 114.21, 114.21, 114.21, 114.22, 114.22, 114.22, 114.23, 114.23, 114.23, 114.24, 114.24, 114.24, 114.25, 114.25, 114.25, 114.26, 114.26, 114.26, 114.27, 114.27, 114.27, 114.28, 114.28, 114.28, 114.29, 114.29, 114.29, 114.30, 114.30, 114.30, 114.31, 114.31, 114.31, 114.32, 114.32, 114.32, 114.33, 114.33, 114.33, 114.34, 114.34, 114.34, 114.35, 114.35, 114.35, 114.36, 114.36, 114.36, 114.37, 114.37, 114.37, 114.38, 114.38, 114.38, 114.39, 114.39, 114.39, 114.40, 114.40, 114.40, 114.41, 114.41, 114.41, 114.42, 114.42, 114.42, 114.43, 114.43, 114.43, 114.44, 114.44, 114.45, 114.45, 114.45, 114.46, 114.46, 114.46, 114.47, 114.47, 114.47, 114.48, 114.48, 114.48, 114.49, 114.49, 114.49, 114.50, 114.50, 114.50, 114.51, 114.51, 114.52, 114.52, 114.52, 114.53, 114.53, 114.53, 114.54, 114.54},
{114.13, 114.13, 114.14, 114.14, 114.14, 114.15, 114.15, 114.15, 114.15, 114.16, 114.16, 114.16, 114.17, 114.17, 114.17, 114.18, 114.18, 114.18, 114.19, 114.19, 114.19, 114.19, 114.20, 114.20, 114.20, 114.21, 114.21, 114.21, 114.22, 114.22, 114.22, 114.23, 114.23, 114.23, 114.23, 114.24, 114.24, 114.24, 114.25, 114.25, 114.25, 114.26, 114.26, 114.26, 114.27, 114.27, 114.27, 114.28, 114.28, 114.28, 114.28, 114.29, 114.29, 114.29, 114.30, 114.30, 114.30, 114.31, 114.31, 114.31, 114.32, 114.32, 114.32, 114.33, 114.33, 114.33, 114.34, 114.34, 114.34, 114.35, 114.35, 114.35, 114.35, 114.36, 114.36, 114.36, 114.37, 114.37, 114.37, 114.38, 114.38, 114.38, 114.39, 114.39, 114.39, 114.40, 114.40, 114.40, 114.41, 114.41, 114.41, 114.42, 114.42, 114.42, 114.43, 114.43, 114.43, 114.44, 114.44, 114.44, 114.45, 114.45, 114.45, 114.46, 114.46, 114.46, 114.47, 114.47, 114.47, 114.48, 114.48, 114.48, 114.49, 114.49, 114.49, 114.50, 114.50, 114.50, 114.51, 114.51, 114.51, 114.52, 114.52, 114.52, 114.53, 114.53, 114.53, 114.54, 114.54, 114.54, 114.55, 114.55, 114.55, 114.56, 114.56, 114.57, 114.57, 114.57, 114.58, 114.58, 114.58, 114.59, 114.59, 114.59, 114.60, 114.60, 114.60, 114.61, 114.61, 114.61, 114.62, 114.62, 114.62, 114.63, 114.63, 114.63, 114.64, 114.64, 114.65, 114.65, 114.65, 114.66, 114.66, 114.66, 114.67, 114.67, 114.67, 114.68, 114.68, 114.68, 114.69, 114.69, 114.70, 114.70, 114.70, 114.71, 114.71, 114.71, 114.72, 114.72, 114.72, 114.73, 114.73, 114.74, 114.74, 114.74, 114.75, 114.75},
{114.32, 114.33, 114.33, 114.33, 114.33, 114.34, 114.34, 114.34, 114.35, 114.35, 114.35, 114.36, 114.36, 114.36, 114.37, 114.37, 114.37, 114.37, 114.38, 114.38, 114.38, 114.39, 114.39, 114.39, 114.40, 114.40, 114.40, 114.41, 114.41, 114.41, 114.42, 114.42, 114.42, 114.43, 114.43, 114.43, 114.43, 114.44, 114.44, 114.44, 114.45, 114.45, 114.45, 114.46, 114.46, 114.46, 114.47, 114.47, 114.47, 114.48, 114.48, 114.48, 114.49, 114.49, 114.49, 114.50, 114.50, 114.50, 114.51, 114.51, 114.51, 114.52, 114.52, 114.52, 114.53, 114.53, 114.53, 114.53, 114.54, 114.54, 114.54, 114.55, 114.55, 114.55, 114.56, 114.56, 114.56, 114.57, 114.57, 114.57, 114.58, 114.58, 114.58, 114.59, 114.59, 114.59, 114.60, 114.60, 114.60, 114.61, 114.61, 114.61, 114.62, 114.62, 114.62, 114.63, 114.63, 114.63, 114.64, 114.64, 114.65, 114.65, 114.65, 114.66, 114.66, 114.66, 114.67, 114.67, 114.67, 114.68, 114.68, 114.68, 114.69, 114.69, 114.69, 114.70, 114.70, 114.70, 114.71, 114.71, 114.71, 114.72, 114.72, 114.72, 114.73, 114.73, 114.73, 114.74, 114.74, 114.75, 114.75, 114.75, 114.76, 114.76, 114.76, 114.77, 114.77, 114.77, 114.78, 114.78, 114.78, 114.79, 114.79, 114.79, 114.80, 114.80, 114.81, 114.81, 114.81, 114.82, 114.82, 114.82, 114.83, 114.83, 114.83, 114.84, 114.84, 114.84, 114.85, 114.85, 114.86, 114.86, 114.86, 114.87, 114.87, 114.87, 114.88, 114.88, 114.88, 114.89, 114.89, 114.90, 114.90, 114.90, 114.91, 114.91, 114.91, 114.92, 114.92, 114.92, 114.93, 114.93, 114.94, 114.94, 114.94, 114.95, 114.95, 114.95}
const float InverseMapH[90][140] = {
{-4.71, -4.81, -4.91, -5.02, -5.12, -5.22, -5.32, -5.43, -5.53, -5.63, -5.73, -5.83, -5.94, -6.04, -6.14, -6.24, -6.34, -6.44, -6.54, -6.64, -6.74, -6.85, -6.95, -7.05, -7.15, -7.25, -7.35, -7.45, -7.55, -7.64, -7.74, -7.84, -7.94, -8.04, -8.14, -8.24, -8.34, -8.44, -8.53, -8.63, -8.73, -8.83, -8.93, -9.03, -9.12, -9.22, -9.32, -9.42, -9.51, -9.61, -9.71, -9.80, -9.90, -10.00, -10.09, -10.19, -10.29, -10.38, -10.48, -10.57, -10.67, -10.76, -10.86, -10.96, -11.05, -11.15, -11.24, -11.34, -11.43, -11.53, -11.62, -11.71, -11.81, -11.90, -12.00, -12.09, -12.18, -12.28, -12.37, -12.47, -12.56, -12.65, -12.75, -12.84, -12.93, -13.02, -13.12, -13.21, -13.30, -13.39, -13.49, -13.58, -13.67, -13.76, -13.85, -13.95, -14.04, -14.13, -14.22, -14.31, -14.40, -14.49, -14.59, -14.68, -14.77, -14.86, -14.95, -15.04, -15.13, -15.22, -15.31, -15.40, -15.49, -15.58, -15.67, -15.76, -15.85, -15.94, -16.03, -16.12, -16.20, -16.29, -16.38, -16.47, -16.56, -16.65, -16.74, -16.82, -16.91, -17.00, -17.09, -17.18, -17.26, -17.35, -17.44, -17.53, -17.61, -17.70, -17.79, -17.88},
{0.84, 0.74, 0.64, 0.54, 0.43, 0.33, 0.23, 0.13, 0.03, -0.07, -0.18, -0.28, -0.38, -0.48, -0.58, -0.68, -0.78, -0.88, -0.98, -1.08, -1.18, -1.28, -1.38, -1.48, -1.58, -1.68, -1.78, -1.88, -1.98, -2.08, -2.18, -2.27, -2.37, -2.47, -2.57, -2.67, -2.77, -2.86, -2.96, -3.06, -3.16, -3.25, -3.35, -3.45, -3.55, -3.64, -3.74, -3.84, -3.93, -4.03, -4.13, -4.22, -4.32, -4.42, -4.51, -4.61, -4.70, -4.80, -4.89, -4.99, -5.08, -5.18, -5.28, -5.37, -5.46, -5.56, -5.65, -5.75, -5.84, -5.94, -6.03, -6.13, -6.22, -6.31, -6.41, -6.50, -6.59, -6.69, -6.78, -6.87, -6.97, -7.06, -7.15, -7.25, -7.34, -7.43, -7.52, -7.62, -7.71, -7.80, -7.89, -7.98, -8.08, -8.17, -8.26, -8.35, -8.44, -8.53, -8.62, -8.72, -8.81, -8.90, -8.99, -9.08, -9.17, -9.26, -9.35, -9.44, -9.53, -9.62, -9.71, -9.80, -9.89, -9.98, -10.07, -10.16, -10.25, -10.34, -10.43, -10.51, -10.60, -10.69, -10.78, -10.87, -10.96, -11.05, -11.13, -11.22, -11.31, -11.40, -11.49, -11.57, -11.66, -11.75, -11.84, -11.92, -12.01, -12.10, -12.19, -12.27},
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{103.21, 103.17, 103.13, 103.10, 103.06, 103.02, 102.99, 102.95, 102.91, 102.88, 102.84, 102.80, 102.77, 102.73, 102.69, 102.66, 102.62, 102.59, 102.55, 102.51, 102.48, 102.44, 102.40, 102.37, 102.33, 102.29, 102.26, 102.22, 102.19, 102.15, 102.11, 102.08, 102.04, 102.00, 101.97, 101.93, 101.90, 101.86, 101.82, 101.79, 101.75, 101.71, 101.68, 101.64, 101.61, 101.57, 101.53, 101.50, 101.46, 101.43, 101.39, 101.35, 101.32, 101.28, 101.25, 101.21, 101.17, 101.14, 101.10, 101.07, 101.03, 100.99, 100.96, 100.92, 100.89, 100.85, 100.81, 100.78, 100.74, 100.71, 100.67, 100.63, 100.60, 100.56, 100.53, 100.49, 100.45, 100.42, 100.38, 100.35, 100.31, 100.28, 100.24, 100.20, 100.17, 100.13, 100.10, 100.06, 100.03, 99.99, 99.95, 99.92, 99.88, 99.85, 99.81, 99.78, 99.74, 99.70, 99.67, 99.63, 99.60, 99.56, 99.53, 99.49, 99.46, 99.42, 99.38, 99.35, 99.31, 99.28, 99.24, 99.21, 99.17, 99.14, 99.10, 99.07, 99.03, 98.99, 98.96, 98.92, 98.89, 98.85, 98.82, 98.78, 98.75, 98.71, 98.68, 98.64, 98.60, 98.57, 98.53, 98.50, 98.46, 98.43, 98.39, 98.36, 98.32, 98.29, 98.25, 98.22},
{103.46, 103.43, 103.39, 103.35, 103.32, 103.28, 103.25, 103.21, 103.17, 103.14, 103.10, 103.07, 103.03, 102.99, 102.96, 102.92, 102.88, 102.85, 102.81, 102.78, 102.74, 102.70, 102.67, 102.63, 102.60, 102.56, 102.52, 102.49, 102.45, 102.42, 102.38, 102.34, 102.31, 102.27, 102.24, 102.20, 102.16, 102.13, 102.09, 102.06, 102.02, 101.98, 101.95, 101.91, 101.88, 101.84, 101.81, 101.77, 101.73, 101.70, 101.66, 101.63, 101.59, 101.55, 101.52, 101.48, 101.45, 101.41, 101.38, 101.34, 101.30, 101.27, 101.23, 101.20, 101.16, 101.13, 101.09, 101.05, 101.02, 100.98, 100.95, 100.91, 100.88, 100.84, 100.81, 100.77, 100.73, 100.70, 100.66, 100.63, 100.59, 100.56, 100.52, 100.49, 100.45, 100.41, 100.38, 100.34, 100.31, 100.27, 100.24, 100.20, 100.17, 100.13, 100.10, 100.06, 100.03, 99.99, 99.95, 99.92, 99.88, 99.85, 99.81, 99.78, 99.74, 99.71, 99.67, 99.64, 99.60, 99.57, 99.53, 99.50, 99.46, 99.43, 99.39, 99.35, 99.32, 99.28, 99.25, 99.21, 99.18, 99.14, 99.11, 99.07, 99.04, 99.00, 98.97, 98.93, 98.90, 98.86, 98.83, 98.79, 98.76, 98.72, 98.69, 98.65, 98.62, 98.58, 98.55, 98.51}
};
const float InverseMapW[120][188] = {
{342.72, 339.17, 335.65, 332.15, 328.69, 325.25, 321.84, 318.46, 315.10, 311.77, 308.47, 305.20, 301.95, 298.73, 295.53, 292.36, 289.21, 286.09, 282.99, 279.92, 276.86, 273.84, 270.83, 267.85, 264.89, 261.96, 259.04, 256.15, 253.28, 250.43, 247.61, 244.80, 242.01, 239.25, 236.50, 233.78, 231.07, 228.38, 225.72, 223.07, 220.44, 217.83, 215.24, 212.67, 210.11, 207.58, 205.06, 202.56, 200.07, 197.61, 195.16, 192.72, 190.31, 187.91, 185.53, 183.16, 180.81, 178.47, 176.15, 173.85, 171.56, 169.29, 167.03, 164.79, 162.56, 160.35, 158.15, 155.96, 153.79, 151.64, 149.49, 147.36, 145.25, 143.15, 141.06, 138.99, 136.92, 134.88, 132.84, 130.82, 128.81, 126.81, 124.83, 122.85, 120.89, 118.94, 117.01, 115.08, 113.17, 111.27, 109.38, 107.50, 105.63, 103.78, 101.93, 100.10, 98.28, 96.47, 94.67, 92.88, 91.10, 89.33, 87.57, 85.82, 84.08, 82.35, 80.63, 78.93, 77.23, 75.54, 73.86, 72.19, 70.53, 68.88, 67.24, 65.61, 63.98, 62.37, 60.77, 59.17, 57.58, 56.01, 54.44, 52.88, 51.32, 49.78, 48.25, 46.72, 45.20, 43.69, 42.19, 40.69, 39.21, 37.73, 36.26, 34.80, 33.35, 31.90, 30.46, 29.03, 27.61, 26.19, 24.78, 23.38, 21.99, 20.60, 19.22, 17.85, 16.48, 15.12, 13.77, 12.43, 11.09, 9.76, 8.44, 7.12, 5.81, 4.51, 3.21, 1.92, 0.63, -0.65, -1.92, -3.18, -4.44, -5.69, -6.94, -8.18, -9.41, -10.64, -11.87, -13.08, -14.29, -15.50, -16.70, -17.89, -19.08, -20.26, -21.43, -22.60, -23.77, -24.93, -26.08, -27.23, -28.37, -29.51, -30.64, -31.77},
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{389.11, 384.66, 380.26, 375.90, 371.59, 367.31, 363.08, 358.89, 354.73, 350.62, 346.55, 342.51, 338.51, 334.55, 330.63, 326.74, 322.89, 319.07, 315.29, 311.54, 307.83, 304.15, 300.50, 296.89, 293.30, 289.75, 286.23, 282.74, 279.29, 275.86, 272.46, 269.09, 265.75, 262.43, 259.15, 255.89, 252.66, 249.46, 246.29, 243.14, 240.02, 236.92, 233.85, 230.80, 227.78, 224.78, 221.81, 218.86, 215.94, 213.03, 210.15, 207.30, 204.47, 201.65, 198.87, 196.10, 193.35, 190.63, 187.92, 185.24, 182.58, 179.94, 177.31, 174.71, 172.13, 169.57, 167.02, 164.50, 161.99, 159.50, 157.03, 154.58, 152.15, 149.73, 147.34, 144.95, 142.59, 140.24, 137.91, 135.60, 133.30, 131.02, 128.76, 126.51, 124.28, 122.06, 119.86, 117.67, 115.50, 113.35, 111.20, 109.08, 106.96, 104.87, 102.78, 100.71, 98.66, 96.61, 94.59, 92.57, 90.57, 88.58, 86.61, 84.64, 82.69, 80.76, 78.83, 76.92, 75.02, 73.14, 71.26, 69.40, 67.55, 65.71, 63.88, 62.06, 60.26, 58.47, 56.68, 54.91, 53.15, 51.40, 49.67, 47.94, 46.22, 44.51, 42.82, 41.13, 39.46, 37.79, 36.14, 34.49, 32.86, 31.23, 29.62, 28.01, 26.41, 24.83, 23.25, 21.68, 20.12, 18.57, 17.03, 15.50, 13.97, 12.46, 10.95, 9.45, 7.96, 6.48, 5.01, 3.55, 2.09, 0.65, -0.79, -2.22, -3.65, -5.06, -6.47, -7.87, -9.26, -10.64, -12.02, -13.39, -14.75, -16.10, -17.45, -18.79, -20.12, -21.44, -22.76, -24.07, -25.37, -26.67, -27.96, -29.24, -30.52, -31.79, -33.05, -34.31, -35.55, -36.80, -38.03, -39.26, -40.49, -41.70, -42.91, -44.12},
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{456.90, 451.02, 445.22, 439.48, 433.81, 428.21, 422.68, 417.21, 411.80, 406.46, 401.18, 395.96, 390.80, 385.69, 380.65, 375.66, 370.72, 365.85, 361.02, 356.25, 351.53, 346.86, 342.24, 337.67, 333.15, 328.67, 324.25, 319.87, 315.53, 311.25, 307.00, 302.80, 298.64, 294.53, 290.45, 286.42, 282.43, 278.47, 274.56, 270.69, 266.85, 263.05, 259.29, 255.56, 251.87, 248.22, 244.60, 241.01, 237.46, 233.94, 230.45, 227.00, 223.58, 220.19, 216.83, 213.51, 210.21, 206.94, 203.70, 200.49, 197.31, 194.16, 191.04, 187.94, 184.87, 181.83, 178.82, 175.83, 172.86, 169.92, 167.01, 164.12, 161.26, 158.42, 155.60, 152.81, 150.04, 147.30, 144.57, 141.87, 139.19, 136.54, 133.90, 131.29, 128.70, 126.13, 123.57, 121.04, 118.53, 116.04, 113.57, 111.12, 108.69, 106.27, 103.88, 101.50, 99.15, 96.81, 94.48, 92.18, 89.89, 87.62, 85.37, 83.13, 80.92, 78.71, 76.53, 74.36, 72.20, 70.07, 67.94, 65.84, 63.74, 61.67, 59.61, 57.56, 55.53, 53.51, 51.51, 49.52, 47.54, 45.58, 43.63, 41.70, 39.78, 37.87, 35.98, 34.10, 32.23, 30.37, 28.53, 26.70, 24.88, 23.08, 21.28, 19.50, 17.73, 15.97, 14.23, 12.49, 10.77, 9.06, 7.36, 5.67, 3.99, 2.32, 0.67, -0.98, -2.62, -4.24, -5.86, -7.46, -9.06, -10.64, -12.21, -13.78, -15.33, -16.88, -18.41, -19.94, -21.46, -22.96, -24.46, -25.95, -27.43, -28.90, -30.36, -31.81, -33.26, -34.69, -36.12, -37.54, -38.95, -40.35, -41.74, -43.13, -44.51, -45.87, -47.23, -48.59, -49.93, -51.27, -52.60, -53.92, -55.23, -56.54, -57.84, -59.13},
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{64.67, 64.96, 65.26, 65.56, 65.86, 66.16, 66.46, 66.76, 67.06, 67.36, 67.66, 67.96, 68.26, 68.56, 68.87, 69.17, 69.47, 69.77, 70.08, 70.38, 70.69, 70.99, 71.29, 71.60, 71.90, 72.21, 72.52, 72.82, 73.13, 73.44, 73.74, 74.05, 74.36, 74.67, 74.97, 75.28, 75.59, 75.90, 76.21, 76.52, 76.83, 77.14, 77.45, 77.76, 78.08, 78.39, 78.70, 79.01, 79.33, 79.64, 79.95, 80.27, 80.58, 80.90, 81.21, 81.53, 81.84, 82.16, 82.48, 82.79, 83.11, 83.43, 83.74, 84.06, 84.38, 84.70, 85.02, 85.34, 85.66, 85.98, 86.30, 86.62, 86.94, 87.26, 87.58, 87.91, 88.23, 88.55, 88.87, 89.20, 89.52, 89.85, 90.17, 90.50, 90.82, 91.15, 91.47, 91.80, 92.13, 92.45, 92.78, 93.11, 93.44, 93.77, 94.09, 94.42, 94.75, 95.08, 95.41, 95.74, 96.07, 96.41, 96.74, 97.07, 97.40, 97.74, 98.07, 98.40, 98.74, 99.07, 99.41, 99.74, 100.08, 100.41, 100.75, 101.08, 101.42, 101.76, 102.10, 102.43, 102.77, 103.11, 103.45, 103.79, 104.13, 104.47, 104.81, 105.15, 105.49, 105.83, 106.18, 106.52, 106.86, 107.21, 107.55, 107.89, 108.24, 108.58, 108.93, 109.27, 109.62, 109.97, 110.31, 110.66, 111.01, 111.36, 111.70, 112.05, 112.40, 112.75, 113.10, 113.45, 113.80, 114.15, 114.50, 114.86, 115.21, 115.56, 115.91, 116.27, 116.62, 116.98, 117.33, 117.69, 118.04, 118.40, 118.75, 119.11, 119.47, 119.82, 120.18, 120.54, 120.90, 121.26, 121.62, 121.98, 122.34, 122.70, 123.06, 123.42, 123.78, 124.14, 124.51, 124.87, 125.23, 125.60, 125.96, 126.33},
{64.96, 65.26, 65.55, 65.85, 66.15, 66.44, 66.74, 67.04, 67.33, 67.63, 67.93, 68.23, 68.53, 68.83, 69.12, 69.42, 69.72, 70.02, 70.32, 70.63, 70.93, 71.23, 71.53, 71.83, 72.13, 72.44, 72.74, 73.04, 73.35, 73.65, 73.95, 74.26, 74.56, 74.87, 75.17, 75.48, 75.79, 76.09, 76.40, 76.71, 77.01, 77.32, 77.63, 77.94, 78.25, 78.56, 78.87, 79.18, 79.49, 79.80, 80.11, 80.42, 80.73, 81.04, 81.35, 81.66, 81.98, 82.29, 82.60, 82.92, 83.23, 83.55, 83.86, 84.17, 84.49, 84.81, 85.12, 85.44, 85.75, 86.07, 86.39, 86.71, 87.02, 87.34, 87.66, 87.98, 88.30, 88.62, 88.94, 89.26, 89.58, 89.90, 90.22, 90.54, 90.87, 91.19, 91.51, 91.83, 92.16, 92.48, 92.81, 93.13, 93.46, 93.78, 94.11, 94.43, 94.76, 95.09, 95.41, 95.74, 96.07, 96.39, 96.72, 97.05, 97.38, 97.71, 98.04, 98.37, 98.70, 99.03, 99.36, 99.69, 100.03, 100.36, 100.69, 101.02, 101.36, 101.69, 102.03, 102.36, 102.70, 103.03, 103.37, 103.70, 104.04, 104.38, 104.71, 105.05, 105.39, 105.73, 106.06, 106.40, 106.74, 107.08, 107.42, 107.76, 108.10, 108.44, 108.79, 109.13, 109.47, 109.81, 110.16, 110.50, 110.84, 111.19, 111.53, 111.88, 112.22, 112.57, 112.91, 113.26, 113.61, 113.95, 114.30, 114.65, 115.00, 115.35, 115.70, 116.05, 116.40, 116.75, 117.10, 117.45, 117.80, 118.15, 118.50, 118.86, 119.21, 119.56, 119.92, 120.27, 120.63, 120.98, 121.34, 121.69, 122.05, 122.41, 122.76, 123.12, 123.48, 123.84, 124.20, 124.56, 124.91, 125.27, 125.64, 126.00},
{65.25, 65.55, 65.84, 66.13, 66.43, 66.72, 67.01, 67.31, 67.60, 67.90, 68.19, 68.49, 68.78, 69.08, 69.38, 69.67, 69.97, 70.27, 70.57, 70.86, 71.16, 71.46, 71.76, 72.06, 72.36, 72.66, 72.96, 73.26, 73.56, 73.86, 74.16, 74.46, 74.77, 75.07, 75.37, 75.67, 75.98, 76.28, 76.58, 76.89, 77.19, 77.50, 77.80, 78.11, 78.41, 78.72, 79.03, 79.33, 79.64, 79.95, 80.26, 80.56, 80.87, 81.18, 81.49, 81.80, 82.11, 82.42, 82.73, 83.04, 83.35, 83.66, 83.97, 84.28, 84.60, 84.91, 85.22, 85.54, 85.85, 86.16, 86.48, 86.79, 87.11, 87.42, 87.74, 88.05, 88.37, 88.69, 89.00, 89.32, 89.64, 89.96, 90.27, 90.59, 90.91, 91.23, 91.55, 91.87, 92.19, 92.51, 92.83, 93.15, 93.47, 93.80, 94.12, 94.44, 94.76, 95.09, 95.41, 95.73, 96.06, 96.38, 96.71, 97.03, 97.36, 97.69, 98.01, 98.34, 98.67, 98.99, 99.32, 99.65, 99.98, 100.31, 100.64, 100.97, 101.30, 101.63, 101.96, 102.29, 102.62, 102.95, 103.28, 103.62, 103.95, 104.28, 104.62, 104.95, 105.28, 105.62, 105.95, 106.29, 106.62, 106.96, 107.30, 107.63, 107.97, 108.31, 108.65, 108.99, 109.32, 109.66, 110.00, 110.34, 110.68, 111.02, 111.36, 111.71, 112.05, 112.39, 112.73, 113.07, 113.42, 113.76, 114.10, 114.45, 114.79, 115.14, 115.48, 115.83, 116.18, 116.52, 116.87, 117.22, 117.56, 117.91, 118.26, 118.61, 118.96, 119.31, 119.66, 120.01, 120.36, 120.71, 121.06, 121.42, 121.77, 122.12, 122.47, 122.83, 123.18, 123.54, 123.89, 124.25, 124.60, 124.96, 125.31, 125.67},
{65.54, 65.83, 66.12, 66.41, 66.70, 66.99, 67.28, 67.57, 67.87, 68.16, 68.45, 68.74, 69.04, 69.33, 69.62, 69.92, 70.21, 70.51, 70.80, 71.10, 71.39, 71.69, 71.99, 72.28, 72.58, 72.88, 73.17, 73.47, 73.77, 74.07, 74.37, 74.66, 74.96, 75.26, 75.56, 75.86, 76.16, 76.46, 76.77, 77.07, 77.37, 77.67, 77.97, 78.28, 78.58, 78.88, 79.18, 79.49, 79.79, 80.10, 80.40, 80.71, 81.01, 81.32, 81.62, 81.93, 82.24, 82.54, 82.85, 83.16, 83.47, 83.78, 84.08, 84.39, 84.70, 85.01, 85.32, 85.63, 85.94, 86.25, 86.56, 86.88, 87.19, 87.50, 87.81, 88.12, 88.44, 88.75, 89.06, 89.38, 89.69, 90.01, 90.32, 90.64, 90.95, 91.27, 91.59, 91.90, 92.22, 92.54, 92.86, 93.17, 93.49, 93.81, 94.13, 94.45, 94.77, 95.09, 95.41, 95.73, 96.05, 96.37, 96.69, 97.02, 97.34, 97.66, 97.99, 98.31, 98.63, 98.96, 99.28, 99.61, 99.93, 100.26, 100.58, 100.91, 101.24, 101.56, 101.89, 102.22, 102.55, 102.87, 103.20, 103.53, 103.86, 104.19, 104.52, 104.85, 105.18, 105.51, 105.85, 106.18, 106.51, 106.84, 107.18, 107.51, 107.84, 108.18, 108.51, 108.85, 109.18, 109.52, 109.85, 110.19, 110.52, 110.86, 111.20, 111.54, 111.88, 112.21, 112.55, 112.89, 113.23, 113.57, 113.91, 114.25, 114.59, 114.93, 115.28, 115.62, 115.96, 116.30, 116.65, 116.99, 117.33, 117.68, 118.02, 118.37, 118.71, 119.06, 119.41, 119.75, 120.10, 120.45, 120.80, 121.14, 121.49, 121.84, 122.19, 122.54, 122.89, 123.24, 123.59, 123.94, 124.29, 124.65, 125.00, 125.35},
{65.82, 66.11, 66.39, 66.68, 66.97, 67.26, 67.55, 67.84, 68.13, 68.42, 68.71, 69.00, 69.29, 69.58, 69.87, 70.16, 70.45, 70.74, 71.04, 71.33, 71.62, 71.91, 72.21, 72.50, 72.80, 73.09, 73.38, 73.68, 73.97, 74.27, 74.57, 74.86, 75.16, 75.45, 75.75, 76.05, 76.35, 76.64, 76.94, 77.24, 77.54, 77.84, 78.14, 78.44, 78.74, 79.04, 79.34, 79.64, 79.94, 80.24, 80.55, 80.85, 81.15, 81.45, 81.76, 82.06, 82.36, 82.67, 82.97, 83.28, 83.58, 83.89, 84.19, 84.50, 84.80, 85.11, 85.42, 85.73, 86.03, 86.34, 86.65, 86.96, 87.27, 87.58, 87.88, 88.19, 88.50, 88.82, 89.13, 89.44, 89.75, 90.06, 90.37, 90.68, 91.00, 91.31, 91.62, 91.94, 92.25, 92.57, 92.88, 93.19, 93.51, 93.83, 94.14, 94.46, 94.77, 95.09, 95.41, 95.73, 96.04, 96.36, 96.68, 97.00, 97.32, 97.64, 97.96, 98.28, 98.60, 98.92, 99.24, 99.56, 99.89, 100.21, 100.53, 100.85, 101.18, 101.50, 101.82, 102.15, 102.47, 102.80, 103.12, 103.45, 103.78, 104.10, 104.43, 104.76, 105.08, 105.41, 105.74, 106.07, 106.40, 106.73, 107.06, 107.39, 107.72, 108.05, 108.38, 108.71, 109.04, 109.37, 109.70, 110.04, 110.37, 110.70, 111.04, 111.37, 111.71, 112.04, 112.38, 112.71, 113.05, 113.38, 113.72, 114.06, 114.40, 114.73, 115.07, 115.41, 115.75, 116.09, 116.43, 116.77, 117.11, 117.45, 117.79, 118.13, 118.47, 118.82, 119.16, 119.50, 119.85, 120.19, 120.53, 120.88, 121.22, 121.57, 121.91, 122.26, 122.61, 122.95, 123.30, 123.65, 123.99, 124.34, 124.69, 125.04}
const float InverseMapW[90][140] = {
{-64.14, -62.17, -60.20, -58.23, -56.27, -54.31, -52.35, -50.40, -48.45, -46.50, -44.55, -42.60, -40.66, -38.72, -36.78, -34.85, -32.91, -30.98, -29.05, -27.13, -25.21, -23.29, -21.37, -19.45, -17.54, -15.63, -13.72, -11.81, -9.91, -8.01, -6.11, -4.21, -2.32, -0.43, 1.46, 3.35, 5.24, 7.12, 9.00, 10.88, 12.75, 14.62, 16.49, 18.36, 20.23, 22.09, 23.95, 25.81, 27.67, 29.52, 31.37, 33.22, 35.07, 36.92, 38.76, 40.60, 42.44, 44.27, 46.11, 47.94, 49.77, 51.60, 53.42, 55.24, 57.06, 58.88, 60.70, 62.51, 64.32, 66.13, 67.94, 69.74, 71.54, 73.34, 75.14, 76.94, 78.73, 80.52, 82.31, 84.10, 85.88, 87.66, 89.44, 91.22, 93.00, 94.77, 96.54, 98.31, 100.08, 101.85, 103.61, 105.37, 107.13, 108.89, 110.64, 112.39, 114.14, 115.89, 117.64, 119.38, 121.12, 122.86, 124.60, 126.34, 128.07, 129.80, 131.53, 133.26, 134.98, 136.71, 138.43, 140.15, 141.86, 143.58, 145.29, 147.00, 148.71, 150.42, 152.12, 153.83, 155.53, 157.22, 158.92, 160.62, 162.31, 164.00, 165.69, 167.37, 169.06, 170.74, 172.42, 174.10, 175.78, 177.45, 179.12, 180.79, 182.46, 184.13, 185.79, 187.46},
{-58.61, -56.72, -54.83, -52.95, -51.07, -49.19, -47.32, -45.45, -43.57, -41.71, -39.84, -37.98, -36.11, -34.25, -32.40, -30.54, -28.69, -26.84, -24.99, -23.14, -21.30, -19.46, -17.62, -15.78, -13.95, -12.12, -10.29, -8.46, -6.63, -4.81, -2.99, -1.17, 0.65, 2.46, 4.28, 6.09, 7.90, 9.70, 11.51, 13.31, 15.11, 16.91, 18.70, 20.49, 22.28, 24.07, 25.86, 27.64, 29.43, 31.21, 32.99, 34.76, 36.54, 38.31, 40.08, 41.84, 43.61, 45.37, 47.14, 48.89, 50.65, 52.41, 54.16, 55.91, 57.66, 59.41, 61.15, 62.89, 64.63, 66.37, 68.11, 69.84, 71.57, 73.31, 75.03, 76.76, 78.48, 80.21, 81.93, 83.64, 85.36, 87.07, 88.79, 90.50, 92.20, 93.91, 95.61, 97.32, 99.02, 100.71, 102.41, 104.10, 105.80, 107.49, 109.18, 110.86, 112.55, 114.23, 115.91, 117.59, 119.26, 120.94, 122.61, 124.28, 125.95, 127.62, 129.28, 130.94, 132.60, 134.26, 135.92, 137.58, 139.23, 140.88, 142.53, 144.18, 145.82, 147.47, 149.11, 150.75, 152.39, 154.02, 155.66, 157.29, 158.92, 160.55, 162.18, 163.80, 165.43, 167.05, 168.67, 170.29, 171.90, 173.51, 175.13, 176.74, 178.35, 179.95, 181.56, 183.16},
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{43.42, 43.82, 44.23, 44.63, 45.03, 45.44, 45.84, 46.24, 46.64, 47.05, 47.45, 47.85, 48.25, 48.66, 49.06, 49.46, 49.86, 50.26, 50.66, 51.07, 51.47, 51.87, 52.27, 52.67, 53.07, 53.47, 53.87, 54.27, 54.67, 55.07, 55.47, 55.87, 56.27, 56.67, 57.07, 57.47, 57.87, 58.27, 58.67, 59.07, 59.47, 59.87, 60.27, 60.67, 61.07, 61.46, 61.86, 62.26, 62.66, 63.06, 63.45, 63.85, 64.25, 64.65, 65.05, 65.44, 65.84, 66.24, 66.64, 67.03, 67.43, 67.83, 68.22, 68.62, 69.02, 69.41, 69.81, 70.20, 70.60, 71.00, 71.39, 71.79, 72.18, 72.58, 72.98, 73.37, 73.77, 74.16, 74.56, 74.95, 75.35, 75.74, 76.14, 76.53, 76.92, 77.32, 77.71, 78.11, 78.50, 78.89, 79.29, 79.68, 80.08, 80.47, 80.86, 81.26, 81.65, 82.04, 82.43, 82.83, 83.22, 83.61, 84.01, 84.40, 84.79, 85.18, 85.57, 85.97, 86.36, 86.75, 87.14, 87.53, 87.92, 88.32, 88.71, 89.10, 89.49, 89.88, 90.27, 90.66, 91.05, 91.44, 91.83, 92.22, 92.61, 93.00, 93.39, 93.78, 94.17, 94.56, 94.95, 95.34, 95.73, 96.12, 96.51, 96.90, 97.29, 97.68, 98.06, 98.45},
{43.68, 44.08, 44.48, 44.88, 45.28, 45.68, 46.07, 46.47, 46.87, 47.27, 47.67, 48.07, 48.47, 48.87, 49.26, 49.66, 50.06, 50.46, 50.86, 51.25, 51.65, 52.05, 52.45, 52.84, 53.24, 53.64, 54.04, 54.43, 54.83, 55.23, 55.62, 56.02, 56.42, 56.81, 57.21, 57.60, 58.00, 58.40, 58.79, 59.19, 59.58, 59.98, 60.37, 60.77, 61.16, 61.56, 61.95, 62.35, 62.74, 63.14, 63.53, 63.93, 64.32, 64.72, 65.11, 65.50, 65.90, 66.29, 66.69, 67.08, 67.47, 67.87, 68.26, 68.65, 69.05, 69.44, 69.83, 70.22, 70.62, 71.01, 71.40, 71.79, 72.19, 72.58, 72.97, 73.36, 73.75, 74.15, 74.54, 74.93, 75.32, 75.71, 76.10, 76.49, 76.88, 77.27, 77.67, 78.06, 78.45, 78.84, 79.23, 79.62, 80.01, 80.40, 80.79, 81.18, 81.57, 81.96, 82.35, 82.74, 83.12, 83.51, 83.90, 84.29, 84.68, 85.07, 85.46, 85.85, 86.24, 86.62, 87.01, 87.40, 87.79, 88.18, 88.56, 88.95, 89.34, 89.73, 90.11, 90.50, 90.89, 91.28, 91.66, 92.05, 92.44, 92.82, 93.21, 93.60, 93.98, 94.37, 94.76, 95.14, 95.53, 95.91, 96.30, 96.68, 97.07, 97.46, 97.84, 98.23}
};

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[90][140] ;
extern const float InverseMapW[90][140] ;
void transform(float X, float Y, int* x, int* y);

4
app/main.c
View File

@@ -72,8 +72,8 @@ int main(void)
while (1) {
Page_Run();
by_buzzer_run();
tiny_frame_param[0].f32 = pure_angle;
tiny_frame_param[1].f32 = near_angle;
tiny_frame_param[0].f32 = dx;
tiny_frame_param[1].f32 = dx_near;
by_tiny_frame_write(0x0D, 0x0000, tiny_frame_param[0].u32);
// by_tiny_frame_write(0x0D, 0x0001, tiny_frame_param[1].u32);
by_tiny_frame_run();