#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];

int32_t mid_left_count;
int32_t mid_right_count;

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;
int Lpt0_rpts0s_id_barrier;
int Lpt1_rpts1s_id_barrier;
bool Lpt0_found;
bool Lpt1_found;
bool Lpt0_found_barrier;
bool Lpt1_found_barrier;
int Lpt1[2];
int Lpt0[2];
int far_Lpt1[2];
int far_Lpt0[2];

int Lpt_in0_rpts0s_id;
int Lpt_in1_rpts1s_id;
bool Lpt_in0_found;
bool Lpt_in1_found;
int Lpt_in1[2];
int Lpt_in0[2];

bool is_straight0;
bool is_straight1;
bool is_far_straight0;
bool is_far_straight1;

bool is_turn0;
bool is_turn1;

float rptsn[PT_MAXLEN][2];
int32_t rptsn_num;
float aim_distance;

track_type_e track_type = TRACK_RIGHT;