137 lines
3.9 KiB
C
137 lines
3.9 KiB
C
#pragma once
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#ifndef _GL_DATA_H
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#define _GL_DATA_H
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#include "gl_headfile.h"
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typedef enum track_type_e {
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TRACK_LEFT = 0,
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TRACK_RIGHT,
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} track_type_e;
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extern uint8_t (*Img_Gray)[MT9V03X_W];
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//未逆透视前边线数组
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extern int32_t pts_left[PT_MAXLEN][2];
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extern int32_t pts_right[PT_MAXLEN][2];
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extern int32_t pts_left_count;
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extern int32_t pts_right_count;
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extern int32_t pts_left_curvature[PT_MAXLEN][2];
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extern int32_t pts_right_curvature[PT_MAXLEN][2];
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extern int32_t pts_left_count_curvature;
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extern int32_t pts_right_count_curvature;
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extern int32_t pts_far_left[PT_MAXLEN][2];
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extern int32_t pts_far_right[PT_MAXLEN][2];
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extern int32_t pts_far_left_count;
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extern int32_t pts_far_right_count;
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extern int32_t mid_s_count;
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//逆透视后边线数组
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extern float pts_inv_l[PT_MAXLEN][2];
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extern float pts_inv_r[PT_MAXLEN][2];
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extern int32_t pts_inv_l_count;
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extern int32_t pts_inv_r_count;
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extern float pts_far_inv_l[PT_MAXLEN][2];
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extern float pts_far_inv_r[PT_MAXLEN][2];
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extern int32_t pts_far_inv_l_count;
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extern int32_t pts_far_inv_r_count;
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//滤波后边线数组
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extern float pts_filter_l[PT_MAXLEN][2];
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extern float pts_filter_r[PT_MAXLEN][2];
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extern int32_t pts_filter_l_count;
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extern int32_t pts_filter_r_count;
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extern float pts_far_filter_l[PT_MAXLEN][2];
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extern float pts_far_filter_r[PT_MAXLEN][2];
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extern int32_t pts_far_filter_l_count;
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extern int32_t pts_far_filter_r_count;
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//重采样后边线数组
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extern float pts_resample_left[PT_MAXLEN][2];
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extern float pts_resample_right[PT_MAXLEN][2];
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extern int32_t pts_resample_left_count;
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extern int32_t pts_resample_right_count;
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extern float pts_far_resample_left[PT_MAXLEN][2];
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extern float pts_far_resample_right[PT_MAXLEN][2];
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extern int32_t pts_far_resample_left_count;
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extern int32_t pts_far_resample_right_count;
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extern float mid_left[PT_MAXLEN][2];
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extern float mid_right[PT_MAXLEN][2];
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extern float mid_s[PT_MAXLEN][2];
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extern int32_t mid_left_count;
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extern int32_t mid_right_count;
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extern float angle_new_left[PT_MAXLEN];
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extern float angle_new_right[PT_MAXLEN];
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extern float angle_new_left_barrier[PT_MAXLEN];
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extern float angle_new_right_barrier[PT_MAXLEN];
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extern int angle_new_left_num;
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extern int angle_new_right_num;
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extern int angle_new_left_num_barrier;
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extern int angle_new_right_num_barrier;
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extern float far_angle_new_left[PT_MAXLEN];
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extern float far_angle_new_right[PT_MAXLEN];
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extern int far_angle_new_left_num;
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extern int far_angle_new_right_num;
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extern uint8_t mt9v03x_image_copy[MT9V03X_H][MT9V03X_W];
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extern float angle_left[PT_MAXLEN];
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extern float angle_right[PT_MAXLEN];
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extern float angle_left_barrier[PT_MAXLEN];
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extern float angle_right_barrier[PT_MAXLEN];
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extern int angle_left_num;
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extern int angle_right_num;
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extern int angle_left_barrier_num;
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extern int angle_right_barrier_num;
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extern float far_angle_left[PT_MAXLEN];
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extern float far_angle_right[PT_MAXLEN];
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extern int far_angle_left_num;
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extern int far_angle_right_num;
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extern int Lpt0_rpts0s_id;
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extern int Lpt1_rpts1s_id;
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extern bool Lpt0_found;
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extern bool Lpt1_found;
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extern int Lpt1[2];
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extern int Lpt0[2];
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extern int far_Lpt1[2];
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extern int far_Lpt0[2];
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extern int Lpt_in0_rpts0s_id;
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extern int Lpt_in1_rpts1s_id;
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extern int Lpt0_rpts0s_id_barrier;
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extern int Lpt1_rpts1s_id_barrier;
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extern bool Lpt_in0_found;
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extern bool Lpt_in1_found;
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extern bool Lpt0_found_barrier;
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extern bool Lpt1_found_barrier;
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extern int Lpt_in1[2];
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extern int Lpt_in0[2];
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extern bool is_straight0;
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extern bool is_straight1;
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extern bool is_far_straight0;
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extern bool is_far_straight1;
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extern bool Lpt0_found_barrier_in;
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extern bool Lpt1_found_barrier_in;
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extern int Lpt0_found_barrier_in_id;
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extern int Lpt1_found_barrier_in_id;
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extern int32_t Lpt0_found_count;
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extern int32_t Lpt1_found_count;
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extern bool is_turn0_l;
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extern bool is_turn1_l;
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extern bool is_turn0_r;
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extern bool is_turn1_r;
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extern float rptsn[PT_MAXLEN][2];
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extern int32_t rptsn_num;
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extern float aim_distance;
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extern float aim_judge_far;
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extern track_type_e track_type;
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extern float FIX_BINTHRESHOLD;
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#endif
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