2023-12-17 16:11:35 +08:00
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#ifndef COMMON_H_
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#define COMMON_H_
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#define IMAGE_H (MT9V03X_H)
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#define IMAGE_W (MT9V03X_W)
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#define BEGINH_L (61)
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#define BEGINH_R (61)
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#define BEGINW_L (-18)
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#define BEGINW_R (-12)
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#define PT_MAXLEN (75)
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#define GET_PIX_1C(IMG, H, W) (IMG[(H) * MT9V03X_W + (W)]) //获取像素点的值
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#define FIX_BINTHRESHOLD (140) //设置最开始的阈值
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#define SELFADAPT_KERNELSIZE (7) //巡线区域核大小
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#define FILTER_KERNELSIZE (7) //滤波核大小
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#define SELFADAPT_OFFSET (8) //适应性块大小
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#define PIXPERMETER (56)
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#define RESAMPLEDIST (0.02)
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#define ANGLEDIST (0.2)
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#define ROADWIDTH (0.45)
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#define FRAMENONE (1)
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#define FRAMETOLEFT (5)
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#define FRAMETORIGHT (5)
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2023-12-21 22:33:36 +08:00
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int32_t limit(int32_t x, int32_t low, int32_t up);
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2023-12-17 16:11:35 +08:00
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int clip(int x, int low, int up);
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float fclip(float x, float low, float up) ;
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#endif /* COMMON_H_ */
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