116 lines
2.8 KiB
C
116 lines
2.8 KiB
C
#include "gl_data.h"
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uint8_t (*Img_Gray)[MT9V03X_W];
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int32_t pts_left[PT_MAXLEN][2];
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int32_t pts_right[PT_MAXLEN][2];
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int32_t pts_left_count;
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int32_t pts_right_count;
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int32_t pts_far_left[PT_MAXLEN][2];
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int32_t pts_far_right[PT_MAXLEN][2];
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int32_t pts_far_left_count;
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int32_t pts_far_right_count;
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float pts_inv_l[PT_MAXLEN][2];
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float pts_inv_r[PT_MAXLEN][2];
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int32_t pts_inv_l_count;
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int32_t pts_inv_r_count;
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float pts_far_inv_l[PT_MAXLEN][2];
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float pts_far_inv_r[PT_MAXLEN][2];
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int32_t pts_far_inv_l_count;
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int32_t pts_far_inv_r_count;
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float pts_filter_l[PT_MAXLEN][2];
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float pts_filter_r[PT_MAXLEN][2];
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int32_t pts_filter_l_count;
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int32_t pts_filter_r_count;
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float pts_far_filter_l[PT_MAXLEN][2];
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float pts_far_filter_r[PT_MAXLEN][2];
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int32_t pts_far_filter_l_count;
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int32_t pts_far_filter_r_count;
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float pts_resample_left[PT_MAXLEN][2];
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float pts_resample_right[PT_MAXLEN][2];
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int32_t pts_resample_left_count;
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int32_t pts_resample_right_count;
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int32_t Lpt0_found_count;
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int32_t Lpt1_found_count;
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float pts_far_resample_left[PT_MAXLEN][2];
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float pts_far_resample_right[PT_MAXLEN][2];
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int32_t pts_far_resample_left_count;
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int32_t pts_far_resample_right_count;
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float mid_left[PT_MAXLEN][2];
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float mid_right[PT_MAXLEN][2];
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int32_t mid_left_count;
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int32_t mid_right_count;
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float angle_new_left[PT_MAXLEN];
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float angle_new_right[PT_MAXLEN];
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float angle_new_left_barrier[PT_MAXLEN];
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float angle_new_right_barrier[PT_MAXLEN];
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int angle_new_left_num;
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int angle_new_right_num;
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int angle_new_left_num_barrier;
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int angle_new_right_num_barrier;
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float far_angle_new_left[PT_MAXLEN];
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float far_angle_new_right[PT_MAXLEN];
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int far_angle_new_left_num;
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int far_angle_new_right_num;
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uint8_t mt9v03x_image_copy[MT9V03X_H][MT9V03X_W];
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float angle_left[PT_MAXLEN];
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float angle_right[PT_MAXLEN];
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float angle_left_barrier[PT_MAXLEN];
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float angle_right_barrier[PT_MAXLEN];
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int angle_left_num;
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int angle_right_num;
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int angle_left_barrier_num;
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int angle_right_barrier_num;
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float far_angle_left[PT_MAXLEN];
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float far_angle_right[PT_MAXLEN];
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int far_angle_left_num;
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int far_angle_right_num;
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int Lpt0_rpts0s_id;
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int Lpt1_rpts1s_id;
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int Lpt0_rpts0s_id_barrier;
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int Lpt1_rpts1s_id_barrier;
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bool Lpt0_found;
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bool Lpt1_found;
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bool Lpt0_found_barrier;
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bool Lpt1_found_barrier;
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bool Lpt0_found_barrier_in;
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bool Lpt1_found_barrier_in;
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int Lpt1[2];
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int Lpt0[2];
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int far_Lpt1[2];
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int far_Lpt0[2];
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int Lpt_in0_rpts0s_id;
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int Lpt_in1_rpts1s_id;
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bool Lpt_in0_found;
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bool Lpt_in1_found;
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int Lpt_in1[2];
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int Lpt_in0[2];
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int Lpt0_found_barrier_in_id;
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int Lpt1_found_barrier_in_id;
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bool is_straight0;
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bool is_straight1;
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bool is_far_straight0;
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bool is_far_straight1;
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bool is_turn0_l;
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bool is_turn1_l;
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bool is_turn0_r;
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bool is_turn1_r;
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float rptsn[PT_MAXLEN][2];
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int32_t rptsn_num;
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float aim_distance;
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float aim_judge_far=0.3f;
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track_type_e track_type = TRACK_RIGHT; |