248 lines
6.3 KiB
C
248 lines
6.3 KiB
C
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#ifndef _ADAS_H_
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#define _ADAS_H_
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#define UNITEINTERFACE
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typedef struct
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{
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union
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{
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int x;
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int col;
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};
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union
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{
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int y;
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int row;
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};
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}PointC;
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typedef struct
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{
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union
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{
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int x;
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int col;
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};
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union
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{
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int y;
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int row;
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};
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union
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{
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int width;
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int cols;
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};
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union
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{
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int height;
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int rows;
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};
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}RectC;
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typedef struct
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{
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union
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{
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int width;
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int cols;
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};
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union
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{
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int height;
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int rows;
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};
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}IMGSIZE;
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typedef struct
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{
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unsigned char *ptr;
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IMGSIZE imgSize;
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}MtxUchar;
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typedef struct
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{
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unsigned short *ptr;
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IMGSIZE imgSize;
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}MtxUshort;
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/*******************************************/
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//输入参数
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/*******************************************/
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typedef struct
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{
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#ifdef UNITEINTERFACE
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int mode; //模式选择,mode ==1时暂停检测，除v3之外的其他方案请置为 0
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#endif
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MtxUchar imgSmall; //子码流图 960*540
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MtxUchar imgBig; //主码流图 1920*1080
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struct
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{
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int enable;//有无GPS信号
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float speed; //车速
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}gps;
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#ifdef UNITEINTERFACE
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struct
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{
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unsigned char isStop; //本车是否停止
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float a; //本车的加速度
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float v; //本车的车速
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}gsensor;//除v3之外的其他方案不必理会
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struct
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{
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}obd;//OBD参数，预留
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#endif
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struct
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{
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int fcwSensity;//前车防撞灵敏度：0：高，1：中，2：低 默认值为1
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int ldwSensity;//车道偏离灵敏度：0：高，1：中，2：低 默认值为1
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}sensity;
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int LV; //光照强度
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}FRAMEIN;
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typedef struct
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{
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unsigned char angH; //镜头的水平视角
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unsigned char angV; //镜头的垂直视角
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unsigned short widthOri; //原始的图像宽度
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unsigned short heightOri;//原始的图像高度
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}ViewAng;
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/*******************************************/
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//输出参数
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/*******************************************/
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typedef struct
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{
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RectC idx; //该车牌在图像上的位置(左上角坐标和宽高)
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}PLATE;
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typedef struct
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{
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int Num; //有多少车牌
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PLATE *plateP; //所有车牌的信息
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struct
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{
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int refresh; //refresh为真时，更新车牌副本
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int isDisp; //isDisp 为真时，显示车牌副本
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}watermark; //车牌水印
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}PLATES;
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typedef struct
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{
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unsigned char isWarn; //该车是否报警
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unsigned char color; //该车需要涂上的颜色。0-不涂，1-黄色，2-红色
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RectC idx; //该车在图像上的位置(左上角坐标和宽高)
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float dist; //该车到本车的距离
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float time; //与该车的碰撞时间
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}CAR;
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typedef struct
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{
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unsigned char isDisp; //是否显示车道线
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unsigned char ltWarn; //左车道线报警标记 ，128：压线(小声报警)。255：压线超过灵敏度设定的时长(大声报警)
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unsigned char rtWarn; //右车道线报警标记 ，128：压线(小声报警)。255：压线超过灵敏度设定的时长(大声报警)
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PointC ltIdxs[2]; //左车道线在图像上的位置(由两个点确定)
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PointC rtIdxs[2]; //右车道线在图像上的位置(由两个点确定)
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int colorPointsNum; //车道线条状块分割点的个数
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unsigned char dnColor; //下方一块的颜色。 1-蓝，2-绿
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unsigned short *rows; //车道线条状块分割点的行坐标
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unsigned short *ltCols; //车道线条状块左边分割点的列坐标
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unsigned short *mdCols; //车道线条状块中间分割点的列坐标
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unsigned short *rtCols; //车道线条状块右边分割点的列坐标
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}LANE;
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typedef struct
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{
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int Num; //有多少辆车
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CAR *carP; //所有车辆的信息
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}CARS;
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typedef struct
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{
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unsigned char isSave; //该标记位为真时 vanishLine和table保存到外设。
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unsigned short vanishLine;
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unsigned char vanishLineIsOk;
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MtxUshort table;
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}SAVEPARA;
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typedef struct
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{
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LANE lane; //车道线信息
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CARS cars; //车辆信息
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PLATES plates; //车牌信息
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SAVEPARA savePara;
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int score; //驾驶习惯打分
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#ifndef UNITEINTERFACE
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char *version; //算法版本号
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#endif
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}ADASOUT;
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/*******************************************/
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//初始化输入参数
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/*******************************************/
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typedef struct
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{
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#ifdef UNITEINTERFACE
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char *version; //算法版本号
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struct
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{
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unsigned char isGps; //有无gps
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unsigned char isGsensor; //有无Gsensor，出v3之外其他方案请置为0
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unsigned char isObd; //有无读取OBD
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unsigned char isCalibrate; //是否进行安装标定
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}config;
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struct
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{
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}calibrate;//安装参数，预留
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#endif
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int fps; //帧率
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IMGSIZE imgSizeSmall; //子码流图 960*540
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IMGSIZE imgSizeBig; //主码流图 1920*1080
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ViewAng viewAng; //初始化的时候读入
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unsigned short vanishLine; //初始化的时候读入
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unsigned char vanishLineIsOk;
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MtxUshort table; //初始化的时候读入
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void *setPara; //留个空指针是算法可能要外面设置一些参数，取决于路测的结果，暂时定义不了
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#ifdef UNITEINTERFACE
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struct
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{
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PointC ltLane[2]; //左边校准线的两个端点
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PointC rtLane[2]; //右边校准线的两个端点
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}adjustLane;//校准线,安装的时候，调整校准线和路上的车道线，使之尽量重合
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#endif
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}ADASIN;
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/*******************************************/
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typedef void (*AdasIn_v2)(FRAMEIN &frameIn,void *dv); //回调函数，给adas输入参数
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typedef void (*AdasOut_v2)(ADASOUT &adasOut,void *dv);//回调函数，获取adas的计算结果
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extern AdasIn_v2 callbackIn;
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extern AdasOut_v2 callbackOut;
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/*******************************************/
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//接口函数
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/*******************************************/
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#ifdef UNITEINTERFACE
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void InitialAdas(ADASIN &adasIn,void **dev);
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#else
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void InitialAdas(ADASIN adasIn,void **dev);
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#endif
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void ReleaseAdas();
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#endif
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