#pragma once
#include <opencv2/opencv.hpp>
#include "types.hpp"

void preprocess_init();
void preprocess_run(const cv::Mat& bgr_frame);

extern uint8 g_ipm_image[IMAGE_HEIGHT][IMAGE_WIDTH];
extern uint8 g_valid_l_bound[IMAGE_HEIGHT];
extern uint8 g_valid_r_bound[IMAGE_HEIGHT];
extern cv::Mat g_ipm_matrix;    // 80x60 鸟瞰→相机 透视矩阵