void
compute_prob_treemap( QUAD_TREE *tree, MAP2 *map )
{
if ((tree->level)>0 ) {
if (tree->elem[0]->inuse)
compute_prob_treemap( tree->elem[0], map );
if (tree->elem[1]->inuse)
compute_prob_treemap( tree->elem[1], map );
if (tree->elem[2]->inuse)
compute_prob_treemap( tree->elem[2], map );
if (tree->elem[3]->inuse)
compute_prob_treemap( tree->elem[3], map );
} else {
compute_prob_point( map, (tree->center.x/2), (tree->center.y/2) );
}
}
void
compute_prob_treemap( carmen_vascocore_quad_tree_t *tree,
carmen_vascocore_map_t *map )
{
if ((tree->level)>0 ) {
if (tree->elem[0]->inuse)
compute_prob_treemap( tree->elem[0], map );
if (tree->elem[1]->inuse)
compute_prob_treemap( tree->elem[1], map );
if (tree->elem[2]->inuse)
compute_prob_treemap( tree->elem[2], map );
if (tree->elem[3]->inuse)
compute_prob_treemap( tree->elem[3], map );
} else {
compute_prob_point( map, (tree->center.x/2), (tree->center.y/2) );
}
}
void
convolve_treemap( carmen_vascocore_map_t *map )
{
int i;
static int hk, first_time = TRUE;
static carmen_gauss_kernel_t kernel;
if (first_time) {
hk = (carmen_vascocore_settings.local_map_kernel_len-1)/2;
kernel = carmen_gauss_kernel( carmen_vascocore_settings.local_map_kernel_len );
first_time = FALSE;
}
compute_prob_treemap( &(map->qtree), map );
for (i=0;i<carmen_vascocore_settings.local_map_num_convolve;i++) {
convolve_calc_treemap( &(map->qtree), map, kernel, hk,
carmen_vascocore_settings.local_map_std_val );
convolve_prob_treemap( &(map->qtree), map, kernel, hk );
}
}
void
convolve_map( MAP2 *map )
{
int i;
static int hk, first_time = TRUE;
static logtools_gauss_kernel_t kernel;
if (first_time) {
hk = (settings.local_map_kernel_len-1)/2;
kernel = logtools_compute_gauss_kernel( settings.local_map_kernel_len );
first_time = FALSE;
}
compute_prob_treemap( &(map->qtree), map );
for (i=0;i<settings.local_map_num_convolve;i++) {
convolve_calc_treemap( &(map->qtree), map, kernel, hk,
settings.local_map_std_val );
convolve_prob_treemap( &(map->qtree), map, kernel, hk );
}
}
