void
initialize_map( carmen_vascocore_map_t * map,
int sx, int sy, int center_x, int center_y,
double resolution, carmen_point_t start )
{
int x, y;
map->mapsize.x = sx;
map->mapsize.y = sy;
map->resolution = resolution;
map->offset = start;
if (carmen_vascocore_settings.verbose) {
fprintf( stderr, "* INFO: allocating memory ... " );
}
map->updated = carmen_mdalloc( 2, sizeof(unsigned char), sx, sy );
carmen_test_alloc(map->updated);
map->maphit = carmen_mdalloc( 2, sizeof(float), sx, sy );
carmen_test_alloc(map->maphit);
map->mapsum = carmen_mdalloc( 2, sizeof(short), sx, sy );
carmen_test_alloc(map->mapsum);
map->mapprob = carmen_mdalloc( 2, sizeof(float), sx, sy );
carmen_test_alloc(map->mapprob);
map->calc = carmen_mdalloc( 2, sizeof(float), sx, sy );
carmen_test_alloc(map->calc);
if (carmen_vascocore_settings.verbose) {
fprintf( stderr, "done\n" );
}
map->center.x = center_x;
map->center.y = center_y;
if (carmen_vascocore_settings.verbose) {
fprintf( stderr, "* INFO: map: %d %d\n",
map->mapsize.x, map->mapsize.y );
fprintf( stderr, "* INFO: center: %.1f %.1f\n",
map->center.x, map->center.y );
fprintf( stderr, "* INFO: resolution: %.2f\n",
map->resolution );
fprintf( stderr, "* INFO: real-size: [%.1f %.1f] [%.1f %.1f]\n",
-sx*map->resolution, sx*map->resolution,
-sy*map->resolution, sy*map->resolution );
fprintf( stderr, "***************************************\n" );
}
for (x=0;x<sx;x++) {
for (y=0;y<sy;y++) {
map->mapprob[x][y] = carmen_vascocore_settings.local_map_std_val;
map->calc[x][y] = carmen_vascocore_settings.local_map_std_val;
map->maphit[x][y] = 0.0;
map->mapsum[x][y] = 0;
map->updated[x][y] = UPDT_NOT;
}
}
initialize_qtree( &(map->qtree), sx, sy );
}
void
initialize_map( MAP2 *map, int sx, int sy, int center_x, int center_y,
double resolution, logtools_rpos2_t start )
{
int x, y, j;
map->mapsize.x = sx;
map->mapsize.y = sy;
map->resolution = resolution;
map->offset = start;
fprintf( stderr, "* INFO: allocating memory ... " );
if (1) {
map->updated =
(unsigned char **) mdalloc( 2, sizeof(unsigned char), sx, sy );
map->maphit = (float **) mdalloc( 2, sizeof(float), sx, sy );
map->mapsum = (short **) mdalloc( 2, sizeof(short), sx, sy );
map->mapprob = (float **) mdalloc( 2, sizeof(float), sx, sy );
map->calc = (float **) mdalloc( 2, sizeof(float), sx, sy );
} else {
map->updated =
(unsigned char **) malloc( sx * sizeof(unsigned char *) );
map->maphit =
(float **) malloc( sx * sizeof(float *) );
map->mapsum =
(short **) malloc( sx * sizeof(short *) );
map->mapprob =
(float **) malloc( sx * sizeof(float *) );
map->calc =
(float **) malloc( sx * sizeof(float *) );
for (j=0; j<sx; j++) {
map->updated[j] =
(unsigned char *) malloc( sy * sizeof(unsigned char) );
map->maphit[j] =
(float *) malloc( sy * sizeof(float) );
map->mapsum[j] =
(short *) malloc( sy * sizeof(short) );
map->mapprob[j] =
(float *) malloc( sy * sizeof(float) );
map->calc[j] =
(float *) malloc( sy * sizeof(float) );
}
}
fprintf( stderr, "done\n" );
map->center.x = center_x;
map->center.y = center_y;
fprintf( stderr, "* INFO: map: %d %d\n",
map->mapsize.x, map->mapsize.y );
fprintf( stderr, "* INFO: center: %.1f %.1f\n",
map->center.x, map->center.y );
fprintf( stderr, "* INFO: resolution: %.2f\n",
map->resolution );
fprintf( stderr, "* INFO: real-size: [%.1f %.1f] [%.1f %.1f]\n",
-sx*map->resolution, sx*map->resolution,
-sy*map->resolution, sy*map->resolution );
fprintf( stderr, "***************************************\n" );
fprintf( stderr, "* INFO: clearing map ... " );
for (x=0;x<sx;x++) {
for (y=0;y<sy;y++) {
map->mapprob[x][y] = settings.local_map_std_val;
map->calc[x][y] = settings.local_map_std_val;
map->maphit[x][y] = 0.0;
map->mapsum[x][y] = 0;
map->updated[x][y] = UPDT_NOT;
}
}
initialize_qtree( &(map->qtree), sx, sy );
fprintf( stderr, "***************************************\n" );
}
