void bitmap::hashMapToBitMap(Robot &r, const string &filename)
{
HashMap hm = r.getHash();
int width = hm.getMx();
int height = hm.getMy();
int mx = hm.getMinx();
int my = hm.getMiny();
cout << mx << endl;
cout << my << endl;
cout << height << endl;
cout << width << endl;
height += abs(my);
width += abs(mx);
FILE *fd;
fd = fopen(filename.c_str(), "wb");
bitmap::bmpfile_magic fm;
fm.magic[0] = 'B';
fm.magic[1] = 'M';
bitmap::bmpfile_header fh;
fh.creator1 = 0;
fh.creator2 = 0;
fh.bmp_offset = sizeof(bmpfile_magic) + sizeof(bmpfile_header) + sizeof(bmp_dib_v3_header_t);
if (width == 0) throw WIDTH_ERROR;
int rowsize;
int padding = 0;
if (((width * BYTESPERPIXEL) % 4) == 0) {
rowsize = (width * BYTESPERPIXEL) / 4;
}
else{
rowsize = ((width * BYTESPERPIXEL) / 4) + 1;
padding = (width * BYTESPERPIXEL) % 4;
}
cout << hm;
cout << "padding " << padding << endl;
fh.filesz = fh.bmp_offset + (rowsize * height);
bitmap::bmp_dib_v3_header_t bd;
bd.header_sz = sizeof(bmp_dib_v3_header_t);
bd.width = width;
bd.height = height;
bd.nplanes = 1;
bd.bitspp = BYTESPERPIXEL * 8;
bd.compress_type = 0;
bd.bmp_bytesz = rowsize * height;
bd.hres = 0;
bd.vres = 0;
bd.ncolors = 0;
bd.nimpcolors = 0;
cout << "image size " << rowsize * height << endl;
cout << "heigth " << height << endl;
cout << "rowsize " << rowsize << endl;
cout << "width " << width << endl;
fwrite(&fm, sizeof(bmpfile_magic), 1, fd);
fwrite(&fh, sizeof(bmpfile_header), 1, fd);
fwrite(&bd, sizeof(bmp_dib_v3_header_t), 1, fd);
unsigned int data;
int val;
for (int y = my; y < height - abs(my); y++){
for (int x = mx; x < width - abs(mx); x++){
val = hm.getValue(x, y);
int ot = r.cnf.OBJECT_THRESHOLD;
if (val > ot){
if (val > ot && val <= 50 + ot) { data = 0x00909090; }
else if (val > 50 + ot && val <= 100 + ot) { data = 0X00808080; }
else if (val > 100 + ot && val <= 200 + ot) { data = 0X00707070; }
else if (val > 200 + ot && val <= 300 + ot) { data = 0x00606060; }
else if (val > 300 + ot && val <= 400 + ot) { data = 0x00505050; }
else if (val > 400 + ot && val <= 500 + ot) { data = 0x00404040; }
else { data = 0x00000000; }
} else {
data = 0xFFFFFFFF;
}
fwrite(&data, BYTESPERPIXEL, 1, fd);
}
if (padding){
data = 0x00000000;
fwrite(&data, (4 - padding) , 1, fd);
}
}
fclose(fd);
cout << "Final Imatge " << endl;
}
