void Map::initMap(const char* filename) { std::vector<unsigned char> image; std::vector<unsigned char> FatImage; unsigned width, height; unsigned x, y, bX, bY; // Get the config ConfigurationManager* config = ConfigurationManager::GetInstance(); //decode unsigned error = lodepng::decode(image, width, height, config->getPngMapPath()); //if there's an error, display it if (error) std::cout << "decoder error " << error << ": " << lodepng_error_text(error) << std::endl; // Create the fat img FatImage.resize(width * height); // calc the size of the robot in pic px unsigned PxToBlow = ceil( config->getRobotSize().RadiosSize() / config->getPngGridResolution()); // run on the map and find the unsigned char color; for (y = 0; y < height; y++) for (x = 0; x < width; x++) { if (image[y * width * 4 + x * 4 + 0] || image[y * width * 4 + x * 4 + 1] || image[y * width * 4 + x * 4 + 2]) color = 0; // add oppstical to the fat img for (bX = std::max(x - PxToBlow, static_cast<unsigned int>(0)); bX < PxToBlow + x; bX++) for (bY = std::max(x - PxToBlow, static_cast<unsigned int>(0)); bY < PxToBlow + y; bY++) { FatImage[y * width * 4 + x * 4 + 0] = color; FatImage[y * width * 4 + x * 4 + 1] = color; FatImage[y * width * 4 + x * 4 + 2] = color; FatImage[y * width * 4 + x * 4 + 3] = 255; } } // create grid from the fat and regular map this->FatGrid = this->CreatGridFromMap(FatImage, height, width, config->getPngGridResolution(), config->getPixelPerCm(), this->m_Cols, this->m_Rows); unsigned error2 = lodepng::encode("try.png", this->FatGrid, width, height); this->RegGrid = this->CreatGridFromMap(image, height, width, config->getPngGridResolution(), config->getPixelPerCm(), this->m_Cols, this->m_Rows); }