void
carmen_map_util_change_resolution(carmen_map_p map, double new_resolution)
{
double *new_complete_map;
double **new_map;
carmen_map_config_t new_config;
double **padded_map;
double *padded_backing;
int padded_x_size, padded_y_size;
double scale_factor;
int x, y;
double f_x, f_y, a, b, tmp, r1, r2;
int i_x, i_y, m, n;
new_config.x_size = map->config.resolution/new_resolution *
map->config.x_size;
new_config.y_size = map->config.resolution/new_resolution *
map->config.y_size;
new_config.resolution = new_resolution;
new_config.map_name = map->config.map_name;
new_complete_map = (double *)
calloc(new_config.x_size*new_config.y_size, sizeof(double));
carmen_test_alloc(new_complete_map);
new_map = (double **)calloc(new_config.x_size, sizeof(double *));
carmen_test_alloc(new_map);
for (x = 0; x < new_config.x_size; x++)
new_map[x] = new_complete_map+x*new_config.y_size;
padded_x_size = map->config.x_size+4;
padded_y_size = map->config.y_size+4;
padded_backing = (double *)calloc(padded_x_size*padded_y_size, sizeof(double));
carmen_test_alloc(padded_backing);
padded_map = (double **)calloc(padded_x_size, sizeof(double *));
carmen_test_alloc(padded_map);
for (x = 0; x < padded_x_size; x++)
padded_map[x] = padded_backing+x*padded_y_size;
for (x = 2; x < padded_x_size-2; x++) {
memcpy(padded_map[x]+2, map->map[x-2], map->config.y_size*sizeof(double));
memcpy(padded_map[x], padded_map[x]+2, 2*sizeof(double));
memcpy(padded_map[x]+2+map->config.y_size,
padded_map[x]+map->config.y_size,
2*sizeof(double));
}
memcpy(padded_map[0], padded_map[2], padded_y_size*sizeof(double));
memcpy(padded_map[1], padded_map[2], padded_y_size*sizeof(double));
memcpy(padded_map[padded_x_size-2], padded_map[padded_x_size-3],
padded_y_size*sizeof(double));
memcpy(padded_map[padded_x_size-1], padded_map[padded_x_size-3],
padded_y_size*sizeof(double));
scale_factor = map->config.resolution / new_resolution;
for (y = 0; y < new_config.y_size; y++) {
f_y = y / scale_factor;
i_y = carmen_trunc(f_y);
a = f_y - carmen_trunc(f_y);
for (x = 0; x < new_config.x_size; x++) {
f_x = x / scale_factor;
i_x = carmen_trunc(f_x);
b = f_x - carmen_trunc(f_x);
// Implement EQ 14.5-3 here
tmp = 0.0;
for(m = -1; m < 3; m++) {
r1 = cubic_bspline((double) m - a);
for(n = -1; n < 3; n++) {
r2 = cubic_bspline(-1.0*((double)n - b));
tmp += padded_map[i_x+n+2][i_y+m+2] * r1 * r2;
}
}
if (tmp < 0)
tmp = -1;
if (tmp > 1.0)
tmp = 1.0;
new_map[x][y] = tmp;
}
}
free(padded_map);
free(padded_backing);
free(map->map);
free(map->complete_map);
map->map = new_map;
map->complete_map = new_complete_map;
map->config = new_config;
}
static int scale_icon(ICON_DATA *icon)
{
BITMAP *shape;
int size, x_ofs = 2, y_ofs = 2;
int x, y, m, n;
int i_x, i_y;
float k, f_x, f_y, a, b, r1, r2;
float red, green, blue, alpha;
unsigned int color;
if (icon->original->w > icon->original->h) {
size = 4 + icon->original->w;
y_ofs = 2 + ((icon->original->w - icon->original->h) / 2);
}
else {
size = 4 + icon->original->h;
x_ofs = 2 + ((icon->original->h - icon->original->w) / 2);
}
k = (float)(size - 4) / (float)icon->size;
icon->workspace = create_bitmap_ex(32, size, size);
if (!icon->workspace)
return -1;
icon->scaled = create_bitmap_ex(32, icon->size, icon->size);
if (!icon->scaled)
return -1;
shape = create_bitmap_ex(32, icon->original->w, icon->original->h);
if (!shape)
return -1;
blit(icon->original, shape, 0, 0, 0, 0, icon->original->w, icon->original->h);
clear_to_color(icon->workspace, makeacol32(0, 0, 0, 255));
shape->vtable->mask_color = makeacol32(255, 0, 255, 0);
masked_blit(shape, icon->workspace, 0, 0, x_ofs, y_ofs, shape->w, shape->h);
destroy_bitmap(shape);
for (y = 0; y < icon->size; y++) {
f_y = (float)y * k;
i_y = (int)floor(f_y);
a = f_y - floor(f_y);
for (x = 0; x < icon->size; x++) {
f_x = (float)x * k;
i_x = (int)floor(f_x);
b = f_x - floor(f_x);
red = green = blue = alpha = 0.0;
for (m = -1; m < 3; m++) {
r1 = cubic_bspline((float)m - a);
for (n = -1; n < 3; n++) {
r2 = cubic_bspline(b - (float)n);
color = ((unsigned int *)(icon->workspace->line[i_y + m + 2]))[i_x + n + 2];
red += ((float)getr32(color) * r1 * r2);
green += ((float)getg32(color) * r1 * r2);
blue += ((float)getb32(color) * r1 * r2);
alpha += ((float)geta32(color) * r1 * r2);
}
}
color = makeacol32((int)floor(red), (int)floor(green), (int)floor(blue), 255 - (int)floor(alpha));
((unsigned int *)(icon->scaled->line[y]))[x] = color;
}
}
return 0;
}
