void
compute_prob_point( carmen_vascocore_map_t *map, int x, int y )
{
if ( x>=0 && x<map->mapsize.x &&
y>=0 && y<map->mapsize.y ) {
if (get_mapsum(x,y,*map)>0) {
if (0) {
map->mapprob[x][y] = map->maphit[x][y] / map->mapsum[x][y];
} else {
map->mapprob[x][y] = 1.0;
}
} else {
map->mapprob[x][y] = carmen_vascocore_settings.local_map_std_val;
}
}
}
void
convolve_calc_point( carmen_vascocore_map_t *map,
carmen_gauss_kernel_t kernel, int hk,
int x, int y, double std_val )
{
int k;
double ksum = 0.0;
if (x-hk>=0 && x+hk<map->mapsize.x) {
for (k=0;k<2*hk+1;k++) {
if (get_mapsum(x+k-hk,y,*map)>0) {
ksum += ( kernel.val[k] * map->mapprob[x+k-hk][y] );
} else {
ksum += ( kernel.val[k] * std_val );
}
}
map->calc[x][y] = ksum;
map->updated[x][y] = UPDT_X;
}
}
void
compute_prob_point( MAP2 *map, int x, int y )
{
double pobj;
pobj = log(settings.local_map_object_prob/
(1.0-settings.local_map_object_prob));
if ( x>=0 && x<map->mapsize.x &&
y>=0 && y<map->mapsize.y ) {
if (get_mapsum(x,y,*map)>0) {
if (0) {
map->mapprob[x][y] = map->maphit[x][y] / map->mapsum[x][y];
} else {
map->mapprob[x][y] = 1.0;
}
} else {
map->mapprob[x][y] = settings.local_map_std_val;
}
}
}
