qNode *qtree_helper(unsigned char *depth_map, int map_width, int section_width, int x, int y) {
qNode *root = (qNode *)malloc(sizeof(qNode));
if(root==NULL)
{
allocation_failed();
}
root->x = x;
root->y = y;
root->size = section_width;
int val = homogenous(depth_map, map_width, x, y, section_width);
(*root).gray_value = val;
if(val!=256)
{
(*root).leaf = 1;
return root;
}
else
{
root->leaf = 0;
root->child_NW = qtree_helper(depth_map, map_width, section_width/2, x, y);
root->child_NE = qtree_helper(depth_map, map_width, section_width/2, x + (section_width/2), y);
root->child_SW = qtree_helper(depth_map, map_width, section_width/2, x, y + (section_width/2));
root->child_SE = qtree_helper(depth_map, map_width, section_width/2, x + (section_width/2), y + (section_width/2));
return root;
}
}
qNode* depth_helper(unsigned char *depth_map, int map_width, int section_width, int x, int y) {
qNode *node = (qNode*) malloc(sizeof(qNode));
if (!(node)){
allocation_failed();
}
int gray_value = homogenous(depth_map, map_width, x, y, section_width);
node->gray_value = gray_value;
node->size = section_width;
node->x = x;
node->y = y;
if(gray_value == 256) {
node->leaf = 0;
node->child_NW = depth_helper(depth_map, map_width, .5 * section_width, x, y);
node->child_NE = depth_helper(depth_map, map_width, .5 * section_width, x + (.5 * section_width), y);
node->child_SE = depth_helper(depth_map, map_width, .5 * section_width, x + (.5 * section_width), y + (.5 * section_width));
node->child_SW = depth_helper(depth_map, map_width, .5 * section_width, x, y + (.5 * section_width));
} else {
node -> leaf = 1;
}
return node;
}
qNode *recursive_quad(unsigned char *depth_map, int map_width, int x, int y, int section_width){
qNode* node = malloc(sizeof(qNode));
if (homogenous(depth_map, map_width, x, y, section_width) != 256){
node->leaf = 1;
node->size = section_width;
node->x = x;
node->y = y;
node->gray_value = depth_map[y*map_width + x];
}else{
node->leaf = 0;
node->size = section_width;
node->x = x;
node->y = y;
node->gray_value = 256;
section_width = section_width / 2;
node->child_NW = recursive_quad(depth_map, map_width, x, y, section_width);
node->child_NE = recursive_quad(depth_map, map_width, x + section_width, y, section_width);
node->child_SE = recursive_quad(depth_map, map_width, x + section_width, y + section_width, section_width);
node->child_SW = recursive_quad(depth_map, map_width, x, y+section_width, section_width);
}
return node;
}
