Nearest neighbour

// Nearest neighbour algorithm. Expands an 8x8 matrix into a 15x15 matrix.

float n_map[8][8];    // Read the data from the sensor into this matrix.
float e_map[15][15];  // Holds the resulting matrix data.
int size = 8;
int e_size = 15;

// In the loop
  int r=0;
  int c=0;
  int i=0;
  int j=0;

  // Load the 8x8 data into the target matrix.
  // Data from even numbered rows are loaded into positions 0,2,4,6,8,10,12,14
  // Odd numbered rows remain empty.
  for (r=0; r < size; r++){
      for(c=0;  c < size; c++){
        e_map[(r+j)][(c+i)] = (float)n_map[r][(c)];
        ++i;
      }
    i=0;
    j++;
  }

  // Fill in the blanks as the average of the nearest neighbours.
  // e_map will hold the expanded matrix.  matrix holds the serialized data as a string.

    for (r=0; r<e_size; r++){
      for(c=0;  c < e_size; c++){
           if ((c % 2 != 0) && (c < (e_size-1))) {
               e_map[r][c] = (float)((e_map[r][c-1] + e_map[r][c+1]) / 2);
            }
            if ((r % 2 != 0) && (r < (e_size-1))) {
               e_map[r][c] = (float)((e_map[r-1][c] + e_map[r+1][c] ) / 2);
            }
        // This section is only used to serialize the data into a string.
           if ((c==0) && (r == 0)){
             matrix = e_map[r][c];
           } else {
              matrix = matrix + ", " + e_map[r][c];
           }
      }
    }