char* convert_buf(vector<Point>& probp, vector<Distance>& pdist, vector<int>& plabel)

{

    //convert-can-frame.

    char buffer[][] = {  };

    for (int i = ; i < ; i++)

    {

        double lat_factor = 0.1;

        double long_factor = 0.2;

        unsigned int lat01 = static_cast<unsigned int>(pdist[ * i].x_dis / lat_factor);//unit-2dm-8bits.

        unsigned int long01 = static_cast<unsigned int>(pdist[ * i].y_dis / long_factor);//unit-2dm-9bits.

        int label01 = plabel[i*];

        if (i == )

        {

            buffer[i][] = (((i+) & 0xFF) << ) + ((long01 & 0x1FF) >> );

            buffer[i][] = ((long01 & 0x1FF) << ) + ((lat01 & 0xFF) >> );

            buffer[i][] = ((lat01 & 0xFF) << ) + (label01 & 0x03);

            break;

        }

        unsigned int lat02 = static_cast<unsigned int>(pdist[ * i + ].x_dis / lat_factor);//unit-2dm-8bits.

        unsigned int long02 = static_cast<unsigned int>(pdist[ * i + ].y_dis / long_factor);//unit-2dm-9bits.

        int label02 = plabel[ * i + ];

        unsigned int lat03 = static_cast<unsigned int>(pdist[ * i + ].x_dis / lat_factor);//unit-2dm-8bits.

        unsigned int long03 = static_cast<unsigned int>(pdist[ * i + ].y_dis / long_factor);//unit-2dm-9bits.

        int label03 = plabel[ * i + ];

        std::cout << "long01 --- " << long01 << "-- long02 --- " << long02 << "--- long03 --- " << long03 << std::endl;

        buffer[i][] = (((i + ) & 0xFF) << ) + ((long01 & 0x1FF) >> );

        buffer[i][] = ((long01 & 0x1FF) << ) + ((lat01 & 0xFF) >> );

        buffer[i][] = ((lat01 & 0xFF) << ) + (label01 & 0x03);

        buffer[i][] = ((long02 & 0x1FF) >> );

        buffer[i][] = ((long02 & 0x1FF) << ) + ((lat02 & 0xFF) >> );

        buffer[i][] = ((lat02 & 0xFF) << ) + ((label02 & 0x03) << ) + ((long03 & 0x1FF) >> );

        buffer[i][] = ((long03 & 0x1FF) << ) + ((lat03 & 0xFF) >> );

        buffer[i][] = ((lat03 & 0xFF) << ) + ((label03 & 0x03) << );

        printf("buffer[0]: --- %x\n", (byte)buffer[i][]);

        printf("buffer[1]: --- %x\n", (byte)buffer[i][]);

        printf("buffer[2]: --- %x\n", (byte)buffer[i][]);

        printf("buffer[3]: --- %x\n", (byte)buffer[i][]);

        printf("buffer[4]: --- %x\n", (byte)buffer[i][]);

        printf("buffer[5]: --- %x\n", (byte)buffer[i][]);

        printf("buffer[6]: --- %x\n", (byte)buffer[i][]);

        printf("buffer[7]: --- %x\n", (byte)buffer[i][]);

    }

    cout << "sizeof(buffer): " << sizeof(buffer) << " Byte..." << endl;

    return buffer[];

}