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 *  Point Cloud Library (PCL) - www.pointclouds.org
 *  Copyright (c) 2010-2011, Willow Garage, Inc.
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#include <pcl/recognition/quantizable_modality.h>
#include <cstddef>

//////////////////////////////////////////////////////////////////////////////////////////////
pcl::QuantizableModality::QuantizableModality () = default;

//////////////////////////////////////////////////////////////////////////////////////////////
pcl::QuantizableModality::~QuantizableModality () = default;

//////////////////////////////////////////////////////////////////////////////////////////////
pcl::QuantizedMap::QuantizedMap ()
  : data_ (0), width_ (0), height_ (0)
{
}

//////////////////////////////////////////////////////////////////////////////////////////////
pcl::QuantizedMap::QuantizedMap (const QuantizedMap & copy_me)
  : data_ (0), width_ (copy_me.width_), height_ (copy_me.height_)
{
  data_.insert (data_.begin (), copy_me.data_.begin (), copy_me.data_.end ());
}

//////////////////////////////////////////////////////////////////////////////////////////////
pcl::QuantizedMap::QuantizedMap (const std::size_t width, const std::size_t height)
  : data_ (width*height), width_ (width), height_ (height)
{
}

//////////////////////////////////////////////////////////////////////////////////////////////
pcl::QuantizedMap::~QuantizedMap () = default;

//////////////////////////////////////////////////////////////////////////////////////////////
void
pcl::QuantizedMap::
resize (const std::size_t width, const std::size_t height)
{
  data_.resize (width*height);
  width_ = width;
  height_ = height;
}

//////////////////////////////////////////////////////////////////////////////////////////////
void
pcl::QuantizedMap::
spreadQuantizedMap (const QuantizedMap & input_map, QuantizedMap & output_map, const std::size_t spreading_size)
{
  // TODO: implement differently (as in opencv)
  const std::size_t width = input_map.getWidth ();
  const std::size_t height = input_map.getHeight ();
  const std::size_t half_spreading_size = spreading_size / 2;

  QuantizedMap tmp_map (width, height);
  output_map.resize (width, height);

  for (std::size_t row_index = 0; row_index < height-spreading_size-1; ++row_index)
  {
    for (std::size_t col_index = 0; col_index < width-spreading_size-1; ++col_index)
    {
      unsigned char value = 0;
      const unsigned char * data_ptr = &(input_map (col_index, row_index));
      for (std::size_t spreading_index = 0; spreading_index < spreading_size; ++spreading_index, ++data_ptr)
      {
        value |= *data_ptr;
      }

      tmp_map (col_index + half_spreading_size, row_index) = value;
    }
  }

  for (std::size_t row_index = 0; row_index < height-spreading_size-1; ++row_index)
  {
    for (std::size_t col_index = 0; col_index < width-spreading_size-1; ++col_index)
    {
      unsigned char value = 0;
      const unsigned char * data_ptr = &(tmp_map (col_index, row_index));
      for (std::size_t spreading_index = 0; spreading_index < spreading_size; ++spreading_index, data_ptr += width)
      {
        value |= *data_ptr;
      }

      output_map (col_index, row_index + half_spreading_size) = value;
    }
  }
}
