text: /*
   * Software License Agreement (BSD License)
   *
   *  Point Cloud Library (PCL) - www.pointclouds.org
   *  Copyright (c) 2010-2011, Willow Garage, Inc.
   *
   *  All rights reserved.
   *
   *  Redistribution and use in source and binary forms, with or without
   *  modification, are permitted provided that the following conditions
   *  are met:
   *
   *   * Redistributions of source code must retain the above copyright
   *     notice, this list of conditions and the following disclaimer.
   *   * Redistributions in binary form must reproduce the above
   *     copyright notice, this list of conditions and the following
   *     disclaimer in the documentation and/or other materials provided
   *     with the distribution.
   *   * Neither the name of Willow Garage, Inc. nor the names of its
   *     contributors may be used to endorse or promote products derived
   *     from this software without specific prior written permission.
   *
   *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
   *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
   *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
   *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
   *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
   *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
   *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
   *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
   *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
   *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
   *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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   */
  
  #include <pcl/recognition/quantizable_modality.h>
  #include <cstddef>
  #include <string.h>
  
  //////////////////////////////////////////////////////////////////////////////////////////////
  pcl::QuantizableModality::QuantizableModality() {}
  
  //////////////////////////////////////////////////////////////////////////////////////////////
  pcl::QuantizableModality::~QuantizableModality() {}
  
  //////////////////////////////////////////////////////////////////////////////////////////////
  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 size_t width, const size_t height)
      : data_(width * height), width_(width), height_(height) {}
  
  //////////////////////////////////////////////////////////////////////////////////////////////
  pcl::QuantizedMap::~QuantizedMap() {}
  
  //////////////////////////////////////////////////////////////////////////////////////////////
  void pcl::QuantizedMap::resize(const size_t width, const size_t height) {
      data_.resize(width * height);
      width_ = width;
      height_ = height;
  }
  
  //////////////////////////////////////////////////////////////////////////////////////////////
  void pcl::QuantizedMap::spreadQuantizedMap(const QuantizedMap &input_map,
                                             QuantizedMap &output_map,
                                             const size_t spreading_size) {
      // TODO: implement differently (as in opencv)
      const size_t width = input_map.getWidth();
      const size_t height = input_map.getHeight();
      const size_t half_spreading_size = spreading_size / 2;
  
      QuantizedMap tmp_map(width, height);
      output_map.resize(width, height);
  
      for (size_t row_index = 0; row_index < height - spreading_size - 1;
           ++row_index) {
          for (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 (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 (size_t row_index = 0; row_index < height - spreading_size - 1;
           ++row_index) {
          for (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 (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;
          }
      }
  }
  