thirdParty/PCL 1.12.0/include/pcl-1.12/pcl/recognition/quantized_map.h

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#pragma once

#include <vector>
#include <pcl/pcl_macros.h>

namespace pcl
{
  class PCL_EXPORTS QuantizedMap
  {
    public:

      QuantizedMap ();
      QuantizedMap (std::size_t width, std::size_t height);
      QuantizedMap (const QuantizedMap & copy_me);

      virtual ~QuantizedMap ();

      inline std::size_t
      getWidth () const { return (width_); }
      
      inline std::size_t
      getHeight () const { return (height_); }
      
      inline unsigned char*
      getData () { return (&data_[0]); }

      inline const unsigned char*
      getData () const { return (&data_[0]); }

      inline QuantizedMap
      getSubMap (std::size_t x,
                 std::size_t y,
                 std::size_t width,
                 std::size_t height)
      {
        QuantizedMap subMap(width, height);

        for (std::size_t row_index = 0; row_index < height; ++row_index)
        {
          for (std::size_t col_index = 0; col_index < width; ++col_index)
          {
            //const std::size_t index = (row_index+y)*width_ + (col_index+x);
            //const unsigned char value = data_[index];
            //subMap.data_[row_index*width + col_index] = value;//data_[(row_index+y)*width_ + (col_index+x)];
            subMap (col_index, row_index) = (*this) (col_index + x, row_index + y);
          }
        }

        return subMap;
      }

      void 
      resize (std::size_t width, std::size_t height);

      inline unsigned char & 
      operator() (const std::size_t x, const std::size_t y) 
      { 
        return (data_[y*width_+x]); 
      }

      inline const unsigned char & 
      operator() (const std::size_t x, const std::size_t y) const
      { 
        return (data_[y*width_+x]); 
      }

      static void
      spreadQuantizedMap (const QuantizedMap & input_map, QuantizedMap & output_map, std::size_t spreading_size);

      void 
      serialize (std::ostream & stream) const
      {
        const int width = static_cast<int> (width_);
        const int height = static_cast<int> (height_);
        
        stream.write (reinterpret_cast<const char*> (&width), sizeof (width));
        stream.write (reinterpret_cast<const char*> (&height), sizeof (height));

        const int num_of_elements = static_cast<int> (data_.size ());
        stream.write (reinterpret_cast<const char*> (&num_of_elements), sizeof (num_of_elements));
        for (int element_index = 0; element_index < num_of_elements; ++element_index)
        {
          stream.write (reinterpret_cast<const char*> (&(data_[element_index])), sizeof (data_[element_index]));
        }
      }

      void 
      deserialize (std::istream & stream)
      {
        int width;
        int height;

        stream.read (reinterpret_cast<char*> (&width), sizeof (width));
        stream.read (reinterpret_cast<char*> (&height), sizeof (height));

        width_ = static_cast<std::size_t> (width);
        height_ = static_cast<std::size_t> (height);

        int num_of_elements;
        stream.read (reinterpret_cast<char*> (&num_of_elements), sizeof (num_of_elements));
        data_.resize (num_of_elements);
        for (int element_index = 0; element_index < num_of_elements; ++element_index)
        {
          stream.read (reinterpret_cast<char*> (&(data_[element_index])), sizeof (data_[element_index]));
        }
      }


    //private:
      std::vector<unsigned char> data_;
      std::size_t width_;
      std::size_t height_;  
    
  };
}