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#ifndef OPENCV_VIDEOSTAB_FAST_MARCHING_HPP
#define OPENCV_VIDEOSTAB_FAST_MARCHING_HPP

#include <cmath>
#include <queue>
#include <algorithm>
#include "opencv2/core.hpp"

namespace cv
{
namespace videostab
{

//! @addtogroup videostab_marching
//! @{

/** @brief Describes the Fast Marching Method implementation.

  See http://iwi.eldoc.ub.rug.nl/FILES/root/2004/JGraphToolsTelea/2004JGraphToolsTelea.pdf
 */
class CV_EXPORTS FastMarchingMethod
{
public:
    FastMarchingMethod() : inf_(1e6f), size_(0) {}

    /** @brief Template method that runs the Fast Marching Method.

    @param mask Image mask. 0 value indicates that the pixel value must be inpainted, 255 indicates
    that the pixel value is known, other values aren't acceptable.
    @param inpaint Inpainting functor that overloads void operator ()(int x, int y).
    @return Inpainting functor.
     */
    template <typename Inpaint>
    Inpaint run(const Mat &mask, Inpaint inpaint);

    /**
    @return Distance map that's created during working of the method.
    */
    Mat distanceMap() const { return dist_; }

private:
    enum { INSIDE = 0, BAND = 1, KNOWN = 255 };

    struct DXY
    {
        float dist;
        int x, y;

        DXY() : dist(0), x(0), y(0) {}
        DXY(float _dist, int _x, int _y) : dist(_dist), x(_x), y(_y) {}
        bool operator <(const DXY &dxy) const { return dist < dxy.dist; }
    };

    float solve(int x1, int y1, int x2, int y2) const;
    int& indexOf(const DXY &dxy) { return index_(dxy.y, dxy.x); }

    void heapUp(int idx);
    void heapDown(int idx);
    void heapAdd(const DXY &dxy);
    void heapRemoveMin();

    float inf_;

    cv::Mat_<uchar> flag_; // flag map
    cv::Mat_<float> dist_; // distance map

    cv::Mat_<int> index_; // index of point in the narrow band
    std::vector<DXY> narrowBand_; // narrow band heap
    int size_; // narrow band size
};

//! @}

} // namespace videostab
} // namespace cv

#include "fast_marching_inl.hpp"

#endif
