    // Copyright (C) 2009  Davis E. King (davis@dlib.net)
    // License: Boost Software License   See LICENSE.txt for the full license.
    #ifndef DLIB_SURf_H_
    #define DLIB_SURf_H_

    #include "surf_abstract.h"
    #include "hessian_pyramid.h"
    #include "../matrix.h"

    namespace dlib
    {

    // ----------------------------------------------------------------------------------------

        struct surf_point
        {
            interest_point p;
            matrix<double,64,1> des;
            double angle;
        };

    // ----------------------------------------------------------------------------------------

        inline void serialize(
            const surf_point& item,
            std::ostream& out
        )
        {
            try
            {
                serialize(item.p,out);
                serialize(item.des,out);
                serialize(item.angle,out);
            }
            catch (serialization_error& e)
            {
                throw serialization_error(e.info + "\n   while serializing object of type surf_point");
            }
        }

    // ----------------------------------------------------------------------------------------

        inline void deserialize(
            surf_point& item,
            std::istream& in
        )
        {
            try
            {
                deserialize(item.p,in);
                deserialize(item.des,in);
                deserialize(item.angle,in);
            }
            catch (serialization_error& e)
            {
                throw serialization_error(e.info + "\n   while deserializing object of type surf_point");
            }
        }

    // ----------------------------------------------------------------------------------------

        inline double gaussian (double x, double y, double sig)
        {
            DLIB_ASSERT(sig > 0,
                "\tdouble gaussian()"
                << "\n\t sig must be bigger than 0"
                << "\n\t sig: " << sig
            );
            const double sqrt_2_pi = 2.5066282746310002416123552393401041626930;
            return 1.0/(sig*sqrt_2_pi) * std::exp( -(x*x + y*y)/(2*sig*sig));
        }

    // ----------------------------------------------------------------------------------------

        template <typename integral_image_type, typename T>
        double compute_dominant_angle (
            const integral_image_type& img,
            const dlib::vector<T,2>& center,
            const double& scale
        )
        {
            DLIB_ASSERT(get_rect(img).contains(centered_rect(center, (unsigned long)(17*scale),(unsigned long)(17*scale))) == true &&
                        scale > 0,
                "\tdouble compute_dominant_angle(img, center, scale)"
                << "\n\tAll arguments to this function must be > 0"
                << "\n\t get_rect(img): " << get_rect(img)
                << "\n\t center:        " << center
                << "\n\t scale:         " << scale
            );

            std::vector<double> ang;
            std::vector<dlib::vector<double,2> > samples;

            const long sc = static_cast<long>(scale+0.5);

            // accumulate a bunch of angle and vector samples
            dlib::vector<double,2> vect;
            for (long r = -6; r <= 6; ++r)
            {
                for (long c = -6; c <= 6; ++c)
                {
                    if (r*r + c*c < 36)
                    {
                        // compute a Gaussian weighted gradient and the gradient's angle.
                        const double gauss = gaussian(c,r, 2.5);
                        vect.x() = gauss*haar_x(img, sc*point(c,r)+center, 4*sc);
                        vect.y() = gauss*haar_y(img, sc*point(c,r)+center, 4*sc);
                        samples.push_back(vect);
                        ang.push_back(atan2(vect.y(), vect.x()));
                    }
                }
            }

            // now find the dominant direction
            double max_length = 0;
            double best_ang = 0;
            // look at a bunch of pie shaped slices of a circle
            const long slices = 45;
            const double ang_step = (2*pi)/slices;
            for (long ang_i = 0; ang_i < slices; ++ang_i)
            {
                // compute the bounding angles
                double ang1 = ang_step*ang_i - pi;
                double ang2 = ang1 + pi/3;

                // compute sum of all vectors that are within the above two angles
                vect.x() = 0;
                vect.y() = 0;
                for (unsigned long i = 0; i < ang.size(); ++i)
                {
                    if (ang1 <= ang[i] && ang[i] <= ang2)
                    {
                        vect += samples[i];
                    }
                    else if (ang2 > pi && (ang[i] >= ang1 || ang[i] <= (-2*pi+ang2)))
                    {
                        vect += samples[i];
                    }
                }

                // record the angle of the best vectors
                if (length_squared(vect) > max_length)
                {
                    max_length = length_squared(vect);
                    best_ang = atan2(vect.y(), vect.x());
                }
            }

            return best_ang;
        }

    // ----------------------------------------------------------------------------------------

        template <typename integral_image_type, typename T, typename MM, typename L>
        void compute_surf_descriptor (
            const integral_image_type& img,
            const dlib::vector<T,2>& center,
            const double scale,
            const double angle,
            matrix<double,64,1,MM,L>& des
        )
        {
            DLIB_ASSERT(get_rect(img).contains(centered_rect(center, (unsigned long)(32*scale),(unsigned long)(32*scale))) == true &&
                        scale > 0,
                "\tvoid compute_surf_descriptor(img, center, scale, angle)"
                << "\n\tAll arguments to this function must be > 0"
                << "\n\t get_rect(img): " << get_rect(img)
                << "\n\t center:        " << center
                << "\n\t scale:         " << scale
            );

            point_rotator rot(angle);
            point_rotator inv_rot(-angle);

            const long sc = static_cast<long>(scale+0.5);
            long count = 0;

            // loop over the 4x4 grid of histogram buckets
            for (long r = -10; r < 10; r += 5)
            {
                for (long c = -10; c < 10; c += 5)
                {
                    dlib::vector<double,2> vect, abs_vect, temp;

                    // now loop over 25 points in this bucket and sum their features.  Note
                    // that we include 1 pixels worth of padding around the outside of each 5x5
                    // cell.  This is to help neighboring cells interpolate their counts into
                    // each other a little bit.
                    for (long y = r-1; y < r+5+1; ++y)
                    {
                        if (y < -10 || y >= 10)
                            continue;
                        for (long x = c-1; x < c+5+1; ++x)
                        {
                            if (x < -10 || x >= 10)
                                continue;

                            // get the rotated point for this extraction point
                            point p(rot(point(x,y)*scale) + center);

                            // Give points farther from the center of the bucket a lower weight.
                            const long center_r = r+2;
                            const long center_c = c+2;
                            const double weight = 1.0/(4+std::abs(center_r-y) + std::abs(center_c-x));

                            temp.x() = weight*haar_x(img, p, 2*sc);
                            temp.y() = weight*haar_y(img, p, 2*sc);

                            // rotate this vector into alignment with the surf descriptor box
                            temp = inv_rot(temp);

                            vect += temp;
                            abs_vect += abs(temp);
                        }
                    }

                    des(count++) = vect.x();
                    des(count++) = vect.y();
                    des(count++) = abs_vect.x();
                    des(count++) = abs_vect.y();
                }
            }

            // Return the length normalized descriptor.  Add a small number
            // to guard against division by zero.
            const double len = length(des) + 1e-7;
            des = des/len;
        }

    // ----------------------------------------------------------------------------------------

        template <typename image_type>
        const std::vector<surf_point> get_surf_points (
            const image_type& img,
            long max_points = 10000,
            double detection_threshold = 30.0
        )
        {
            DLIB_ASSERT(max_points > 0 && detection_threshold >= 0,
                "\t std::vector<surf_point> get_surf_points()"
                << "\n\t Invalid arguments were given to this function."
                << "\n\t max_points:          " << max_points
                << "\n\t detection_threshold: " << detection_threshold
            );

            // Figure out the proper scalar type we should use to work with these pixels.
            typedef typename pixel_traits<typename image_type::type>::basic_pixel_type bp_type;
            typedef typename promote<bp_type>::type working_pixel_type;

            // make an integral image first
            integral_image_generic<working_pixel_type> int_img;
            int_img.load(img);

            // now make a hessian pyramid
            hessian_pyramid pyr;
            pyr.build_pyramid(int_img, 4, 6, 2);

            // now get all the interest points from the hessian pyramid
            std::vector<interest_point> points;
            get_interest_points(pyr, detection_threshold, points);
            std::vector<surf_point> spoints;

            // sort all the points by how strong their detect is
            std::sort(points.rbegin(), points.rend());

            // now extract SURF descriptors for the points
            surf_point sp;
            for (unsigned long i = 0; i < std::min((size_t)max_points,points.size()); ++i)
            {
                // ignore points that are close to the edge of the image
                const double border = 32;
                const unsigned long border_size = static_cast<unsigned long>(border*points[i].scale);
                if (get_rect(int_img).contains(centered_rect(points[i].center, border_size, border_size)))
                {
                    sp.angle = compute_dominant_angle(int_img, points[i].center, points[i].scale);
                    compute_surf_descriptor(int_img, points[i].center, points[i].scale, sp.angle, sp.des);
                    sp.p = points[i];

                    spoints.push_back(sp);
                }
            }

            return spoints;
        }

    // ----------------------------------------------------------------------------------------

    }

    #endif // DLIB_SURf_H_