    // Copyright (C) 2006  Davis E. King (davis@dlib.net)
    // License: Boost Software License   See LICENSE.txt for the full license.
    #ifndef DLIB_THRESHOLDINg_
    #define DLIB_THRESHOLDINg_

    #include "../pixel.h"
    #include "thresholding_abstract.h"
    #include "equalize_histogram.h"
    #include "../enable_if.h"
    #include <vector>

    namespace dlib
    {

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

        const unsigned char on_pixel = 255;
        const unsigned char off_pixel = 0;

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

        namespace impl
        {
            template <
                typename U,
                typename V,
                typename basic_pixel_type
                >
            void partition_pixels_float_work (
                unsigned long begin,
                unsigned long end,
                U&& cumsum,
                V&& sorted,
                basic_pixel_type& pix_thresh,
                unsigned long& int_thresh
            )
            {

                auto histsum = [&](long begin, long end)
                {
                    return end-begin;
                };
                auto histsumi = [&](long begin, long end)
                {
                    return cumsum[end]-cumsum[begin];
                };

                // If we split the pixels into two groups, those < thresh (the left group) and
                // those >= thresh (the right group), what would the sum of absolute deviations of
                // each pixel from the mean of its group be?  total_abs(thresh) computes that
                // value.
                unsigned long left_idx = 0;
                unsigned long right_idx = 0;
                auto total_abs = [&](unsigned long thresh)
                {
                    auto left_avg = histsumi(begin,thresh);
                    auto tmp = histsum(begin,thresh);
                    if (tmp != 0)
                        left_avg /= tmp;
                    auto right_avg = histsumi(thresh,end);
                    tmp = histsum(thresh,end);
                    if (tmp != 0)
                        right_avg /= tmp;

                    while(left_idx+1 < sorted.size() && sorted[left_idx] <= left_avg)
                        ++left_idx;
                    while(right_idx+1 < sorted.size() && sorted[right_idx] <= right_avg)
                        ++right_idx;

                    double score = 0;
                    score += left_avg*histsum(begin,left_idx) - histsumi(begin,left_idx);
                    score -= left_avg*histsum(left_idx,thresh) - histsumi(left_idx,thresh);
                    score += right_avg*histsum(thresh,right_idx) - histsumi(thresh,right_idx);
                    score -= right_avg*histsum(right_idx,end) - histsumi(right_idx,end);
                    return score;
                };

                int_thresh = begin;
                double min_sad = std::numeric_limits<double>::infinity();
                for (unsigned long i = begin; i < end; ++i)
                {
                    // You can't drop a threshold in-between pixels with identical values.  So
                    // skip thresholds corresponding to this degenerate case.
                    if (i > 0 && sorted[i-1]==sorted[i])
                        continue;

                    double sad = total_abs(i);
                    if (sad <= min_sad)
                    {
                        min_sad = sad;
                        int_thresh = i;
                    }
                }

                pix_thresh = sorted[int_thresh];
            }

            template <
                typename U,
                typename V,
                typename basic_pixel_type
                >
            void recursive_partition_pixels_float (
                unsigned long begin,
                unsigned long end,
                U&& cumsum,
                V&& sorted,
                basic_pixel_type& pix_thresh
            )
            {
                unsigned long int_thresh;
                partition_pixels_float_work(begin, end, cumsum, sorted, pix_thresh, int_thresh);
            }

            template <
                typename U,
                typename V,
                typename basic_pixel_type,
                typename ...T
                >
            void recursive_partition_pixels_float (
                unsigned long begin,
                unsigned long end,
                U&& cumsum,
                V&& sorted,
                basic_pixel_type& pix_thresh,
                T&& ...more_thresholds
            )
            {
                unsigned long int_thresh;
                partition_pixels_float_work(begin, end, cumsum, sorted, pix_thresh, int_thresh);
                recursive_partition_pixels_float(int_thresh, end, cumsum, sorted, more_thresholds...);
            }

            template <
                typename image_type,
                typename ...T
                >
            void partition_pixels_float (
                const image_type& img_,
                typename pixel_traits<typename image_traits<image_type>::pixel_type>::basic_pixel_type& pix_thresh,
                T&& ...more_thresholds
            )
            {
                /*
                  This is a version of partition_pixels() that doesn't use the histogram to
                  perform a radix sort but rather uses std::sort() as the first processing
                  step.  It is therefor useful in cases where the range of possible pixels is
                  too large for the faster histogram version.
                */

                COMPILE_TIME_ASSERT( pixel_traits<typename image_traits<image_type>::pixel_type>::has_alpha == false );

                typedef typename pixel_traits<typename image_traits<image_type>::pixel_type>::basic_pixel_type basic_pixel_type;

                const_image_view<image_type> img(img_);

                std::vector<basic_pixel_type> sorted;
                sorted.reserve(img.size());

                for (long r = 0; r < img.nr(); ++r)
                {
                    for (long c = 0; c < img.nc(); ++c)
                        sorted.emplace_back(get_pixel_intensity(img[r][c]));
                }
                std::sort(sorted.begin(), sorted.end());

                std::vector<double> cumsum;
                cumsum.reserve(sorted.size()+1);

                // create integral array
                cumsum.emplace_back(0);
                for (auto& v : sorted)
                    cumsum.emplace_back(cumsum.back()+v);

                recursive_partition_pixels_float(0, img.size(), cumsum, sorted, pix_thresh, more_thresholds...);

            }

            template <typename image_type>
            struct is_u16img_or_less
            {
                typedef typename image_traits<image_type>::pixel_type pixel_type;
                typedef typename pixel_traits<pixel_type>::basic_pixel_type basic_pixel_type;

                const static bool value = sizeof(basic_pixel_type) <= 2 && pixel_traits<pixel_type>::is_unsigned;
            };
        }

        template <
            typename image_type,
            typename ...T
            >
        typename disable_if<impl::is_u16img_or_less<image_type>>::type
        partition_pixels (
            const image_type& img,
            typename pixel_traits<typename image_traits<image_type>::pixel_type>::basic_pixel_type& pix_thresh,
            T&& ...more_thresholds
        )
        {
            impl::partition_pixels_float(img, pix_thresh, more_thresholds...);
        }

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

        namespace impl
        {
            template <
                typename U,
                typename basic_pixel_type
                >
            void partition_pixels_work (
                unsigned long begin,
                unsigned long end,
                U&& total_abs,
                basic_pixel_type& pix_thresh,
                unsigned long& int_thresh
            )
            {
                int_thresh = begin;
                double min_sad = std::numeric_limits<double>::infinity();
                for (unsigned long i = begin; i < end; ++i)
                {
                    double sad = total_abs(begin, i);
                    if (sad <= min_sad)
                    {
                        min_sad = sad;
                        int_thresh = i;
                    }
                }

                pix_thresh = int_thresh;
            }

            template <
                typename U,
                typename basic_pixel_type
                >
            void recursive_partition_pixels (
                unsigned long begin,
                unsigned long end,
                U&& total_abs,
                basic_pixel_type& pix_thresh
            )
            {
                unsigned long int_thresh;
                partition_pixels_work(begin, end, total_abs, pix_thresh, int_thresh);
            }

            template <
                typename U,
                typename basic_pixel_type,
                typename ...T
                >
            void recursive_partition_pixels (
                unsigned long begin,
                unsigned long end,
                U&& total_abs,
                basic_pixel_type& pix_thresh,
                T&& ...more_thresholds
            )
            {
                unsigned long int_thresh;
                partition_pixels_work(begin, end, total_abs, pix_thresh, int_thresh);
                recursive_partition_pixels(int_thresh, end, total_abs, more_thresholds...);
            }

        }

        template <
            typename image_type,
            typename ...T
            >
        typename enable_if<impl::is_u16img_or_less<image_type>>::type
        partition_pixels (
            const image_type& img,
            typename pixel_traits<typename image_traits<image_type>::pixel_type>::basic_pixel_type& pix_thresh,
            T&& ...more_thresholds
        )
        {
            COMPILE_TIME_ASSERT( pixel_traits<typename image_traits<image_type>::pixel_type>::has_alpha == false );
            COMPILE_TIME_ASSERT( pixel_traits<typename image_traits<image_type>::pixel_type>::is_unsigned == true );

            matrix<unsigned long,1> hist;
            get_histogram(img,hist);

            // create integral histograms
            matrix<double,1> cum_hist(hist.size()+1), cum_histi(hist.size()+1);
            cum_hist(0) = 0;
            cum_histi(0) = 0;
            for (long i = 0; i < hist.size(); ++i)
            {
                cum_hist(i+1) = cum_hist(i) + hist(i);
                cum_histi(i+1) = cum_histi(i) + hist(i)*(double)i;
            }

            auto histsum = [&](long begin, long end)
            {
                return cum_hist(end)-cum_hist(begin);
            };
            auto histsumi = [&](long begin, long end)
            {
                return cum_histi(end)-cum_histi(begin);
            };

            // If we split the pixels into two groups, those < thresh (the left group) and
            // those >= thresh (the right group), what would the sum of absolute deviations of
            // each pixel from the mean of its group be?  total_abs(thresh) computes that
            // value.
            auto total_abs = [&](unsigned long begin, unsigned long thresh)
            {
                auto left_avg = histsumi(begin,thresh);
                auto tmp = histsum(begin,thresh);
                if (tmp != 0)
                    left_avg /= tmp;
                auto right_avg = histsumi(thresh,hist.size());
                tmp = histsum(thresh,hist.size());
                if (tmp != 0)
                    right_avg /= tmp;

                const long left_idx = (long)std::ceil(left_avg);
                const long right_idx = (long)std::ceil(right_avg);

                double score = 0;
                score += left_avg*histsum(begin,left_idx) - histsumi(begin,left_idx);
                score -= left_avg*histsum(left_idx,thresh) - histsumi(left_idx,thresh);
                score += right_avg*histsum(thresh,right_idx) - histsumi(thresh,right_idx);
                score -= right_avg*histsum(right_idx,hist.size()) - histsumi(right_idx,hist.size());
                return score;
            };

            impl::recursive_partition_pixels(0, hist.size(), total_abs, pix_thresh, more_thresholds...);
        }

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

        template <
            typename image_type
            >
        typename pixel_traits<typename image_traits<image_type>::pixel_type>::basic_pixel_type
        partition_pixels (
            const image_type& img
        )
        {
            typedef typename pixel_traits<typename image_traits<image_type>::pixel_type>::basic_pixel_type basic_pixel_type;
            basic_pixel_type thresh;
            partition_pixels(img, thresh);
            return thresh;
        }

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

        template <
            typename in_image_type,
            typename out_image_type
            >
        void threshold_image (
            const in_image_type& in_img_,
            out_image_type& out_img_,
            typename pixel_traits<typename image_traits<in_image_type>::pixel_type>::basic_pixel_type thresh
        )
        {
            COMPILE_TIME_ASSERT( pixel_traits<typename image_traits<in_image_type>::pixel_type>::has_alpha == false );
            COMPILE_TIME_ASSERT( pixel_traits<typename image_traits<out_image_type>::pixel_type>::has_alpha == false );

            COMPILE_TIME_ASSERT(pixel_traits<typename image_traits<out_image_type>::pixel_type>::grayscale);

            const_image_view<in_image_type> in_img(in_img_);
            image_view<out_image_type> out_img(out_img_);

            // if there isn't any input image then don't do anything
            if (in_img.size() == 0)
            {
                out_img.clear();
                return;
            }

            out_img.set_size(in_img.nr(),in_img.nc());

            for (long r = 0; r < in_img.nr(); ++r)
            {
                for (long c = 0; c < in_img.nc(); ++c)
                {
                    if (get_pixel_intensity(in_img[r][c]) >= thresh)
                        assign_pixel(out_img[r][c], on_pixel);
                    else
                        assign_pixel(out_img[r][c], off_pixel);
                }
            }
        }

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

        template <
            typename in_image_type,
            typename out_image_type
            >
        void threshold_image (
            const in_image_type& in_img,
            out_image_type& out_img
        )
        {
            threshold_image(in_img,out_img,partition_pixels(in_img));
        }

        template <
            typename image_type
            >
        void threshold_image (
            image_type& img,
            typename pixel_traits<typename image_traits<image_type>::pixel_type>::basic_pixel_type thresh
        )
        {
            threshold_image(img,img,thresh);
        }

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

        template <
            typename image_type
            >
        void threshold_image (
            image_type& img
        )
        {
            threshold_image(img,img,partition_pixels(img));
        }

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

        template <
            typename in_image_type,
            typename out_image_type
            >
        void auto_threshold_image (
            const in_image_type& in_img_,
            out_image_type& out_img_
        )
        {
            COMPILE_TIME_ASSERT( pixel_traits<typename image_traits<in_image_type>::pixel_type>::has_alpha == false );
            COMPILE_TIME_ASSERT( pixel_traits<typename image_traits<out_image_type>::pixel_type>::has_alpha == false );
            COMPILE_TIME_ASSERT( pixel_traits<typename image_traits<in_image_type>::pixel_type>::is_unsigned == true );
            COMPILE_TIME_ASSERT( pixel_traits<typename image_traits<out_image_type>::pixel_type>::is_unsigned == true );

            COMPILE_TIME_ASSERT(pixel_traits<typename image_traits<out_image_type>::pixel_type>::grayscale);

            image_view<out_image_type> out_img(out_img_);

            // if there isn't any input image then don't do anything
            if (image_size(in_img_) == 0)
            {
                out_img.clear();
                return;
            }

            unsigned long thresh;
            // find the threshold we should use
            matrix<unsigned long,1> hist;
            get_histogram(in_img_,hist);

            const_image_view<in_image_type> in_img(in_img_);

            // Start our two means (a and b) out at the ends of the histogram
            long a = 0;
            long b = hist.size()-1;
            bool moved_a = true;
            bool moved_b = true;
            while (moved_a || moved_b)
            {
                moved_a = false;
                moved_b = false;

                // catch the degenerate case where the histogram is empty
                if (a >= b)
                    break;

                if (hist(a) == 0)
                {
                    ++a;
                    moved_a = true;
                }

                if (hist(b) == 0)
                {
                    --b;
                    moved_b = true;
                }
            }

            // now do k-means clustering with k = 2 on the histogram.
            moved_a = true;
            moved_b = true;
            while (moved_a || moved_b)
            {
                moved_a = false;
                moved_b = false;

                int64 a_hits = 0;
                int64 b_hits = 0;
                int64 a_mass = 0;
                int64 b_mass = 0;

                for (long i = 0; i < hist.size(); ++i)
                {
                    // if i is closer to a
                    if (std::abs(i-a) < std::abs(i-b))
                    {
                        a_mass += hist(i)*i;
                        a_hits += hist(i);
                    }
                    else // if i is closer to b
                    {
                        b_mass += hist(i)*i;
                        b_hits += hist(i);
                    }
                }

                long new_a = (a_mass + a_hits/2)/a_hits;
                long new_b = (b_mass + b_hits/2)/b_hits;

                if (new_a != a)
                {
                    moved_a = true;
                    a = new_a;
                }

                if (new_b != b)
                {
                    moved_b = true;
                    b = new_b;
                }
            }

            // put the threshold between the two means we found
            thresh = (a + b)/2;

            // now actually apply the threshold
            threshold_image(in_img_,out_img_,thresh);
        }

        template <
            typename image_type
            >
        void auto_threshold_image (
            image_type& img
        )
        {
            auto_threshold_image(img,img);
        }

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

        template <
            typename in_image_type,
            typename out_image_type
            >
        void hysteresis_threshold (
            const in_image_type& in_img_,
            out_image_type& out_img_,
            typename pixel_traits<typename image_traits<in_image_type>::pixel_type>::basic_pixel_type lower_thresh,
            typename pixel_traits<typename image_traits<in_image_type>::pixel_type>::basic_pixel_type upper_thresh
        )
        {
            COMPILE_TIME_ASSERT( pixel_traits<typename image_traits<in_image_type>::pixel_type>::has_alpha == false );
            COMPILE_TIME_ASSERT( pixel_traits<typename image_traits<out_image_type>::pixel_type>::has_alpha == false );

            COMPILE_TIME_ASSERT(pixel_traits<typename image_traits<out_image_type>::pixel_type>::grayscale);

            DLIB_ASSERT(is_same_object(in_img_, out_img_) == false,
                "\tvoid hysteresis_threshold(in_img_, out_img_, lower_thresh, upper_thresh)"
                << "\n\tis_same_object(in_img_,out_img_): " << is_same_object(in_img_,out_img_)
                );

            const_image_view<in_image_type> in_img(in_img_);
            image_view<out_image_type> out_img(out_img_);

            // if there isn't any input image then don't do anything
            if (in_img.size() == 0)
            {
                out_img.clear();
                return;
            }

            out_img.set_size(in_img.nr(),in_img.nc());
            assign_all_pixels(out_img, off_pixel);

            std::vector<std::pair<long,long>> stack;
            using std::make_pair;

            // now do the thresholding
            for (long r = 0; r < in_img.nr(); ++r)
            {
                for (long c = 0; c < in_img.nc(); ++c)
                {
                    typename pixel_traits<typename image_traits<in_image_type>::pixel_type>::basic_pixel_type p;
                    assign_pixel(p,in_img[r][c]);
                    if (p >= upper_thresh)
                    {
                        // now do line following for pixels >= lower_thresh.
                        // set the stack position to 0.
                        stack.push_back(make_pair(r,c));

                        while (stack.size() > 0)
                        {
                            const long r = stack.back().first;
                            const long c = stack.back().second;
                            stack.pop_back();

                            // This is the base case of our recursion.  We want to stop if we hit a
                            // pixel we have already visited.
                            if (out_img[r][c] == on_pixel)
                                continue;

                            out_img[r][c] = on_pixel;

                            // put the neighbors of this pixel on the stack if they are bright enough
                            if (r-1 >= 0)
                            {
                                if (get_pixel_intensity(in_img[r-1][c]) >= lower_thresh)
                                    stack.push_back(make_pair(r-1, c));
                                if (c-1 >= 0 && get_pixel_intensity(in_img[r-1][c-1]) >= lower_thresh)
                                    stack.push_back(make_pair(r-1, c-1));
                                if (c+1 < in_img.nc() && get_pixel_intensity(in_img[r-1][c+1]) >= lower_thresh)
                                    stack.push_back(make_pair(r-1, c+1));
                            }

                            if (c-1 >= 0 && get_pixel_intensity(in_img[r][c-1]) >= lower_thresh)
                                stack.push_back(make_pair(r,c-1));
                            if (c+1 < in_img.nc() && get_pixel_intensity(in_img[r][c+1]) >= lower_thresh)
                                stack.push_back(make_pair(r,c+1));

                            if (r+1 < in_img.nr())
                            {
                                if (get_pixel_intensity(in_img[r+1][c]) >= lower_thresh)
                                    stack.push_back(make_pair(r+1,c));
                                if (c-1 >= 0 && get_pixel_intensity(in_img[r+1][c-1]) >= lower_thresh)
                                    stack.push_back(make_pair(r+1,c-1));
                                if (c+1 < in_img.nc() && get_pixel_intensity(in_img[r+1][c+1]) >= lower_thresh)
                                    stack.push_back(make_pair(r+1,c+1));
                            }

                        } // end while (stack.size() > 0)
                    }
                }
            }
        }

        template <
            typename in_image_type,
            typename out_image_type
            >
        void hysteresis_threshold (
            const in_image_type& in_img,
            out_image_type& out_img
        )
        {
            using basic_pixel_type = typename pixel_traits<typename image_traits<in_image_type>::pixel_type>::basic_pixel_type;

            basic_pixel_type t1, t2;
            partition_pixels(in_img, t1, t2);
            hysteresis_threshold(in_img, out_img, t1, t2);
        }

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

    }

    #endif // DLIB_THRESHOLDINg_