/*
   * compute the second and up iterations of a probability map
   * using the given aPriori probabilites per pixel.
   */
  bool probabilityMap2D::computeMap(const channel8& src1, const channel8& src2,
				    channel& aPrioriDest) const {
 
    point chnl1_size = src1.size();
    point chnl2_size = src2.size();
      
      // size of src1 equals src2 ?
    if ( (chnl1_size.x != chnl2_size.x) || (chnl1_size.y != chnl2_size.y) ) {
      setStatusString("probabilityMap2D: channels do not match");
      return false;

    } else {
      int y;
      vector<channel8::value_type>::const_iterator srcIterator1, eit1;
      vector<channel8::value_type>::const_iterator srcIterator2, eit2;
      vector<channel::value_type>::iterator destIterator;
 
      const parameters& param = getParameters();
      const thistogram<double>& objModel = param.getObjectColorModel();
      const thistogram<double>& nonObjModel = param.getNonObjectColorModel();
      
      float relObjProb;
      float relNonObjProb;
      
      ivector theBin(2);
      
      for (y=0;y<src1.rows();++y) {
	srcIterator1 = src1.getRow(y).begin();
	eit1 = src1.getRow(y).end();
	srcIterator2 = src2.getRow(y).begin();
	eit2 = src2.getRow(y).end();

	destIterator = aPrioriDest.getRow(y).begin();

	while (srcIterator1 != eit1) {
	  theBin[0] = lookupTable[0][*srcIterator1];
	  theBin[1] = lookupTable[1][*srcIterator2];
	  
	  relObjProb = static_cast<float>(objModel.getProbability(theBin) *
					  (*destIterator));
	  relNonObjProb = static_cast<float>(nonObjModel.getProbability(theBin)*
					     (1.0f-(*destIterator)));

	  // assume non-object if no entries are given
	  if ((relObjProb == 0.0f) && (relNonObjProb == 0.0f)) {
	    (*destIterator) = 0.0f;
	  } else {
	    // bayes
	    (*destIterator) = relObjProb / (relObjProb + relNonObjProb);
	  }

	  srcIterator1++;
	  srcIterator2++;
	  destIterator++;
	}
      }
    }
    
    return true;
  }

void selector::add_channel(const channel & ch,
                           bool allow_outgoing_traffic, bool allow_incoming_traffic)
{
    io_descriptor_type fd;
    io_direction direction;

    ch.get_io_descriptor(fd, direction);

    if (fd > num_of_descriptors_to_test_ - 1)
    {
        num_of_descriptors_to_test_ = fd + 1;
    }

    if ((direction == input || direction == inout) && allow_incoming_traffic)
    {
        FD_SET(fd, &read_set_);
    }

    if ((direction == output || direction == inout) && allow_outgoing_traffic)
    {
        FD_SET(fd, &write_set_);
    }

    ++num_of_channels_used_;
}

void get_randoms(int amount, channel<int>& c) {
	int total = 0;
	for (int i=0; i<amount-1; i++) {
		total += c.recv();
	}
	std::cout << "[" << std::this_thread::get_id() << "] total is " << total << "\n";
}

  void distanceTransform::sedFiltering(channel &chnl, 
                                        bool useEightSED) const {

    const float fv  = 0.0f;
    const int undef = -2;

    matrix<point> dist(chnl.size());

    int row, 
        col;

    //init
    for(row = 0; row < chnl.rows(); ++row){
      for(col = 0; col < chnl.columns(); ++col){
        if(chnl.at(row, col) == fv)
          dist.at(row, col) = point(0, 0);
        else
          dist.at(row, col) = point(undef, undef);
      }
    }

    if(useEightSED) 
      eightSEDFiltering(chnl, dist);
    else            
      fourSEDFiltering(chnl, dist);

    //set the distances 
    for(row = 0; row < chnl.rows(); ++row)
      for(col = 0; col < chnl.columns(); ++col)
        chnl.at(row, col) = static_cast<float>(dist.at(row, col).distanceSqr(point(0,0)));
  }

void send_as(const actor& from, message_priority prio,
             const channel& to, Ts&&... xs) {
  if (! to) {
    return;
  }
  message_id mid;
  to->enqueue(from.address(),
              prio == message_priority::high ? mid.with_high_priority() : mid,
              make_message(std::forward<Ts>(xs)...), nullptr);
}

  bool hessianFunctor::apply(const channel& src,
                             channel& xx, channel& xy, channel& yy) const {

    bool rc = true;

    const parameters& param = getParameters();
    
    switch (param.kernelType) {
      
      case parameters::Classic:
        //call specialized member functions
        return classicHessian(src,xx,xy,yy);
        break;

      case parameters::Hessian:
        //call spezialized member function for XY
        rc = rc && convXX.apply(src,xx);
        rc = rc && classicXY(src,xy);
        rc = rc && convYY.apply(src,yy);
        break;

      default:
        // not nice but faster than putting all possibilities
        // after all this has been checked in setParameters()
        rc = rc && convXX.apply(src,xx);
        rc = rc && convXY.apply(src,xy);
        rc = rc && convYY.apply(src,yy);
        break;
    }

    if (!rc) {
      xx.clear();
      xy.clear();
      yy.clear();
      appendStatusString(convXX);
      appendStatusString(convXY);
      appendStatusString(convYY);
    }

    return rc;

  };

void local_actor::send_tuple(message_priority prio, const channel& dest,
                             message what) {
  if (!dest) {
    return;
  }
  message_id id;
  if (prio == message_priority::high) {
    id = id.with_high_priority();
  }
  dest->enqueue(address(), id, std::move(what), host());
}

  /*
   * compute the second order.
   */
  bool harrisCorners::getSecondOrder(channel& gx,
                                     channel& gy,
                                     channel& fxy) const {

    const parameters& par = getParameters();

    fxy.resize(gx.size(),false,false);
    gaussKernel2D<float> gk(par.kernelSize,par.variance);
    convolution filter;
    convolution::parameters filterPar;
    filterPar.boundaryType = lti::Constant;
    filterPar.setKernel(gk);
    filter.setParameters(filterPar);

    channel::iterator igx=gx.begin();
    channel::iterator igxend=gx.end();
    channel::iterator igy=gy.begin();
    channel::iterator ifxy=fxy.begin();
    float tx, ty;

    while (igx!=igxend) {
      tx=(*igx);
      ty=(*igy);
      (*igx)=tx*tx;
      (*igy)=ty*ty;
      (*ifxy)=tx*ty;
      ++igx; ++igy; ++ifxy;
    }

    return (filter.apply(gx) && filter.apply(gy) && filter.apply(fxy));
  }

  void distanceTransform::EDT_1D(channel& chnl) const {

    const float undef = -1.0f;  //means any undefined value (distance or pos)
    
    //remember: all foreground pixel are >  0.0f
    //          all background pixel are == 0.0f
    for(int y = 0; y < chnl.rows(); ++y){
      int x, pos = static_cast<int>(undef);
      //first step: forward propagation
      for(x = 0; x < chnl.columns(); ++x){
        if(chnl.at(y, x) == 0.0f){
          //found background pixel
          //now 0.0 means distance to closest background pixel
          pos = x; 
        }
        else if(pos >= 0){
          int tmp = pos - x;
          chnl.at(y, x) = static_cast<float>(tmp * tmp);
        }
        else
          chnl.at(y, x) = undef;
      }
    
      //no background pixel in row => all pixel are set to undef;
      //continue with next row
      if(pos == undef) continue;
      else{
        pos = static_cast<int>(undef);
        for(x = chnl.columns() - 1; x >= 0; --x){
          if(chnl.at(y, x) == 0){
            pos = x; //found fv
          }
          else if(pos != undef){
            int tmp = pos - x;
            tmp *=tmp;
            int ret = static_cast<int>(chnl.at(y, x));
            if(ret > tmp || ret == undef){
              chnl.at(y, x) = static_cast<float>(tmp);
            }
          }
        }
      }
    }
  }

 void distanceTransform::voronoiEDT_2D(channel& chnl, const int j) const {
   int l = -1,
       fi;
   vector<int> g(chnl.rows()),
               h(chnl.rows());
   int x0 = j,
       x1;
 
   for(x1 = 0; x1 < chnl.rows(); ++x1){
     fi = static_cast<int>(chnl.at(x1, x0));
     if(fi >= 0.0f){  //any value below zero is undefined
       while(   l >= 1 
             && removeEDT(g.at(l - 1), g.at(l), fi, h.at(l - 1), h.at(l), x1))
         --l;
       ++l; g.at(l) = fi; h.at(l) = x1;
     }
   }
   if(l == -1) return;
   int ns = l;
   l = 0;
   for(x1 = 0; x1 < chnl.rows(); ++x1){
     int tmp0 = h.at(l) - x1,
         tmp1 = g.at(l) + tmp0 * tmp0,
         tmp2;
   
     while(true){
       if(l < ns){
         tmp2 = (h.at(l + 1) - x1);
         if(tmp1 > g.at(l + 1) + tmp2 * tmp2){
           ++l;
           tmp0 = h.at(l) - x1;
           tmp1 = g.at(l) + tmp0 * tmp0;
         }else break;
       }else break;
     }
       
     chnl.at(x1, x0) = static_cast<float>(tmp1);
   }
 }

 bool cwagmSegmentationEvaluation::segment(const image& img,
                                           const imatrix& prevMask,
                                           imatrix& mask,
                                           channel& certainty) {
   ivector sizes;
   if (!segmenter.apply(img,mask,sizes)) {
     _lti_debug("Error in segmenter: " << segmenter.getStatusString() <<
                std::endl);
     setStatusString(segmenter.getStatusString());
     return false;
   }
   certainty.clear(); // no certainty computation in this kind of functors.
   return true;
 }

  /*
   * find corners with maximal cornerness
   */
  bool harrisCorners::findCornerMaxima(const channel& cornerness,
                                             channel& cornersOnly,
                                             pointList& cornerMax) const {
    if (cornerness.empty()) {
      cornersOnly.clear();
      cornerMax.clear();
      return true;
    }

    const parameters& par = getParameters();

    const float corner = par.cornerValue/255.0f;
    const float noCorner = par.noCornerValue/255.0f;

    localMaxima<float> lmax;
    localMaxima<float>::parameters lmaxPar(par.localMaximaParameters);
    lmaxPar.noMaxValue = noCorner;
    lmaxPar.maxNumber = par.maximumCorners;
    lmax.setParameters(lmaxPar);

    if (lmax.apply(cornerness,cornersOnly,cornerMax)) {
      pointList::iterator it;
      int i;
      for (it=cornerMax.begin(),i=0;
           (it!=cornerMax.end());
           ++it) {
        cornersOnly.at(*it) = corner;
      }

      for (;it!=cornerMax.end();++it) {
        cornersOnly.at(*it) = noCorner;
      }

      return true;
    }
    return false;
  }

bool selector::is_channel_ready(
    const channel & ch, io_direction & direction) const
{
    io_descriptor_type fd;
    io_direction dir;

    ch.get_io_descriptor(fd, dir);

    bool ready_for_reading = false;
    bool ready_for_writing = false;

    if (fd < num_of_descriptors_to_test_)
    {
        if (dir == input || dir == inout)
        {
            if (FD_ISSET(fd, &read_set_) != 0)
            {
                ready_for_reading = true;
            }
        }

        if (dir == output || dir == inout)
        {
            if (FD_ISSET(fd, &write_set_) != 0)
            {
                ready_for_writing = true;
            }
        }
    }

    if (ready_for_reading && ready_for_writing)
    {
        direction = inout;
    }
    else if (ready_for_reading)
    {
        direction = input;
    }
    else if (ready_for_writing)
    {
        direction = output;
    }

    return ready_for_reading || ready_for_writing;
}

  // split image into float channels
  bool splitImageToxyY::apply(const image& img,
                              channel& c1,
                              channel& c2,
                              channel& c3) const {
    point p;             // coordinates
    rgbPixel pix;          // single Pixel Element in RGB-values...
    float Y;               // channels
    float X, XYZ;          // help variables

    // make the channels size of source image...
    c1.resize(img.rows(),img.columns(),0,false,false);
    c2.resize(img.rows(),img.columns(),0,false,false);
    c3.resize(img.rows(),img.columns(),0,false,false);

    for (p.y=0;p.y<img.rows();p.y++)
      for (p.x=0;p.x<img.columns();p.x++) {
        // take pixel at position p
        pix = img.at(p);

  // see Gonzales & Woods for explanation of magic numbers
        X   = (((float)(pix.getRed())) *0.412453f +
               ((float)(pix.getGreen())) *0.357580f +
               ((float)(pix.getBlue())) *0.180423f)/255.0f;   // x
        Y   = (((float)(pix.getRed())) *0.212671f +
               ((float)(pix.getGreen())) *0.715160f +
               ((float)(pix.getBlue())) *0.072169f)/255.0f;   // y
        XYZ = (((float)(pix.getRed())) *0.644458f +
               ((float)(pix.getGreen())) *1.191933f +
               ((float)(pix.getBlue())) *1.202819f)/255.0f;   // Y

        if (XYZ>0.0f) {
          c1.at(p) = X/XYZ;  // x
          c2.at(p) = Y/XYZ;  // y
        }
        else {
          c1.at(p) = 0;   // x
          c2.at(p) = 0;   // y
        }
        c3.at(p) = Y;     // Y
      } // loop
    return true;
  }

void local_actor::send_tuple(message_priority prio, const channel& dest, any_tuple what) {
    if (!dest) return;
    message_id id;
    if (prio == message_priority::high) id = id.with_high_priority();
    dest->enqueue({address(), dest, id}, std::move(what), m_host);
}

void
make_frames(const message &msg, OutputIterator out)
{
	const channel ch = msg.get_channel();
	switch (msg.get_type()) {
	case MSG:
		{
			msg_frame MSG;
			MSG.channel = ch.get_number();
			MSG.message = ch.get_message_number();
			MSG.more = false;
			MSG.sequence = ch.get_sequence_number();
			MSG.payload = msg.get_payload();
			*out++ = MSG;
		}
		break;
	case RPY:
		{
			rpy_frame RPY;
			RPY.channel = ch.get_number();
			RPY.message = ch.get_message_number();
			RPY.more = false;
			RPY.sequence = ch.get_sequence_number();
			RPY.payload = msg.get_payload();
			*out++ = RPY;
		}
		break;
	case ANS:
		{
			ans_frame ANS;
			ANS.channel = ch.get_number();
			ANS.message = ch.get_message_number();
			ANS.more = false;
			ANS.sequence = ch.get_sequence_number();
			ANS.payload = msg.get_payload();
			ANS.answer = ch.get_answer_number();
			*out++ = ANS;
		}
		break;
	case ERR:
		{
			err_frame ERR;
			ERR.channel = ch.get_number();
			ERR.message = ch.get_message_number();
			ERR.more = false;
			ERR.sequence = ch.get_sequence_number();
			ERR.payload = msg.get_payload();
			*out++ = ERR;
		}
		break;
	case NUL:
		{
			nul_frame NUL;
			NUL.channel = ch.get_number();
			NUL.message = ch.get_message_number();
			NUL.more = false;
			NUL.sequence = ch.get_sequence_number();
			NUL.payload = msg.get_payload();
			*out++ = NUL;
		}
		break;
	case SEQ:
	default:
		std::cerr << "The message has an invalid frame type.\n";
		assert(false);
		/// \todo throw ?
	}
}

 void fft::inverse(const channel& input, channel& output, uint16_t points) {
     plan &p = prepare(points, false);
     memcpy(p.input, input.data(), sizeof(fftw_complex)*points);
     fftw_execute(p.plan);
     memcpy(output.data(), p.output, sizeof(fftw_complex)*points);
 }

  void distanceTransform::iteration4back(channel& chnl) const {
    int x,y,z;

    const int rowm1 = chnl.lastRow();
    const int colm1 = chnl.lastColumn();

    static const int deltax[6] = {1,0,-1, 0, 1,0};
    static const int deltay[6] = {0,1, 0,-1, 0,1};

    float minimum;

    // bottom-right
    if (chnl.at(rowm1,colm1) > 0) {
      chnl.at(rowm1,colm1) = 1.0f+min(chnl.at(rowm1,colm1-1),
                                      chnl.at(rowm1-1,colm1));
    }

    // bottom
    y = rowm1;
    for (x=colm1-1;x>0;--x) {
      if (chnl.at(y,x) > 0) {
        // valid pixel, let's check for the distance value
        minimum = chnl.at(y+deltay[2],x+deltax[2]);

        for (z=3;z<5;++z) {
          minimum = min(minimum,chnl.at(y+deltay[z],x+deltax[z]));
        }

        chnl.at(y,x) = minimum+1.0f;
      }
    }

    // bottom-left
    if (chnl.at(rowm1,0) > 0) {
      chnl.at(rowm1,0) = 1.0f+min(chnl.at(rowm1,1),
                                  chnl.at(rowm1-1,0));
    }

    // inner of the image only...
    for (y=rowm1-1;y>0;--y) {
      x = colm1;
      // right border
      if (chnl.at(y,x) > 0) {
        minimum = chnl.at(y+deltay[1],x+deltax[1]);

        for (z=2;z<4;++z) {
          minimum = min(minimum,chnl.at(y+deltay[z],x+deltax[z]));
        }

        chnl.at(y,x) = minimum+1.0f;
      }

      // inner of the line
      for (x=colm1-1;x>0;--x) {
        if (chnl.at(y,x) > 0) {
          // valid pixel, let's check for the distance value
          minimum = chnl.at(y+deltay[0],x+deltax[0]);

          for (z=1;z<4;++z) {
            minimum = min(minimum,chnl.at(y+deltay[z],x+deltax[z]));
          }

          chnl.at(y,x) = minimum+1.0f;
        }
      }

      // left border
      if (chnl.at(y,x) > 0) {
        minimum = chnl.at(y+deltay[3],x+deltax[3]);

        for (z=0;z<2;++z) {
          minimum = min(minimum,chnl.at(y+deltay[z],x+deltax[z]));
        }

        chnl.at(y,x) = minimum+1.0f;
      }
    }

    // upper-right
    if (chnl.at(0,colm1) > 0) {
      chnl.at(0,colm1) = 1.0f+min(chnl.at(0,colm1-1),
                                  chnl.at(1,colm1));
    }

    // top
    for (x=colm1-1;x>0;--x) {
      if (chnl.at(y,x) > 0) {
        // valid pixel, let's check for the distance value
        minimum = chnl.at(y+deltay[0],x+deltax[0]);

        for (z=1;z<3;++z) {
          minimum = min(minimum,chnl.at(y+deltay[z],x+deltax[z]));
        }

        chnl.at(y,x) = minimum+1.0f;
      }
    }

    // upper-left
    if (chnl.at(0,0) > 0) {
//.........这里部分代码省略.........

  void distanceTransform::fourSEDFiltering(channel &chnl, 
                                            matrix<point> &dist) const {
    
    //create all masks
    point mask0[] = { point(-1, 0) };
    sedMask l(mask0, 1);

    point mask1[] = { point(0, -1) };
    sedMask u(mask1, 1);
    
    point mask2[] = { point(0, -1), point(-1, 0) };
    sedMask ul(mask2, 2);

    point mask3[] = { point(1, 0) };
    sedMask r(mask3, 1);

    point mask4[] = { point(0, 1) };
    sedMask d(mask4, 1);
    
    point mask5[] = { point(1, 0), point(0, 1) };
    sedMask rd(mask5, 2);

    
    point pos;
    pos.y = 0;
    
    //first line
    for(pos.x = 1; pos.x < chnl.columns(); ++pos.x)
      l.filter(dist, pos);
    for(pos.x = chnl.columns() - 2; pos.x >= 0; --pos.x)
      r.filter(dist, pos);

    for(pos.y = 1; pos.y < chnl.rows(); ++pos.y){
      
      pos.x = 0;
      //step down
      u.filter(dist, pos);

      for(pos.x = 1; pos.x < chnl.columns(); ++pos.x)
        ul.filter(dist, pos);
      for(pos.x = chnl.columns() - 2; pos.x >= 0; --pos.x)
        r.filter(dist, pos);
    }

    //and now filter the picture in the opposite direction
    pos.y = chnl.rows() - 1;

    //last line
    for(pos.x = chnl.columns() - 2; pos.x >= 0; --pos.x)
      r.filter(dist, pos);
    for(pos.x = 1; pos.x < chnl.columns(); ++pos.x)
      l.filter(dist, pos);

    for(pos.y = chnl.rows() - 2; pos.y >= 0; --pos.y){
      
      pos.x = chnl.columns() - 1;     
      //step up
      d.filter(dist, pos);

      for(pos.x = chnl.columns() - 2; pos.x >= 0; --pos.x)
        rd.filter(dist, pos);
      for(pos.x = 1; pos.x < chnl.columns(); ++pos.x)
        l.filter(dist, pos);
    }
  }

void send_randoms(int amount, channel<int>& c) {
	for (int i=0; i<amount; i++) {
		c.send(1);
	}
}