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  //                          License Agreement
  //                For Open Source Computer Vision Library
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  #ifndef OPENCV_STITCHING_UTIL_INL_HPP
  #define OPENCV_STITCHING_UTIL_INL_HPP
  
  #include <queue>
  #include "opencv2/core.hpp"
  #include "util.hpp" // Make your IDE see declarations
  
  //! @cond IGNORED
  
  namespace cv {
  namespace detail {
  
  template <typename B>
  B Graph::forEach(B body) const
  {
      for (int i = 0; i < numVertices(); ++i)
      {
          std::list<GraphEdge>::const_iterator edge = edges_[i].begin();
          for (; edge != edges_[i].end(); ++edge)
              body(*edge);
      }
      return body;
  }
  
  
  template <typename B>
  B Graph::walkBreadthFirst(int from, B body) const
  {
      std::vector<bool> was(numVertices(), false);
      std::queue<int> vertices;
  
      was[from] = true;
      vertices.push(from);
  
      while (!vertices.empty())
      {
          int vertex = vertices.front();
          vertices.pop();
  
          std::list<GraphEdge>::const_iterator edge = edges_[vertex].begin();
          for (; edge != edges_[vertex].end(); ++edge)
          {
              if (!was[edge->to])
              {
                  body(*edge);
                  was[edge->to] = true;
                  vertices.push(edge->to);
              }
          }
      }
  
      return body;
  }
  
  
  //////////////////////////////////////////////////////////////////////////////
  // Some auxiliary math functions
  
  static inline
  float normL2(const Point3f& a)
  {
      return a.x * a.x + a.y * a.y + a.z * a.z;
  }
  
  
  static inline
  float normL2(const Point3f& a, const Point3f& b)
  {
      return normL2(a - b);
  }
  
  
  static inline
  double normL2sq(const Mat &r)
  {
      return r.dot(r);
  }
  
  
  static inline int sqr(int x) { return x * x; }
  static inline float sqr(float x) { return x * x; }
  static inline double sqr(double x) { return x * x; }
  
  } // namespace detail
  } // namespace cv
  
  //! @endcond
  
  #endif // OPENCV_STITCHING_UTIL_INL_HPP
  