// det_mov.cpp : Defines the entry point for the console application.
//

#include "stdafx.h"
#include <cv.h>
#include <cvaux.h>
#include <highgui.h>
#include <stdio.h>
#include <math.h>

//defines the initial value of the thresholds
int thresholdh = 0;
int thresholds = 0;
int thresholdv = 50;

int _tmain(int argc, _TCHAR* argv[])
{

	// Capture from a camera:
	//CvCapture* capture = cvCreateCameraCapture(-1); // -1 for any camera

	// Capture from a file:
    CvCapture* capture = cvCaptureFromAVI("intelligentroom_raw.AVI");
	//CvCapture* capture = cvCaptureFromAVI("highwayI_raw.AVI");
	//CvCapture* capture = cvCaptureFromAVI("PetsD1TeC1.avi");

    IplImage* img = 0;
	IplImage* img_seg = 0;

	//creates the windows
	cvNamedWindow( "img_wnd_seg", 0 );
	cvNamedWindow( "img_wnd", 0 );

	//verifies if the video has a minimum number of frames
    int numFrames = (int) cvGetCaptureProperty(capture,CV_CAP_PROP_FRAME_COUNT);
	if (numFrames < 100)
	{
		printf("The video must have more than 100 frames\n\7");
		exit(0);
	}

	//images initialization
	IplImage* img_hsv=0;
	IplImage* img_color=0;

	IplImage* img_hsvA=0;
	IplImage* img_h=0;
	IplImage* img_s=0;
	IplImage* img_v=0;
	IplImage* img_hA=0;
	IplImage* img_sA=0;
	IplImage* img_vA=0;

	if(cvGrabFrame(capture))
	{
		img_color = cvCreateImage( cvGetSize( cvRetrieveFrame(capture) ), IPL_DEPTH_8U, 3 ); 
		img_hsv = cvCreateImage( cvGetSize( img_color ), IPL_DEPTH_8U, 3 );
		img_hsvA = cvCreateImage( cvGetSize( img_color ), IPL_DEPTH_8U, 3 );
	    img_h = cvCreateImage( cvGetSize( img_hsv ), IPL_DEPTH_8U, 1 ); //Espaço de 0 a 180
	    img_s = cvCreateImage( cvGetSize( img_hsv ), IPL_DEPTH_8U, 1 ); //Espaço de 0 a 255
	    img_v = cvCreateImage( cvGetSize( img_hsv ), IPL_DEPTH_8U, 1 ); //Espaço de 0 a 255
	    img_hA = cvCreateImage( cvGetSize( img_hsv ), IPL_DEPTH_8U, 1 ); //Espaço de 0 a 180
	    img_sA = cvCreateImage( cvGetSize( img_hsv ), IPL_DEPTH_8U, 1 ); //Espaço de 0 a 255
	    img_vA = cvCreateImage( cvGetSize( img_hsv ), IPL_DEPTH_8U, 1 ); //Espaço de 0 a 255
	}

	//defines the number of frames used to train the background
	int numframesT=20;

	/* Training the background */
    for (int i=0; i<numframesT;i++ )
    {             
		if(cvGrabFrame(capture))
		{
			//captures the image from the video
			img_color = cvRetrieveFrame(capture);

			//converts from rgb to hsv
		    cvCvtColor( img_color, img_hsv, CV_BGR2HSV );
			
			//creates the hsv channels from a HSV image
		    cvSplit( img_hsv, img_h, img_s, img_v, 0 );
			
			if (i==0)
			{
				//sets the backgroung as the first frame (*weight 1.0/numframesT) 
				cvConvertScale(img_h, img_hA, 1.0/numframesT,0);
				cvConvertScale(img_s, img_sA, 1.0/numframesT,0);
				cvConvertScale(img_v, img_vA, 1.0/numframesT,0);
			}
			else
			{
				//adds this frame to the estimate background 
				cvConvertScale(img_h, img_h, 1.0/numframesT,0);
				cvConvertScale(img_s, img_s, 1.0/numframesT,0);
				cvConvertScale(img_v, img_v, 1.0/numframesT,0);

				cvAdd(img_h,img_hA,img_hA);
				cvAdd(img_s,img_sA,img_sA);
				cvAdd(img_v,img_vA,img_vA);
			}
			
		}
		else
		{
			printf("Could not grab a frame\n\7");
		    exit(0);
		}
    }

	//merge the hsv image
	cvMerge( img_hA, img_sA, img_vA, 0,img_hsvA );

	//creates the threshold trackbars
    cvCreateTrackbar( "Threshold-H", "img_wnd_seg", &thresholdh, 255, NULL );

	cvCreateTrackbar( "Threshold-S", "img_wnd_seg", &thresholds, 255, NULL );

	cvCreateTrackbar( "Threshold-V", "img_wnd_seg", &thresholdv, 255, NULL );

	//Initialization of scalar values
	CvScalar s;
	CvScalar sT;
	CvScalar sIn;
	CvScalar sOut;
	
    sIn.val[0]=255;
	sIn.val[1]=255;
    sIn.val[2]=255;

    sOut.val[0]=0;
	sOut.val[1]=0;
    sOut.val[2]=0;

	
	//creates an auxiliary image for contours detection
	IplImage* img_seg2=cvCreateImage( cvGetSize( img_color ), 8, 1 );

	//filters the backgroung image with a 3x3 median filter
	//cvSmooth( img_hsvA, img_hsvA, CV_MEDIAN, 3, 3, 0, 0);

    while (cvGrabFrame(capture))

    {    
		//capture the image
		img_color = cvRetrieveFrame(capture); 

		//create the image to receive the segmentation
		img_seg = cvCreateImage( cvGetSize( img_color ), IPL_DEPTH_8U, 3 );

		//filters the input image with a 3x3 median filter
		//cvSmooth( img_color, img_color, CV_MEDIAN, 3, 3, 0, 0);

		//conversion to HSV space color
		cvCvtColor( img_color, img_hsv, CV_BGR2HSV );

		//shows the input image
		cvShowImage( "img_wnd", img_color );

		//segments the image acording to the three defined thresholds, and the estimated background
		for( int w = 0; w < img_color->width; w++ )
		{   
		  for( int h = 0; h < img_color->height; h++ )
		  {
			  sT=cvGet2D(img_hsvA,h,w); // get the (i,j) pixel value
			  s=cvGet2D(img_hsv,h,w); // get the (i,j) pixel value

			  if ((abs(s.val[0]-sT.val[0])>thresholdh) && (abs(s.val[1]-sT.val[1])>thresholds) &&
				  (abs(s.val[2]-sT.val[2])>thresholdv))   
			  {
				cvSet2D(img_seg,h,w,sIn);
			  }
			  else
			  {
				cvSet2D(img_seg,h,w,sOut);
			  }
		  }
		}

		/* morphologic operations of opening and closing to enhance the result */

		cvDilate( img_seg, img_seg, cvCreateStructuringElementEx( 9, 9, 4, 4, CV_SHAPE_ELLIPSE), 1 );
		cvErode( img_seg, img_seg, cvCreateStructuringElementEx( 9, 9, 4, 4, CV_SHAPE_ELLIPSE), 1 );

		cvErode( img_seg, img_seg, cvCreateStructuringElementEx( 3, 3, 1, 1, CV_SHAPE_ELLIPSE), 1 );
		cvDilate( img_seg, img_seg, cvCreateStructuringElementEx( 3, 3, 1, 1, CV_SHAPE_ELLIPSE), 1 );


		/* Find the contours */

		// image conversion from rgb to grayscale
		cvCvtColor( img_seg, img_seg2, CV_BGR2GRAY );

		// image thresholding to create a binary image
		cvThreshold( img_seg2, img_seg2, 1, 255, CV_THRESH_BINARY );

		// find the contours
        CvMemStorage* storage = cvCreateMemStorage(0);
        CvSeq* contour = 0;
        cvFindContours( img_seg2, storage, &contour, sizeof(CvContour), CV_RETR_CCOMP, CV_CHAIN_APPROX_SIMPLE );
        for( ; contour != 0; contour = contour->h_next )
        {
			CvScalar color = CV_RGB( (double)rand()/RAND_MAX*255, (double)rand()/RAND_MAX*255, (double)rand()/RAND_MAX*255);
            /* replace CV_FILLED with 1 to see the outlines */
            cvDrawContours( img_seg, contour, color, color, 1, 1, 8 );
        }

		//sets the correct origin so the image doesn't look wrong
		img_seg->origin = img_color->origin;

		//show the segmented image
		cvShowImage( "img_wnd_seg", img_seg);
		
		//defines either continuous mode/stepwise mode
		//int keyCode = cvWaitKey( );
	    if( cvWaitKey(5) >= 0 )
		  break;
    }

  // Release the capture device:

  cvReleaseCapture(&capture);

  /* Destroy windows */
  cvDestroyWindow( "img_wnd" );
  cvDestroyWindow( "img_wnd_seg" );

  /* Destroy images */
  cvReleaseImage( &img );
  cvReleaseImage( &img_seg );
  cvReleaseImage( &img_seg2 );
  cvReleaseImage( &img_hsv );
  //cvReleaseImage( &img_color );
  cvReleaseImage( &img_hsvA );
  cvReleaseImage( &img_h );
  cvReleaseImage( &img_s );
  cvReleaseImage( &img_v );
  cvReleaseImage( &img_hA );
  cvReleaseImage( &img_sA );
  cvReleaseImage( &img_vA );


	return 0;
}