import cv2
import numpy as np

# Import helper functions
from Utility import *
helperFunction = Utility()


# Create a camera object
captureImage = cv2.VideoCapture(0)

# Resize the camera resolution to 640x480px (480p) for faster processing time
helperFunction.resizeWindow(captureImage, 640, 480)

# Create HSV filter
HSVLow = np.array([15, 105, 216])
HSVHigh = np.array([44, 250, 255])

while True:
    # Read the captured frames
    result, frame = captureImage.read()

     # Apply a blur to the frame to reduce some of the sharpnesse
    frame = cv2.GaussianBlur(frame,(5,5),0)

    # TODO - Image Processing Steps Go Here
    # YOUR CODE
    convertedImageToHSV = cv2.cvtColor(frame, cv2.COLOR_BGR2HSV)

    # Create the filter mask
    mask = cv2.inRange(convertedImageToHSV, HSVLow, HSVHigh)

    # Morphological Operation
    # Create a block of filled with black pixel.
    kernelOpen = np.ones((5,5), np.uint8)
    kernelClose = np.ones((20,20), np.uint8)

    maskOpen = cv2.morphologyEx(mask, cv2.MORPH_OPEN, kernelOpen)
    maskClose = cv2.morphologyEx(maskOpen, cv2.MORPH_CLOSE, kernelClose)

    # Set Primary Filter
    primaryFilter = maskClose

    # Draw Contour around filter object
    image, contours, h = cv2.findContours(primaryFilter.copy(), cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)
    cv2.drawContours(frame, contours, -1, (255,0,0), 3)

    for i in range(len(contours)):
        x,y,w,h=cv2.boundingRect(contours[i])
        cv2.rectangle(frame,(x,y),(x+w,y+h),(0,0,255), 2)
        cv2.putText(frame, str(i+1), (x,y+h), cv2.FONT_HERSHEY_SIMPLEX, 1.9, (0,255,255))

    # Show the image frame in a window name "Video Feed"
    cv2.imshow("RGB Original Video Feed", frame)
    cv2.imshow("HSV Feed", convertedImageToHSV)
    cv2.imshow("Color Mask Feed", mask)
    cv2.imshow("Morphological Closing", maskClose)
    cv2.imshow("Morphological Opening", maskOpen)

    # This help us exist the video when hit Esc key
    if cv2.waitKey(10) == 27:
        break

# Clean up procedure to prevent memory leaking
cv2.destroyAllWindows
captureImage.release()