#include "stdafx.h"
#include <iostream>
#include "opencv2/opencv.hpp"
#include "opencv2/objdetect/objdetect.hpp"
#include "opencv2/highgui/highgui.hpp"
#include "opencv2/imgproc/imgproc.hpp"
#include "opencv2/cudaobjdetect.hpp"
#include "opencv2/cudaimgproc.hpp"
#include "opencv2/cudawarping.hpp"

using namespace std;
using namespace cv;

void main()
{
    Ptr<cuda::HOG> d_hog = cuda::HOG::create(Size(64, 128));
    d_hog->setSVMDetector(d_hog->getDefaultPeopleDetector());
    Mat img;
    VideoCapture cap("Source.mp4");
    cap >> img;
    if (img.empty())
        return;
    namedWindow("People motion tracking", 0);
    unsigned long AAtime = 0, BBtime = 0;
    double scale = float(1080) / img.cols;
    cuda::GpuMat GpuImg, rGpuImg;
    GpuImg.upload(img);
    cuda::resize(GpuImg, rGpuImg, Size(GpuImg.cols * scale, GpuImg.rows * scale));
    Mat rInimg;
    rGpuImg.download(rInimg);
    while (true)
    {
        AAtime = getTickCount();
        cap >> img;
        if (img.empty())
            break;
        GpuImg.upload(img);
        cuda::resize(GpuImg, rGpuImg, Size(GpuImg.cols * scale, GpuImg.rows * scale));
        rGpuImg.download(rInimg);
        cuda::cvtColor(rGpuImg, rGpuImg, CV_BGR2GRAY);
        vector<Point> found_locations;
        d_hog->detect(rGpuImg, found_locations);
        std::vector<Rect> found_locations_rect;
        d_hog->detectMultiScale(rGpuImg, found_locations_rect);
        for (int i = 0; i < found_locations_rect.size(); ++i)
        {
            rectangle(rInimg, found_locations_rect[i], CvScalar(0, 0, 255), 1);
        }
        imshow("People motion tracking", rInimg);
        waitKey(10);
        BBtime = getTickCount();
        double s_time = (BBtime - AAtime) / getTickFrequency();
        double fps_time = 1 / s_time;
        printf("%.2lf sec / %.2lf fps \n", s_time, fps_time);
    }
}