# imports
from collections import deque
import os, sys, time
import numpy as np
import cv2

# init camera
camera = cv2.VideoCapture(0)  ### <<<=== SET THE CORRECT CAMERA NUMBER
camera.set(3, 1280)  # set frame width
camera.set(4, 720)  # set frame height
time.sleep(1)
print(camera.get(3), camera.get(4))

# master frame
master = None

pts = deque(maxlen=10)
(dX, dY) = (0, 0)
direction = ""

while 1:

    # grab a frame
    (grabbed, frame0) = camera.read()

    # end of feed
    if not grabbed:
        break

    # gray frame
    frame1 = cv2.cvtColor(frame0, cv2.COLOR_BGR2GRAY)

    # blur frame
    frame2 = cv2.GaussianBlur(frame1, (15, 15), 0)

    # initialize master
    if master is None:
        master = frame2
        continue

    # delta frame
    frame3 = cv2.absdiff(master, frame2)

    # threshold frame
    frame4 = cv2.threshold(frame3, 15, 255, cv2.THRESH_BINARY)[1]

    # dilate the thresholded image to fill in holes
    kernel = np.ones((2, 2), np.uint8)
    frame5 = cv2.erode(frame4, kernel, iterations=4)
    frame5 = cv2.dilate(frame5, kernel, iterations=8)

    # find contours on thresholded image
    nada, contours, nada = cv2.findContours(frame5.copy(), cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)

    # make coutour frame
    frame6 = frame0.copy()

    # target contours
    targets = []

    # loop over the contours
    for c in contours:

        # if the contour is too small, ignore it
        if cv2.contourArea(c) < 500:
            continue

        # contour data
        M = cv2.moments(c)
        # print( M )
        cx = int(M['m10'] / M['m00'])
        cy = int(M['m01'] / M['m00'])
        x, y, w, h = cv2.boundingRect(c)
        rx = x + int(w / 2)
        ry = y + int(h / 2)
        ca = cv2.contourArea(c)

        # plot contours
        cv2.drawContours(frame6, [c], 0, (0, 0, 255), 2)
        cv2.rectangle(frame6, (x, y), (x + w, y + h), (0, 255, 0), 2)
        cv2.circle(frame6, (cx, cy), 2, (0, 0, 255), 2)
        cv2.circle(frame6, (rx, ry), 2, (0, 255, 0), 2)
        # save target contours
        targets.append((cx, cy, ca))

    # make target
    mx = 0
    my = 0
    if targets:

        # average centroid adjusted for contour size
        # area = 0
        # for x,y,a in targets:
        #    mx += x*a
        #    my += y*a
        #    area += a
        # mx = int(round(mx/area,0))
        # my = int(round(my/area,0))

        # centroid of largest contour
        area = 0
        for x, y, a in targets:
            if a > area:
                mx = x
                my = y
                area = a

    # plot target
    tr = 20
    frame7 = frame0.copy()
    if targets:
        cv2.circle(frame7, (mx, my), tr, (0, 0, 255, 0), 2)
        cv2.line(frame7, (mx - tr, my), (mx + tr, my), (0, 0, 255, 0), 2)
        cv2.line(frame7, (mx, my - tr), (mx, my + tr), (0, 0, 255, 0), 2)


        pts.appendleft((mx, my))


    # loop over the set of tracked points
    for i in np.arange(1, len(pts)):
        # if either of the tracked points are None, ignore
        # them
        if pts[i - 1] is None or pts[i] is None:
            continue

        # check to see if enough points have been accumulated in
        # the buffer
        if len(pts) >= 10 and i == 1 and pts[-10] is not None:
            # compute the difference between the x and y
            # coordinates and re-initialize the direction
            # text variables
            dX = pts[-10][0] - pts[i][0]
            dY = pts[-10][1] - pts[i][1]
            (dirX, dirY) = ("", "")

            # ensure there is significant movement in the
            # x-direction
            if np.abs(dX) > 20:
                dirX = "East" if np.sign(dX) == 1 else "West"

            # ensure there is significant movement in the
            # y-direction
            if np.abs(dY) > 20:
                dirY = "North" if np.sign(dY) == 1 else "South"

            # handle when both directions are non-empty
            if dirX != "" and dirY != "":
                direction = "{}-{}".format(dirY, dirX)

            # otherwise, only one direction is non-empty
            else:
                direction = dirX if dirX != "" else dirY

    print(direction, 'direction')
    cv2.putText(frame7, direction, (10, 30), cv2.FONT_HERSHEY_SIMPLEX, 0.65, (0, 0, 255), 3)

    # update master
    master = frame2

    cv2.imshow("Frame7: Target", frame7)

    # key delay and action
    key = cv2.waitKey(1) & 0xFF
    if key == ord('q'):
        break
    elif key != 255:
        print('key:', [chr(key)])

# release camera
camera.release()

# close all windows
cv2.destroyAllWindows()