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

//#include "stdafx.h"

/*
int _tmain(int argc, _TCHAR* argv[])
{
	return 0;
}
*/

#ifdef _CH_
#pragma package <opencv>
#endif

#define CV_NO_BACKWARD_COMPATIBILITY

#ifndef _EiC
#include "cv.h"
#include "highgui.h"
#include <stdio.h>
#include <ctype.h>
#endif


// Two windows, one to diaplay the output lines
#define GLOW_WINDOW_NAME "Glow"

// and one for the input image
#define INPUT_WINDOW_NAME "Input"

#define CONTROL_WINDOW_NAME GLOW_WINDOW_NAME

IplImage *image=0, *smoothImage = 0, *edgeImage = 0, *cannyImage = 0, *greyImage = 0;

// Our configuration parameters, which are adjusted by the sliders

// Initial blurring of the iamge, to get rid of uninteresting details
int smoothRadius = 2;

// Parameters to the Canny edge-finder
int lowThresh = 10;
int highThresh = 100;

// Shortest vector that we want to keep (as the short vectors are mostly noise we don't care about)
int minLength = 100;

// Apply straightening to our vectors to reduce the storage requirement in the projector
int straightener = 10;



void writeContours( CvSeq* contours );


int main( int argc, char** argv )
{
    CvCapture* capture = 0;

	int doWrite = 0;

	int levels = 3;
	CvSeq* contours = 0;
	//CvSeq* filteredContours = 0;

	CvMemStorage* contourStorage = cvCreateMemStorage(0);

	//filteredContours = cvCreateSeq( 0, sizeof(CvSeq), sizeof(CvSeq), storage );

    if( argc == 1 || (argc == 2 && strlen(argv[1]) == 1 && isdigit(argv[1][0])))
        capture = cvCaptureFromCAM( argc == 2 ? argv[1][0] - '0' : 0 );
    else if( argc == 2 )
        capture = cvCaptureFromAVI( argv[1] );

    if( !capture )
    {
        fprintf(stderr,"Could not initialize capturing...\n");
        return -1;
    }

    printf( "Hot keys: \n"
        "\tESC - quit the program\n"
        "\tSpacebar - write contours\n"
        );

    cvNamedWindow( GLOW_WINDOW_NAME, 1 );
    cvNamedWindow( INPUT_WINDOW_NAME, 1 );
    //cvSetMouseCallback( INPUT_WINDOW_NAME, on_mouse, 0 );
    cvCreateTrackbar( "Blur", CONTROL_WINDOW_NAME, &smoothRadius, 10, 0 );
    cvCreateTrackbar( "Canny low", CONTROL_WINDOW_NAME, &lowThresh, 256, 0 );
    cvCreateTrackbar( "Canny high", CONTROL_WINDOW_NAME, &highThresh, 256, 0 );
    cvCreateTrackbar( "Straighten", CONTROL_WINDOW_NAME, &straightener, 50, 0 );
    cvCreateTrackbar( "Min length", CONTROL_WINDOW_NAME, &minLength, 256, 0 );

    for(;;)
    {

        IplImage* frame = 0;
        int c;

        frame = cvQueryFrame( capture );
        if( !frame )
            break;

        if( !image )
        {
            /* allocate all the buffers */
            image = cvCreateImage( cvGetSize(frame), 8, 3 );
            image->origin = frame->origin;

			greyImage = cvCreateImage( cvGetSize(frame), 8, 1 );
            greyImage->origin = frame->origin;

			smoothImage = cvCreateImage( cvGetSize(frame), 8, 1 );
            smoothImage->origin = frame->origin;

			cannyImage = cvCreateImage( cvGetSize(frame), 8, 1 );
            cannyImage->origin = frame->origin;

			edgeImage = cvCreateImage( cvGetSize(frame), 8, 1 );
            edgeImage->origin = frame->origin;

        }


        cvCopy( frame, image, 0 );
        //cvCvtColor( image, hsv, CV_BGR2HSV );

		// copy input frame to a greyscale iamge
        cvCvtColor( frame, greyImage, CV_BGR2GRAY );

		if( smoothRadius > 0 )
		{
			int smoothWidth = (smoothRadius - 1 ) * 2 + 1;
			cvSmooth( greyImage, smoothImage, CV_GAUSSIAN, smoothWidth, smoothWidth );
		}
		else
		{
			// no smooth, so just copy
			cvCopy( greyImage, smoothImage, 0 );
		}

		//int g_thresh = 100;
		// threshold the image - a cheap alternative to canny
		//cvThreshold( greyImage, cannyImage, g_thresh, 255, CV_THRESH_BINARY );

		// Apply Canny edge-find
		int aperture = 3;
		cvCanny( smoothImage, cannyImage, lowThresh, highThresh, aperture );



		CvContourScanner scanner = cvStartFindContours(cannyImage, contourStorage, sizeof(CvContour),
			CV_RETR_LIST/*CV_RETR_EXTERNAL*/,
			CV_CHAIN_APPROX_SIMPLE);

		CvSeq* contour;

		while ((contour = cvFindNextContour(scanner)) != NULL)
		{
			double len = cvContourPerimeter(contour);

			if (len < minLength)
			{
				// contour too short - throw it away
				cvSubstituteContour(scanner, NULL);
			}
			else
			{
				// contour is long enough, so keep it
				// but apply some straightening to reduce the amount of storage we need to draw it with our projector

				CvSeq* c_new = cvApproxPoly(contour, sizeof(CvContour), contourStorage, CV_POLY_APPROX_DP, straightener, 0);

				cvSubstituteContour(scanner, c_new);
			}
		}

		contours = cvEndFindContours(&scanner);

		// clear our output image
		cvSet(edgeImage, cvScalar(0));

		// draw the finished set of contours into the output image
		cvDrawContours(
					edgeImage,
					contours,
					cvScalarAll(255),
					cvScalarAll(255),
					100
					);

		if( doWrite != 0)
		{
			writeContours( contours );
			doWrite = 0;
		}

		//cvClearSeq( contours );  does not return the memory used by the contours! Need to clear contourStorage instead
		cvClearMemStorage(contourStorage);

		// Show our output image
		cvShowImage( GLOW_WINDOW_NAME, edgeImage );

		// Show the input image for reference
        cvShowImage( INPUT_WINDOW_NAME, image );



        c = cvWaitKey(10);
        if( (char) c == 27 )  // Hit Esc to quit the app
            break;
        switch( (char) c )
        {
        case ' ': // hit space to write a contour list
			doWrite = 1;
			break;

        case 'b':
            //backproject_mode ^= 1;
            break;
        case 'c':
            //track_object = 0;
            //cvZero( histimg );
            break;
        default:
            ;
        }

    }

    cvReleaseCapture( &capture );
    cvDestroyWindow(INPUT_WINDOW_NAME);
    cvDestroyWindow(GLOW_WINDOW_NAME);

    cvReleaseMemStorage( &contourStorage );

    return 0;
}


void writeContours( CvSeq* contours )
{
	printf("%d contours:\n", contours->total );

	// loop over all the contours
	for( CvSeq* c=contours; c!=NULL; c=c->h_next )
	{
		CvSeqReader reader;
		cvStartReadSeq(c, &reader);
		const int points = c->total;

		//Each contour is a series of points:
		printf("    %d points:\n", points );
		for (int point = 0; point < points; ++point)
		{
			CvPoint p;
			CV_READ_SEQ_ELEM(p, reader);
			// Do stuff with p

			printf("      (%d,%d)\n", p.x, p.y );

		}


	}
}



//unused

//*hsv = 0, *hue = 0, *mask = 0, *backproject = 0, *histimg = 0;
//CvHistogram *hist = 0;
/*
int backproject_mode = 0;
int select_object = 0;
int track_object = 0;

CvPoint origin;
CvRect selection;
CvRect track_window;
CvBox2D track_box;
CvConnectedComp track_comp;
int hdims = 16;
float hranges_arr[] = {0,180};
float* hranges = hranges_arr;
int vmin = 10, vmax = 256, smin = 30;
*/

/*
void on_mouse( int event, int x, int y, int flags, void* param )
{
    if( !image )
        return;

    if( image->origin )
        y = image->height - y;

    if( select_object )
    {
        selection.x = MIN(x,origin.x);
        selection.y = MIN(y,origin.y);
        selection.width = selection.x + CV_IABS(x - origin.x);
        selection.height = selection.y + CV_IABS(y - origin.y);

        selection.x = MAX( selection.x, 0 );
        selection.y = MAX( selection.y, 0 );
        selection.width = MIN( selection.width, image->width );
        selection.height = MIN( selection.height, image->height );
        selection.width -= selection.x;
        selection.height -= selection.y;
    }

    switch( event )
    {
    case CV_EVENT_LBUTTONDOWN:
        origin = cvPoint(x,y);
        selection = cvRect(x,y,0,0);
        select_object = 1;
        break;
    case CV_EVENT_LBUTTONUP:
        select_object = 0;
        if( selection.width > 0 && selection.height > 0 )
            track_object = -1;
        break;
    }
}

//unused
CvScalar hsv2rgb( float hue )
{
    int rgb[3], p, sector;
    static const int sector_data[][3]=
        {{0,2,1}, {1,2,0}, {1,0,2}, {2,0,1}, {2,1,0}, {0,1,2}};
    hue *= 0.033333333333333333333333333333333f;
    sector = cvFloor(hue);
    p = cvRound(255*(hue - sector));
    p ^= sector & 1 ? 255 : 0;

    rgb[sector_data[sector][0]] = 255;
    rgb[sector_data[sector][1]] = 0;
    rgb[sector_data[sector][2]] = p;

    return cvScalar(rgb[2], rgb[1], rgb[0],0);
}


*/

#ifdef _EiC
main(1,"camshiftdemo.c");
#endif