#include <iostream>

#include <time.h>

#include <cstdlib>

#include <numeric>

#include <fstream>

#include <sys/time.h>

#include <opencv2/core/core.hpp>

#include <opencv2/highgui/highgui.hpp>

#include <opencv2/imgproc/imgproc.hpp>

#include <opencv2/gpu/gpu.hpp>

using namespace std;

int main()

{

    int num_bottle=0;

    cv::Mat frame;

    cv::VideoCapture capture;

    cv::Mat image,main_image;

    cv::gpu::GpuMat gpu_image, gpu_main_image, gpu_circles;

    cv::vector<cv::Vec3f> circles;

    //--------------> Parametri VIDEO 1 - Bottiglie Senza Tappo

    string video="/home/marco/Videos/video1.mp4";

    //Parametri di ritaglio: x,y,width,height

    int ROI_video[4]={86, 650, 1070, 70};

    //Parametri Hough: RisoluzioneImmagine,DistanzaMinima,SogliaAlta,SogliaBassa,RaggioMinimo,RaggioMassimo

    int hough_param[6]={1, 100, 24, 18, 25, 28};

try {

    capture.open(video);

    do

    {

        //Catturo il frame, estrapolo la ROI e converto in scala di grigi

        if (!capture.read(frame)) break;

        image=frame(cv::Rect(ROI_video[0], ROI_video[1], ROI_video[2], ROI_video[3]));

        //---------------------------> HOUGH <----------------------------

        // GPU

        //gpu_image.upload(image);

        //cv::gpu::cvtColor(gpu_image, gpu_main_image, CV_BGR2GRAY);

        //cv::gpu::GaussianBlur(gpu_main_image, gpu_main_image, cv::Size(5,5), 1,1);

        cv::cvtColor(image,main_image,CV_BGR2GRAY);

        cv::GaussianBlur(main_image, main_image, cv::Size(5, 5), 1, 1);

        gpu_main_image.upload(main_image);

        cv::gpu::HoughCircles(gpu_main_image, gpu_circles, CV_HOUGH_GRADIENT,hough_param[0], hough_param[1], hough_param[2],hough_param[3], hough_param[4], hough_param[5]);

        cv::gpu::HoughCirclesDownload(gpu_circles, circles);

        num_bottle += circles.size();

      } while(true);

          cout << "\nNumero Bottiglie totale: " << num_bottle << endl;

        return 0;

    } catch (cv::Exception& e){

        const char* err_msg = e.what();

        cout<<err_msg<< endl;

        return 1;

    }

}