#include <opencv2/highgui/highgui.hpp>

#include <opencv2/imgproc/imgproc.hpp>

#include <opencv2/core/core.hpp>

#include <iostream>

#include <opencv/cvaux.h>

#include <opencv/highgui.h>

#include <opencv/cxcore.h>

#include <stdio.h>

#include <stdio.h>

#include <stdlib.h>

#include <string.h>

#include <assert.h>

#include <math.h>

#include <float.h>

#include <limits.h>

#include <time.h>

#include <ctype.h>

using namespace cv;

using namespace std;

int main( int argc, char** argv )

{

        Mat Image;

        /*

  Mat gray;

        Mat hsv;

        Mat thresholded_hsv;

        Mat thresholded_hsv_smoothed;

        Mat Image_circles;

  */

        char key = 0;

        // open the default camera

        VideoCapture capture(0);

        // check for failure

        if (!capture.isOpened()) {

        printf("Failed to open a video device or video file!\n");

        return 1;

        }

        // Set Capture device properties.

        capture.set(CV_CAP_PROP_FRAME_WIDTH, 640);

        capture.set(CV_CAP_PROP_FRAME_HEIGHT, 480);

        //Create background window

        /*

  Mat org;

        org = imread("/users/mmaraya/Dropbox/Programming/opencv/build/bugs/8/BackgroundComputerVision_2.jpg");

        if (org.empty()) 

        {

                        cout << "Cannot load image!" << endl;

                        return -1;

        }

        namedWindow("Background", CV_WINDOW_AUTOSIZE);

  imshow("Background", org);

        resizeWindow("Background",1134, 700);

        moveWindow("Background", 100, 1);

  */

        //Create six windows for videos

        namedWindow("Original Camera Video", CV_WINDOW_AUTOSIZE);

        /*

  namedWindow("Grayscale Video", CV_WINDOW_AUTOSIZE);

        namedWindow("HSV Video", CV_WINDOW_AUTOSIZE);

        namedWindow("HSV Thresholded Video", CV_WINDOW_AUTOSIZE);

        namedWindow("HSV Smoothed and Thresholded Video", CV_WINDOW_AUTOSIZE);

        namedWindow("Circles", CV_WINDOW_AUTOSIZE);

  */

        moveWindow("Original Camera Video", 150, 170);

        /*

  moveWindow("Grayscale Video", 500, 170);

        moveWindow("HSV Video", 850, 170);

        moveWindow("HSV Thresholded Video", 150, 450);

        moveWindow("HSV Smoothed and Thresholded Video", 500, 450);

        moveWindow("Circles", 850, 450);

  */

        // Set HSV (Hue, Saturation, Value) variables to detect a red ball

        // original hsv_min = 150, 84, 130, 0 and hsv_max = 358, 256, 255, 0

        /*

  Scalar hsv_min = Scalar(150, 84, 130, 0);

        Scalar hsv_max = Scalar(358, 256, 255, 0); 

  */

        while( key != 'q')

        {

        // get a new frame from camera

        capture >> Image;

        //Convert color space to Grayscale

        //cvtColor(Image, gray, CV_BGR2GRAY);

        // Convert color space to HSV as it is much easier to filter colors in the HSV color-space

        //cvtColor(Image, hsv, CV_BGR2HSV);

        // Filter out colors which are out of range

        //inRange(hsv, hsv_min, hsv_max, thresholded_hsv);

        // Hough detector works better with some smoothing of the image

        //GaussianBlur( thresholded_hsv,  thresholded_hsv_smoothed, Size(9,9), 0, 0);

        //Create storage space for an output vector of found circles      

        //vector<Vec3f> circles;

        //Copy original image to an image that will have circles

        /*

  Image.copyTo(Image_circles);

        HoughCircles(thresholded_hsv_smoothed, circles, CV_HOUGH_GRADIENT, 2, 100, 100, 50, 10, 400 );

        for( size_t i = 0; i < circles.size(); i++ )

        {

                Point center(cvRound(circles[i][0]), cvRound(circles[i][1]));

                int radius = cvRound(circles[i][2]);

                // draw the circle center

                circle( Image_circles, center, 3, Scalar(0,255,0), -1, 8, 0 );

                // draw the circle outline

                circle( Image_circles, center, radius, Scalar(0,0,255), 3, 8, 0 );

        }

   */

        // display videos in previously created windows

        imshow("Original Camera Video",Image);

        /*

  imshow("Grayscale Video", gray);

        imshow("HSV Video", hsv);

        imshow("HSV Thresholded Video", thresholded_hsv);

        imshow("HSV Smoothed and Thresholded Video", thresholded_hsv_smoothed);

        imshow("Circles", Image_circles);

  */

        resizeWindow("Original Camera Video",320, 240);

        /*

  resizeWindow("Grayscale Video",320, 240);

        resizeWindow("HSV Video",320, 240);

        resizeWindow("HSV Thresholded Video",320, 240);

        resizeWindow("HSV Smoothed and Thresholded Video",320, 240);

  resizeWindow("Circles",320, 240);

  */

        key = waitKey(25);

        }

        return 0;

}