#include <iostream>

#include "cv.h"

#include "highgui.h"

using namespace std;

using namespace cv;

int hbins = 16;                                                                                // quantize the hue2 to 32 levels

int sbins = 32;                                                                                // quantize the saturation to 32 levels

//int CTrackingAlgs::histSize[] = {hbins, sbins};        // histSize

int histSize[] = {hbins};                                                        // histSize

float hranges[] = { 0, 180 };                                                // hue2 varies from 0 to 179, see cvtColor

float sranges[] = { 0, 256 };                                                // saturation varies from 0 (black-gray-white) to 255 (pure spectrum color)

//const float* ranges[] = { hranges, sranges };                // ranges

const float* ranges[] = { hranges };                                // ranges

int channels[] = {0};

int backproject_mode = 0;

int select_object = 0;

int track_object = 0;

int show_hist = 1;

Point origin2;

Rect selection2;

Rect track_window2;

RotatedRect        track_box2;

int vmin = 10, vmax = 256, smin = 30;

Mat image2, hsv2, hue2, mask2, backproject2;

MatND hist2;

Mat histimg2 = Mat::zeros(200, 320, CV_8UC3);

void on_mouse( int event, int x, int y, int flags, void* param )

{

    if( image2.empty() )

        return;

    if( select_object )

    {

        selection2.x = MIN(x,origin2.x);

        selection2.y = MIN(y,origin2.y);

        selection2.width = selection2.x + CV_IABS(x - origin2.x);

        selection2.height = selection2.y + CV_IABS(y - origin2.y);

        selection2.x = MAX( selection2.x, 0 );

        selection2.y = MAX( selection2.y, 0 );

        selection2.width = MIN( selection2.width, image2.cols );

        selection2.height = MIN( selection2.height, image2.rows );

        selection2.width -= selection2.x;

        selection2.height -= selection2.y;

    }

    switch( event )

    {

    case CV_EVENT_LBUTTONDOWN:

        origin2 = cvPoint(x,y);

        selection2 = cvRect(x,y,0,0);

        select_object = 1;

        break;

    case CV_EVENT_LBUTTONUP:

        select_object = 0;

        if( selection2.width > 0 && selection2.height > 0 )

            track_object = -1;

        break;

    }

}

Scalar hsv2rgb( float hue2 )

{

    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}};

    hue2 *= 0.033333333333333333333333333333333f;

    sector = cvFloor(hue2);

    p = cvRound(255*(hue2 - 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 Scalar(rgb[2], rgb[1], rgb[0],0);

}

int main( int argc, char** argv )

{

    VideoCapture capture;

        capture.set(CV_CAP_PROP_FRAME_WIDTH,320);

        capture.set(CV_CAP_PROP_FRAME_HEIGHT,240);

        bool isOpened = false;

    if( argc == 1 || (argc == 2 && strlen(argv[1]) == 1 && isdigit(argv[1][0])))

        isOpened = capture.open( argc == 2 ? argv[1][0] - '0' : 0 );

    else if( argc == 2 )

        isOpened = capture.open( argv[1] );

    if( !capture.isOpened() )

    {

        cerr << "Could not initialize capturing..." << endl;

        return -1;

    }

    cout << "Hot keys: " << endl

        << "\tESC - quit the program" << endl

        << "\tc - stop the tracking" << endl

        << "\tb - switch to/from backprojection view" << endl

        << "\th - show/hide object histogram" << endl

        << "To initialize tracking, select the object with mouse" << endl;

        namedWindow( "CamShiftDemo", 1 );        

    cvSetMouseCallback( "CamShiftDemo", on_mouse, 0 );

    createTrackbar( "Vmin", "CamShiftDemo", &vmin, 256, 0 );

    createTrackbar( "Vmax", "CamShiftDemo", &vmax, 256, 0 );

    createTrackbar( "Smin", "CamShiftDemo", &smin, 256, 0 );

        namedWindow( "Histogram", 1 );

    for(;;)

    {

        Mat frame;

        int i, bin_w, c;

        capture >> frame;

        if (frame.empty())        break;

        frame.copyTo( image2 );

        cvtColor( image2, hsv2, CV_BGR2HSV );

        if( track_object )

        {

            int _vmin = vmin, _vmax = vmax;

            inRange( hsv2, Scalar(0,smin,MIN(_vmin,_vmax),0),

                        Scalar(180,256,MAX(_vmin,_vmax),0), mask2 );

                        vector<Mat> vhsv;

                        vhsv.resize(3);

                        split( hsv2, vhsv );

                        vhsv[0].copyTo(hue2);

            if( track_object < 0 )

            {

                double max_val2 = 0.f;

                                Mat roi = hue2(Range(selection2.y, selection2.y+selection2.height), 

                                                        Range(selection2.x, selection2.x+selection2.width) );

                                Mat roi_mask = mask2(Range(selection2.y, selection2.y+selection2.height), 

                                                        Range(selection2.x, selection2.x+selection2.width) );

                                calcHist( &roi, 1, channels, roi_mask,

                                                        hist2, 1, histSize, ranges,

                                                        true, // the histogram is uniform

                                                        false );

                                minMaxLoc(hist2, 0, &max_val2, 0, 0);

                                hist2.convertTo(hist2, hist2.type(), (max_val2 ? 255. / max_val2 : 0.), 0);

                                track_window2 = selection2;

                track_object = 1;

                                histimg2 = Mat::zeros(histimg2.size(), histimg2.type());

                bin_w = histimg2.cols / hbins;

                for( i = 0; i < hbins; i++ )

                {

                                        int val2 = cvRound( hist2.at<float>(i)*(float)histimg2.rows/255.0 );

                    Scalar color = hsv2rgb(i*180.f/hbins);

                                        rectangle(histimg2, Point(i*bin_w,histimg2.rows), 

                                                        Point((i+1)*bin_w,histimg2.rows - val2),

                                                        color, -1, 8, 0);

                }

            }

                        calcBackProject( &hue2, 1, channels, hist2, backproject2, ranges);

            bitwise_and( backproject2, mask2, backproject2 );

                        track_box2 = CamShift( backproject2, track_window2, TermCriteria(TermCriteria::COUNT+TermCriteria::EPS, 10, 1) );

            if( backproject_mode )

                cvtColor( backproject2, image2, CV_GRAY2BGR );

                        ellipse(image2, track_box2, CV_RGB(255,0,0), 3, CV_AA);

        }

                // This is for display, just indicate what is the area that the user has selected

        if( select_object && selection2.width > 0 && selection2.height > 0 )

        {

                        Mat roi(image2, selection2);

                        bitwise_xor( roi, cvScalarAll(255), roi );

        }

                imshow( "CamShiftDemo", image2 );

                imshow( "Histogram", histimg2 );

                waitKey(10);

        if( (char) c == 27 )

            break;

        switch( (char) c )

        {

        case 'b':

            backproject_mode ^= 1;

            break;

        case 'c':

            track_object = 0;

                        histimg2 = Mat::zeros(histimg2.size(), histimg2.type());

            break;

        case 'h':

            show_hist ^= 1;

            if( !show_hist )

                cvDestroyWindow( "Histogram2" );

            else

                namedWindow( "Histogram2", 1 );

            break;

        default:

            ;

        }

    }

    return 0;

}