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/*------------------------------------------------------------------------------------------*\
   This file contains material supporting chapter 4 of the cookbook:  
   Computer Vision Programming using the OpenCV Library.
   by Robert Laganiere, Packt Publishing, 2011.

   This program is free software; permission is hereby granted to use, copy, modify,
   and distribute this source code, or portions thereof, for any purpose, without fee,
   subject to the restriction that the copyright notice may not be removed
   or altered from any source or altered source distribution.
   The software is released on an as-is basis and without any warranties of any kind.
   In particular, the software is not guaranteed to be fault-tolerant or free from failure.
   The author disclaims all warranties with regard to this software, any use,
   and any consequent failure, is purely the responsibility of the user.
 
   Copyright (C) 2010-2011 Robert Laganiere, www.laganiere.name
\*------------------------------------------------------------------------------------------*/


#include <iostream>
#include <vector>
using namespace std;

#include <opencv2/core/core.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/video/tracking.hpp>

#include "objectFinder.h"
#include "colorhistogram.h"

int main()
{
        // Read reference image
        cv::Mat image= cv::imread("../baboon1.jpg");
        if (!image.data)
                return 0;

        // Define ROI
        cv::Mat imageROI= image(cv::Rect(110,260,35,40));
        cv::rectangle(image, cv::Rect(110,260,35,40),cv::Scalar(0,0,255));

        // Display image
        cv::namedWindow("Image");
        cv::imshow("Image",image);

        // Get the Hue histogram
        int minSat=65;
        ColorHistogram hc;
        cv::MatND colorhist= hc.getHueHistogram(imageROI);

        ObjectFinder finder;
        finder.setHistogram(colorhist);
        finder.setThreshold(0.2f);

        // Convert to HSV space
        cv::Mat hsv;
        cv::cvtColor(image, hsv, CV_BGR2HSV);

        // Split the image
        vector<cv::Mat> v;
        cv::split(hsv,v);

        // Eliminate pixels with low saturation
        cv::threshold(v[1],v[1],minSat,255,cv::THRESH_BINARY);
        cv::namedWindow("Saturation");
        cv::imshow("Saturation",v[1]);

        // Get back-projection of hue histogram
        int ch[1]={0};
        cv::Mat result= finder.find(hsv,0.0f,180.0f,ch,1);

        cv::namedWindow("Result Hue");
        cv::imshow("Result Hue",result);

        cv::bitwise_and(result,v[1],result);
        cv::namedWindow("Result Hue and");
        cv::imshow("Result Hue and",result);

        // Second image
        image= cv::imread("../baboon3.jpg");

        // Display image
        cv::namedWindow("Image 2");
        cv::imshow("Image 2",image);

        // Convert to HSV space
        cv::cvtColor(image, hsv, CV_BGR2HSV);

        // Split the image
        cv::split(hsv,v);

        // Eliminate pixels with low saturation
        cv::threshold(v[1],v[1],minSat,255,cv::THRESH_BINARY);
        cv::namedWindow("Saturation");
        cv::imshow("Saturation",v[1]);

        // Get back-projection of hue histogram
        result= finder.find(hsv,0.0f,180.0f,ch,1);

        cv::namedWindow("Result Hue");
        cv::imshow("Result Hue",result);

        // Eliminate low stauration pixels
        cv::bitwise_and(result,v[1],result);
        cv::namedWindow("Result Hue and");
        cv::imshow("Result Hue and",result);

        // Get back-projection of hue histogram
        finder.setThreshold(-1.0f);
        result= finder.find(hsv,0.0f,180.0f,ch,1);
        cv::bitwise_and(result,v[1],result);
        cv::namedWindow("Result Hue and raw");
        cv::imshow("Result Hue and raw",result);

        cv::Rect rect(110,260,35,40);
        cv::rectangle(image, rect, cv::Scalar(0,0,255));

        cv::TermCriteria criteria(cv::TermCriteria::MAX_ITER,10,0.01);
        cout << "meanshift= " << cv::meanShift(result,rect,criteria) << endl;

        cv::rectangle(image, rect, cv::Scalar(0,255,0));

        // Display image
        cv::namedWindow("Image 2 result");
        cv::imshow("Image 2 result",image);

        cv::waitKey();
        return 0;
}