#include <iostream>
#include <opencv2/opencv.hpp>

// Trackbar values
int low[] = {50, 50, 50};
int high[] = {250, 250, 250};

int main(int argc, char* argv[])
{
	char* windowNames[] = { "band 0", "band 1", "band 2" };

	printf("Hit ESC key to quit ...\n");

	// Pick one of these two input sources; comment out the other line.
	// Note - the movie file goes into the directory with your source code.
	cv::VideoCapture cap(0);   // open the default camera
	//cv::VideoCapture cap("131023-124754.avi");	  // open a movie file

	if(!cap.isOpened())  {// check if we succeeded
		printf("error - can't open the input source\n");
		system("PAUSE");
		return -1;
	}

	double WIDTH = cap.get(CV_CAP_PROP_FRAME_WIDTH);
	double HEIGHT = cap.get(CV_CAP_PROP_FRAME_HEIGHT);
	printf("Image width=%f, height=%f\n", WIDTH, HEIGHT);

	// Create image windows.  Meaning of flags:
	//CV_WINDOW_NORMAL enables manual resizing; CV_WINDOW_AUTOSIZE is automatic
	//  You can "or" the above choice with CV_WINDOW_KEEPRATIO, which keeps aspect ratio
	cv::namedWindow("Input image", CV_WINDOW_AUTOSIZE); 
	for (int i=0; i<3; i++)
		cv::namedWindow(windowNames[i], CV_WINDOW_AUTOSIZE); 

	// Create trackbars
	for (int i=0; i<3; i++)	{
		cv::createTrackbar( "low", windowNames[i], &low[i], 255, NULL );
		cv::createTrackbar( "high", windowNames[i], &high[i], 255, NULL );
	}

	// Run an infinite loop until user hits the ESC key
	while (1){
		cv::Mat imgInput;
		cap >> imgInput;// get image from camera
		if (imgInput.empty())	break;
		cv::imshow("Input image", imgInput);

		// Convert to HSV
		cv::Mat imgHSV;
		cv::cvtColor(imgInput, imgHSV, CV_BGR2HSV);

		// Split into planes
		cv::Mat planes[3];
		split( imgHSV, planes );

		// Threshold
		for (int i=0; i<3; i++){
			cv::Mat imageThreshLow, imageThreshHigh;

			threshold(planes[i], 
				imageThreshLow,// output thresholded image
				low[i],// value to use for threshold
				255,// output value
				cv::THRESH_BINARY);// threshold_type 

			threshold(planes[i], 
				imageThreshHigh,// output thresholded image
				high[i],// value to use for threshold
				255,// output value
				cv::THRESH_BINARY_INV);// threshold_type 

			bitwise_and(imageThreshLow, imageThreshHigh, planes[i]);
		}

		// Show images in the windows
		for (int i=0; i<3; i++)
			cv::imshow(windowNames[i], planes[i]);

		// Finally, AND all the thresholded images together
		cv::Mat imgResult(
			cv::Size(WIDTH,HEIGHT),   // size of image
			CV_8UC1,                  // type: CV_8UC1=8bit, unsigned, 1 channel
			cv::Scalar(255));         // initialize to this value 

		for (int i=0; i<3; i++)
			bitwise_and(imgResult, planes[i], imgResult);

		// Clean up binary image using morphological operators
		cv::Mat structuringElmt(7,7,CV_8U,cv::Scalar(1));
		morphologyEx(imgResult, imgResult, cv::MORPH_CLOSE, structuringElmt);

		cv::imshow("Binary result", imgResult);


		// wait for x ms (0 means wait until a keypress)
		if (cv::waitKey(33) == 27)
			break;// ESC is ascii 27
	}

	return EXIT_SUCCESS;
}