#include <stdio.h>

#include <iostream>

#include "opencv2/imgproc/imgproc.hpp"

#include "opencv2/core/core.hpp"

#include "opencv2/features2d/features2d.hpp"

#include "opencv2/highgui/highgui.hpp"

#include "opencv2/calib3d/calib3d.hpp"

#include "opencv2/nonfree/nonfree.hpp"

using namespace cv;

int main( int argc, char** argv )

{

    CvCapture* capture = cvCreateFileCapture( "sign3.mp4" );

    Mat img_object = imread( "pic3.jpg", CV_LOAD_IMAGE_GRAYSCALE );

    Mat frame = cvQueryFrame( capture );

    Mat img_scene;

    cvtColor(frame, img_scene, CV_BGR2GRAY);

    int minHessian = ;

    SurfFeatureDetector detector( minHessian );

    std::vector<KeyPoint> keypoints_object, keypoints_scene;

    detector.detect( img_object, keypoints_object );

    SurfDescriptorExtractor extractor;

    Mat descriptors_object, descriptors_scene;

    extractor.compute( img_object, keypoints_object, descriptors_object );

    FlannBasedMatcher matcher;

    std::vector< DMatch > matches;

    std::vector<Point2f> obj;

    std::vector<Point2f> scene;

    while()

    {

        frame = cvQueryFrame( capture );

        cvtColor(frame, img_scene, CV_BGR2GRAY);

        if( !img_object.data || !img_scene.data )

        { std::cout<< " --(!) Error reading images " << std::endl; return -; }

        //-- Step 1: Detect the keypoints using SURF Detector

        detector.detect( img_scene, keypoints_scene );

        //-- Step 2: Calculate descriptors (feature vectors)

        extractor.compute( img_scene, keypoints_scene, descriptors_scene );

        //-- Step 3: Matching descriptor vectors using FLANN matcher

        matcher.match( descriptors_object, descriptors_scene, matches );

        double max_dist = ; double min_dist = ;

        //-- Quick calculation of max and min distances between keypoints

        for( int i = ; i < descriptors_object.rows; i++ )

        {

            double dist = matches[i].distance;

            if( dist < min_dist )

                min_dist = dist;

            if( dist > max_dist )

                max_dist = dist;

        }

//        printf("-- Max dist : %f \n", max_dist );

//        printf("-- Min dist : %f \n", min_dist );

        //-- Draw only "good" matches (i.e. whose distance is less than 3*min_dist )

        std::vector< DMatch > good_matches;

        for( int i = ; i < descriptors_object.rows; i++ )

        {

            if( matches[i].distance < *min_dist )

                {

                    good_matches.push_back( matches[i]);

                }

        }

        Mat img_matches;

        drawMatches( img_object, keypoints_object, img_scene, keypoints_scene,

            good_matches, img_matches, Scalar::all(-), Scalar::all(-),

            vector<char>(), DrawMatchesFlags::NOT_DRAW_SINGLE_POINTS );

        //-- Localize the object

        for( int i = ; i < good_matches.size(); i++ )

        {

            //-- Get the keypoints from the good matches

            obj.push_back( keypoints_object[ good_matches[i].queryIdx ].pt );

            scene.push_back( keypoints_scene[ good_matches[i].trainIdx ].pt );

        }

        Mat H = findHomography( obj, scene, CV_RANSAC,5.0 );

        //-- Get the corners from the image_1 ( the object to be "detected" )

        std::vector<Point2f> obj_corners();

        obj_corners[] = cvPoint(,); obj_corners[] = cvPoint( img_object.cols,  );

        obj_corners[] = cvPoint( img_object.cols, img_object.rows ); obj_corners[] = cvPoint( , img_object.rows );

        std::vector<Point2f> scene_corners();

        perspectiveTransform( obj_corners, scene_corners, H);

        //-- Draw lines between the corners (the mapped object in the scene - image_2 )

        line( img_matches, scene_corners[] + Point2f( img_object.cols, ), scene_corners[] + Point2f( img_object.cols, ), Scalar(, , ),  );

        line( img_matches, scene_corners[] + Point2f( img_object.cols, ), scene_corners[] + Point2f( img_object.cols, ), Scalar( , , ),  );

        line( img_matches, scene_corners[] + Point2f( img_object.cols, ), scene_corners[] + Point2f( img_object.cols, ), Scalar( , , ),  );

        line( img_matches, scene_corners[] + Point2f( img_object.cols, ), scene_corners[] + Point2f( img_object.cols, ), Scalar( , , ),  );

        //-- Show detected matches

        namedWindow( "Good Matches & Object detection", WINDOW_NORMAL );

        imshow( "Good Matches & Object detection", img_matches );

        char c = cvWaitKey();

        if( c ==  ) break;

    }

    return ;

}