(* /*****************************************************************
  //                       Delphi-OpenCV Demo
  //               Copyright (C) 2013 Project Delphi-OpenCV
  // ****************************************************************
  // Contributor:
  // laentir Valetov
  // email:laex@bk.ru
  // ****************************************************************
  // You may retrieve the latest version of this file at the GitHub,
  // located at git://github.com/Laex/Delphi-OpenCV.git
  // ****************************************************************
  // The contents of this file are used with permission, subject to
  // the Mozilla Public License Version 1.1 (the "License"); you may
  // not use this file except in compliance with the License. You may
  // obtain a copy of the License at
  // http://www.mozilla.org/MPL/MPL-1_1Final.html
  //
  // Software distributed under the License is distributed on an
  // "AS IS" basis, WITHOUT WARRANTY OF ANY KIND, either express or
  // implied. See the License for the specific language governing
  // rights and limitations under the License.
  //  ***************************************************************
  //  Original file:
  //  http://vidikon.com/download/multimd.zip
  //  http://blog.vidikon.com/?p=447
  //  *************************************************************** *)

// JCL_DEBUG_EXPERT_GENERATEJDBG OFF
// JCL_DEBUG_EXPERT_INSERTJDBG OFF
// JCL_DEBUG_EXPERT_DELETEMAPFILE OFF
program mmdt;

{$APPTYPE CONSOLE}
{$POINTERMATH ON}
{$R *.res}

uses
  Winapi.Windows,
  System.SysUtils,
  System.Generics.Collections,
  highgui_c,
  core_c,
  Core.types_c,
  imgproc_c,
  imgproc.types_c,
  tracking_c;

const
  MAX_CAMERA = 10;
  _MAX_TEXT = 100;
  MAX_JPG_CAM = 100000;
  CLOCKS_PER_SEC = 1000;

var
  all_camera: Integer = 0;
  capture: array [0 .. MAX_CAMERA - 1] of pCvCapture;
  allcam: Integer;
threadvar
  // thread
  NumMultiThread: Integer;
var
  UnloadCapture, WindowCapture: array [0 .. MAX_CAMERA - 1] of Integer;

  MHI_DURATION: double = 1;
  MAX_TIME_DELTA: double = 0.5;
  MIN_TIME_DELTA: double = 0.05;
  // number of cyclic frame buffer used for motion detection
  // (should, probably, depend on FPS)
  N: Integer = 4;

  // ring image buffer
  buf: array [0 .. MAX_CAMERA - 1] of ppIplImage;
  last: array [0 .. MAX_CAMERA - 1] of Integer;
  // temporary images
  mhi: array [0 .. MAX_CAMERA - 1] of pIplImage; // MHI
  orient: array [0 .. MAX_CAMERA - 1] of pIplImage; // orientation
  mask: array [0 .. MAX_CAMERA - 1] of pIplImage; // valid orientation mask
  segmask: array [0 .. MAX_CAMERA - 1] of pIplImage; // motion segmentation map
  storage: array [0 .. MAX_CAMERA - 1] of pCvMemStorage; // temporary storage

  MINMSEC, MAXMSEC: Integer;
  PATHJPG: AnsiString;
  OUTJPG: Integer;
  PATHAVI: AnsiString;
  OUTAVI: Integer;
  PATHLOG: AnsiString;
  OUTLOG: Integer;

  WriteCam: array [0 .. MAX_CAMERA - 1] of Integer;

  ww: Integer = 0;
  i: Integer;
  lpT: DWORD;
  h: tHANDLE;
  str: String; // [21];
  k: Integer = 0;

  // parameters:
  // img - input video frame
  // dst - resultant motion picture
  // args - optional parameters
  // camera - num camera
function update_mhi(img: pIplImage; dst: pIplImage; diff_threshold, camera: Integer): Integer;
Var
  timestamp: double; // get current time in seconds
  size: TCvSize; // get current frame size
  i, idx1, idx2: Integer;
  silh: pIplImage;
  seq: pCvSeq;
  comp_rect: TCvRect;
  count, angle: double;
  center: TCvPoint;
  magnitude: double;
  color: TCvScalar;
  cv1, cv2: TCvPoint;
  DetectZone: Integer;
  jj, i1, j1, xx, yy: Integer;
begin
  timestamp := GetTickCount / CLOCKS_PER_SEC; // get current time in seconds
  size := CvSize(img^.width, img^.height); // get current frame size
  idx1 := last[camera];
  DetectZone := 0;
  // allocate images at the beginning or
  // reallocate them if the frame size is changed
  if not Assigned(mhi[camera]) or (mhi[camera].width <> size.width) or (mhi[camera].height <> size.height) then
  begin
    if (buf[camera] = nil) then
      buf[camera] := AllocMem(N * sizeof(pIplImage));

    for i := 0 to N - 1 do
    begin
      cvReleaseImage(buf[camera][i]);
      buf[camera][i] := cvCreateImage(size, IPL_DEPTH_8U, 1);
      cvZero(buf[camera][i]);
    end;
    cvReleaseImage(mhi[camera]);
    cvReleaseImage(orient[camera]);
    cvReleaseImage(segmask[camera]);
    cvReleaseImage(mask[camera]);

    mhi[camera] := cvCreateImage(size, IPL_DEPTH_32F, 1);
    cvZero(mhi[camera]); // clear MHI at the beginning
    orient[camera] := cvCreateImage(size, IPL_DEPTH_32F, 1);
    segmask[camera] := cvCreateImage(size, IPL_DEPTH_32F, 1);
    mask[camera] := cvCreateImage(size, IPL_DEPTH_8U, 1);
  end;

  cvCvtColor(img, buf[camera][last[camera]], CV_BGR2GRAY); // convert frame to grayscale

  idx2 := (last[camera] + 1) mod N; // index of (last - (N-1))th frame
  last[camera] := idx2;

  silh := buf[camera][idx2];
  cvAbsDiff(buf[camera][idx1], buf[camera][idx2], silh); // get difference between frames

  cvThreshold(silh, silh, diff_threshold, 1, CV_THRESH_BINARY); // and threshold it
  cvUpdateMotionHistory(silh, mhi[camera], timestamp, MHI_DURATION); // update MHI

  // convert MHI to blue 8u image
  cvCvtScale(mhi[camera], mask[camera], 255. / MHI_DURATION, (MHI_DURATION - timestamp) * 255. / MHI_DURATION);
  cvZero(dst);
  // cvCvtPlaneToPix( mask[camera], 0, 0, 0, dst );
  cvMerge(mask[camera], 0, 0, 0, dst);

  // calculate motion gradient orientation and valid orientation mask
  cvCalcMotionGradient(mhi[camera], mask[camera], orient[camera], MAX_TIME_DELTA, MIN_TIME_DELTA, 3);

  if not Assigned(storage[camera]) then
    storage[camera] := cvCreateMemStorage(0)
  else
    cvClearMemStorage(storage[camera]);

  // segment motion: get sequence of motion components
  // segmask is marked motion components map. It is not used further
  seq := cvSegmentMotion(mhi[camera], segmask[camera], storage[camera], timestamp, MAX_TIME_DELTA);

  // iterate through the motion components,
  // One more iteration (i = -1) corresponds to the whole image (global motion)
  // uchar* ptr;
  // ptr := (uchar*) (dst^.imageData );
  jj := 0;
  for i := -1 to seq^.total - 1 do
  begin
    if (i < 0) then
    begin // case of the whole image
      comp_rect := CvRect(0, 0, size.width, size.height);
      color := CV_RGB(255, 255, 255);
      magnitude := 100;
    end
    else
    begin // i-th motion component
      comp_rect := pCvConnectedComp(cvGetSeqElem(seq, i))^.rect;
      if (comp_rect.width + comp_rect.height < 50) then // reject very small components
        continue;

      color := CV_RGB(255, 0, 0);
      magnitude := 30;
    end;

    if (i = -1) then
      continue;
    Inc(jj);
    Inc(DetectZone);

    // select component ROI
    cvSetImageROI(silh, comp_rect);
    cvSetImageROI(mhi[camera], comp_rect);
    cvSetImageROI(orient[camera], comp_rect);
    cvSetImageROI(mask[camera], comp_rect);

    // calculate orientation
    angle := cvCalcGlobalOrientation(orient[camera], mask[camera], mhi[camera], timestamp, MHI_DURATION);
    angle := 360.0 - angle; // adjust for images with top-left origin

    count := cvNorm(silh, 0, CV_L1, 0); // calculate number of points within silhouette ROI

    cvResetImageROI(mhi[camera]);
    cvResetImageROI(orient[camera]);
    cvResetImageROI(mask[camera]);
    cvResetImageROI(silh);

    // check for the case of little motion
    if (count < comp_rect.width * comp_rect.height * 0.05) then
      continue;

    // draw a clock with arrow indicating the direction
    center := CvPoint((comp_rect.x + comp_rect.width div 2), (comp_rect.y + comp_rect.height div 2));

    cvCircle(dst, center, cvRound(magnitude * 1.2), color, 3, CV_AA, 0);
    cvLine(dst, center, CvPoint(cvRound(center.x + magnitude * cos(angle * CV_PI / 180)),
      cvRound(center.y - magnitude * sin(angle * CV_PI / 180))), color, 3, CV_AA, 0);

    xx := comp_rect.width;
    if (xx > comp_rect.height) then
      xx := comp_rect.height;

    cv1.x := comp_rect.x;
    cv1.y := comp_rect.y;
    cv2.x := comp_rect.x + comp_rect.width;
    cv2.y := comp_rect.y + comp_rect.height;
    cvRectangle(img, cv1, cv2, color, 3, CV_AA, 0);
    cvLine(img, center, CvPoint(cvRound(center.x + (xx / 2) * cos(angle * CV_PI / 180)),
      cvRound(center.y - (xx / 2) * sin(angle * CV_PI / 180))), color, 5, CV_AA, 0);
  end;
  Result := DetectZone;
end;

function MultiThread(lpParameter: LPVOID): DWORD; stdcall;
Var
  localNumMultiThread: Integer;
  localWindowCapture: Integer;
  JPG_CAM: Integer;

  motion: pIplImage;
  image1: pIplImage;
  // buf3: String;
  buf1, buf2, buf: AnsiString;
  cadr: Longint;

  detect: Integer;
  detect1: Integer;
  waitkey: Integer;
  cvVideoWriter: pCvVideoWriter;
  logpolar_frame: pIplImage;
  image: pIplImage;
  F: TextFile;
  ii: LONG;

begin
  localNumMultiThread := pInteger(lpParameter)^;
  localWindowCapture := WindowCapture[localNumMultiThread];
  JPG_CAM := 0;

  capture[localNumMultiThread] := cvCreateCameraCapture(localNumMultiThread);

  // Work with camera
  if Assigned(capture[localNumMultiThread]) then
  begin
    motion := nil;
    image1 := nil;
    cadr := 0;
    if (OUTLOG <> 0) then
    begin
      buf1 := PATHLOG + Format('cam%d.log', [localNumMultiThread]);
      AssignFile(F, buf1);
      Rewrite(F);
    end;
    buf := Format('Camera #%d', [localNumMultiThread]);
    cvNamedWindow(pCvChar(@buf[1]), 1);
    detect := 0;
    waitkey := MINMSEC;
    // Create avi file
    cvVideoWriter := nil;
    while True do
    begin
      if not Assigned(capture[localNumMultiThread]) then
        break;
      image := cvQueryFrame(capture[localNumMultiThread]);
      if not Assigned(image) then
        break;

      if not Assigned(motion) then
      begin
        motion := cvCreateImage(CvSize(image^.width, image^.height), 8, 3);
        cvZero(motion);
        motion^.origin := image^.origin;
      end;
      if not Assigned(image1) then
      begin
        image1 := cvCreateImage(CvSize(image^.width, image^.height), 8, 3);
        cvZero(image1);
        image1^.origin := image1^.origin;
      end;
      cvCopy(image, image1);
      if (OUTAVI <> 0) then
      begin
        if not Assigned(cvVideoWriter) then
        begin
          buf1 := PATHAVI + Format('cam%d.avi', [localNumMultiThread]);
          cvVideoWriter := cvCreateVideoWriter(pCvChar(@buf1[1]), CV_FOURCC('X', 'V', 'I', 'D'), 15,
            CvSize(image^.width div 2, image^.height div 2));
          logpolar_frame := cvCreateImage(CvSize(image^.width div 2, image^.height div 2), IPL_DEPTH_8U, 3);
          cvZero(logpolar_frame);
          logpolar_frame^.origin := logpolar_frame^.origin;
          // I don't why, but another's not work
          // my be cvLogPolar made some different param in IplImage
          cvLogPolar(image1, logpolar_frame, cvPoint2D32f(image1^.width div 2, image1^.height div 2), 40,
            CV_INTER_LINEAR + CV_WARP_FILL_OUTLIERS);
        end;
      end;
      detect1 := update_mhi(image, motion, 30, localNumMultiThread);
      if (detect > 0) then
        Dec(detect);
      if (detect1 > 0) then
        detect := 5;
      if (detect > 0) then
        waitkey := MINMSEC
      else
        waitkey := MAXMSEC;
       if (localWindowCapture <> WindowCapture[localNumMultiThread]) then
       begin
       if (localWindowCapture > 0) then
       cvDestroyWindow(pCvChar(@buf[1]))
       else
       cvNamedWindow(pCvChar(@buf[1]), 1);
       localWindowCapture := WindowCapture[localNumMultiThread];
       end;
       if (localWindowCapture <> 0) then
      cvShowImage(pCvChar(@buf[1]), image);
      if (detect > 0) and (OUTJPG <> 0) then
      begin
        buf1 := PATHJPG + Format('cam%dn', [localNumMultiThread]);
        ii := JPG_CAM + 1;
        repeat
          buf2 := buf1 + Format('%d.jpg', [ii]);
          ii := ii + 1;
        until not FileExists(buf2);
        cvSaveImage(pCvChar(@buf2[1]), image1);
      end;
      if (detect > 0) then
      begin
        if (OUTAVI <> 0) then
        begin
          if not Assigned(logpolar_frame) then
            logpolar_frame := cvCreateImage(CvSize(image1^.width div 2, image1^.height div 2), image1^.depth,
              image1^.nChannels);
          cvResize(image1, logpolar_frame, 2);
          cvWriteFrame(cvVideoWriter, logpolar_frame);
        end;
        if (OUTLOG <> 0) then
        begin
          WriteLn(F, Format('cadr #%d', [cadr]));
          cadr := cadr + 1;
        end;
      end;
      cvWaitKey(waitkey);
      if (UnloadCapture[localNumMultiThread] = 0) then
        break;
      // printf('%d...',localNumMultiThread);
      // WriteCam[localNumMultiThread]:=1;
    end;
    cvReleaseCapture(capture[localNumMultiThread]);
     if (localWindowCapture <> 0) then
    cvDestroyWindow(pCvChar(@buf[1]));
    cvReleaseVideoWriter(cvVideoWriter);
  end;
  if (OUTLOG <> 0) then
    CloseFile(F);
  UnloadCapture[localNumMultiThread] := -1;
  Result := 0;
end;

procedure help;
begin
  WriteLn;
  WriteLn('Commands:');
  WriteLn('exit - exit program');
  WriteLn('help - this help');
  WriteLn('winon - windows on');
  WriteLn('winoff - windows off');
end;

begin
  try
    // Params
    allcam := 2;
    MINMSEC := 200;
    MAXMSEC := 1000;
    PATHJPG := 'Result\';
    PATHAVI := 'Result\';
    PATHLOG := 'Result\';

    ww := 1; // WINDOWS ON
    OUTJPG := 1; // OUTJPG ON
    OUTAVI := 1; // OUTAVI ON
    OUTLOG := 0; // OUTLOG ON
    // init for detect
    FillChar(capture, sizeof(capture), 0);
    FillChar(buf, sizeof(capture), 0);
    FillChar(last, sizeof(last), 0);
    FillChar(mhi, sizeof(mhi), 0);
    FillChar(orient, sizeof(orient), 0);
    FillChar(mask, sizeof(mask), 0);
    FillChar(segmask, sizeof(segmask), 0);
    FillChar(storage, sizeof(storage), 0);
    FillChar(WriteCam, sizeof(WriteCam), 0);
    // Search camera divice
    WriteLn('Searching');
    for i := 0 to allcam - 1 do
    begin
      Write('.');
      capture[i] := nil;
      capture[i] := cvCreateCameraCapture(i);
      UnloadCapture[i] := 0;
      if not Assigned(capture[i]) then
        continue;
      UnloadCapture[i] := 1;
//      WindowCapture[i] := ww;
      Inc(all_camera);
      cvReleaseCapture(capture[i]);
    end;
    WriteLn(#13#10'All camera:=', all_camera);
    if (allcam = 0) then
    begin
      WriteLn('Error with camera! Sorry...');
      Sleep(5000);
      Halt;
    end;

    // Create threads for camera
    for i := 0 to all_camera - 1 do
    begin
      if (UnloadCapture[i] = 0) then
        continue;
      WriteLn('Create thread fo cam # ', i);
      NumMultiThread := i;
      h := CreateThread(NiL, 0, @MultiThread, @NumMultiThread, 0, lpT);
      Sleep(100);
      CloseHandle(h);
    end;
    help;
    // Go in to command interpretator
    Sleep(1000);
    while True do
    begin
      Write('MMDT# ');
      Readln(str);
      k := 0;
      if (SameText(str, 'exit')) then
        break;
      if (SameText(str, 'help')) then
        help;
      if (SameText(str, 'winon')) then
      begin
        for i := 0 to allcam - 1 do
          WindowCapture[i] := 1;
        k := 1;
      end;
      if (SameText(str, 'winoff')) then
      begin
        for i := 0 to allcam - 1 do
          WindowCapture[i] := 0;
        k := 1;
      end;
      if (k = 0) then
        WriteLn('Unknown command');
    end;

    // Delete Captures
    if (all_camera > 0) then
      for i := 0 to all_camera - 1 do
        if Assigned(capture[i]) then
        begin
          // cvReleaseCapture( &capture[i] );
          UnloadCapture[i] := 0;
          repeat
            Sleep(100);
          until (UnloadCapture[i] = -1);
        end;

  except
    on E: Exception do
      WriteLn(E.ClassName, ': ', E.Message);
  end;

end.