#include?
#include?“opencv2/video/tracking.hpp“
#include?“opencv2/imgproc.hpp“
#include?“opencv2/videoio.hpp“
#include?“opencv2/highgui.hpp“

#include?
#include?
#include?“Car.h“

using?namespace?cv;
using?namespace?std;

Mat?image;

bool?backprojMode?=?false;
bool?selectobject?=?false;
int?trackobject?=?0;
int?count1?=?0;
bool?showHist?=?true;
Point?origin;
Rect?selection?selection2;
int?vmin?=?10?vmax?=?256?smin?=?30;
Car*?car;

//?User?draws?box?around?object?to?track.?This?triggers?CAMShift?to?start?tracking
static?void?onMouse（int?event?int?x?int?y?int?void*）
{
	if?（selectobject）
	{
		if?（count1?==?1）?{
			selection.x?=?MIN（x?origin.x）;
			selection.y?=?MIN（y?origin.y）;
			selection.width?=?std::abs（x?-?origin.x）;
			selection.height?=?std::abs（y?-?origin.y）;

			//selection?&=?Rect（0?0?image.cols?image.rows）;
		}
		if?（count1?==?2）?{
			selection2.x?=?MIN（x?origin.x）;
			selection2.y?=?MIN（y?origin.y）;
			selection2.width?=?std::abs（x?-?origin.x）;
			selection2.height?=?std::abs（y?-?origin.y）;

			//selection2?&=?Rect（0?0?image.cols?image.rows）;
		}
	}

	switch?（event）
	{
	case?EVENT_LBUTTONDOWN:
		origin?=?Point（x?y）;
		if?（count1?==?0）
			selection?=?Rect（x?y?0?0）;
		if?（count1?==?1）
			selection2?=?Rect（x?y?0?0）;
		selectobject?=?true;
		count1++;
		break;
	case?EVENT_LBUTTONUP:
		selectobject?=?false;

		if?（selection.width?>?0?&&?selection.height?>?0?&&?count1?==?2）
			trackobject?=?-1;???//?Set?up?CAMShift?properties?in?main（）?loop
		break;
	}
}

string?hot_keys?=
“\n\nHot?keys:?\n“
“\tESC?-?quit?the?program\n“
“\tc?-?stop?the?tracking\n“
“\tb?-?switch?to/from?backprojection?view\n“
“\th?-?show/hide?object?histogram\n“
“\tp?-?pause?video\n“
“To?initialize?tracking?select?the?object?with?mouse\n“;

static?void?help（）
{
	cout?<	cout?<}

const?char*?keys?=
{
	“{help?h?|?|?show?help?message}{@camera_number|?0?|?camera?number}“
};

int?main（int?argc?const?char**?argv）
{
	VideoCapture?cap;
	VideoWriter?video;
	Rect?trackWindow;
	int?hsize?=?16;
	float?hranges[]?=?{?0180?};
	const?float*?phranges?=?hranges;
	CommandLineParser?parser（argc?argv?keys）;
	if?（parser.has（“help“））
	{
		help（）;
		return?0;
	}
	int?camNum?=?parser.get（0）;
	cap.open（camNum）;

	if?（!cap.isOpened（））
	{
		help（）;
		cout?<		cout?<		parser.printMessage（）;
		return?-1;
	}
	Size?S?=?Size（（int）cap.get（CAP_PROP_frame_WIDTH）????//?Acquire?input?size
		（int）cap.ge