import cv2
import numpy as np

def init_camera():
    global cap
    cap = cv2.VideoCapture(0)

def select_color_area(frame):
    global color_selected, greenLower, greenUpper
    cv2.imshow('Select color area', frame)

    if cv2.waitKey(1) & 0xFF == ord('c'):
        hsv = cv2.cvtColor(frame, cv2.COLOR_BGR2HSV)
        roi = cv2.selectROI('Select color area', hsv)
        if roi != (0, 0, 0, 0):
            roi_hsv = hsv[int(roi[1]):int(roi[1] + roi[3]), int(roi[0]):int(roi[0] + roi[2])]
            color_mean = np.mean(roi_hsv, axis=(0, 1))
            color_mean = np.uint8(color_mean)

            greenLower = np.array([max(color_mean[0] - 10, 0), 50, 50])
            greenUpper = np.array([min(color_mean[0] + 10, 179), 255, 255])
            print(f"Selected color: {color_mean}, Lower bound: {greenLower}, Upper bound: {greenUpper}")
            color_selected = True
            cv2.destroyAllWindows()
        else:
            print("No ROI selected. Exiting...")
            cv2.destroyAllWindows()
            return False
    return True

def track_color(frame, greenLower, greenUpper):
    hsv = cv2.cvtColor(frame, cv2.COLOR_BGR2HSV)
    mask = cv2.inRange(hsv, greenLower, greenUpper)

    kernel = np.ones((5, 5), np.uint8)
    mask = cv2.morphologyEx(mask, cv2.MORPH_OPEN, kernel)
    mask = cv2.morphologyEx(mask, cv2.MORPH_CLOSE, kernel)

    contours, _ = cv2.findContours(mask.copy(), cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)

    for contour in contours:
        if cv2.contourArea(contour) > 200:
            x, y, w, h = cv2.boundingRect(contour)
            cv2.rectangle(frame, (x, y), (x + w, y + h), (0, 255, 0), 2)

    return frame, mask

def main():
    init_camera()
    color_selected = False

    while True:
        ret, frame = cap.read()
        if not ret:
            break

        if not color_selected:
            if not select_color_area(frame):
                break
        else:
            frame, mask = track_color(frame, greenLower, greenUpper)
            cv2.imshow('Original', frame)
            cv2.imshow('Mask', mask)

            if cv2.waitKey(1) & 0xFF == ord('q'):
                break

    cap.release()
    cv2.destroyAllWindows()

if __name__ == "__main__":
    main()