int main( int argc, const char* argv[] )
{
    /* 帮助 */
    if(argc>1)
        help();
    /* 准备写入视频 */
    VideoWriter vWriter("result.avi", CV_FOURCC('M','J','P','G'), 25, Size(WIDTH, HEIGHT), false);
    /* 跟踪窗口 */
    Rect trackWindow;
    int hsize[] = {16, 16};
    float hranges[] = {0, 255};
    float dranges[] = {0, 255};
    
    const float* phranges[] = { hranges, dranges };
    selection = Rect(10,10,100,100);
    trackObject = 0;
    namedWindow( winDemoName, 0 );
    /* 等待鼠标框出 */
    setMouseCallback( winDemoName, onMouse, 0 );
    Mat imcolor, mask, hist, hist_of_object, backproj;
    bool paused = false;
    float hist_update_ratio = 0.2f;
    /* 初始化Guidance数据传输 */
    reset_config();
    int err_code = init_transfer();
    RETURN_IF_ERR(err_code);
    /* 订阅selected_vbus左侧灰度图 */    
    err_code = select_greyscale_image(selected_vbus, true);
    RELEASE_IF_ERR(err_code);
    /* 订阅selected_vbus右侧灰度图 */    
    err_code = select_greyscale_image(selected_vbus, false);
    RELEASE_IF_ERR(err_code);
    /* 订阅selected_vbus深度图 */
    err_code = select_depth_image(selected_vbus);
    RELEASE_IF_ERR(err_code);
    /* 设置数据到来时的回调函数*/
    err_code = set_sdk_event_handler(my_callback);
    RELEASE_IF_ERR(err_code);
    /* 开启数据传输线程 */
    err_code = start_transfer();
    RELEASE_IF_ERR(err_code);
    Mat depth(HEIGHT, WIDTH, CV_8UC1);
    /* 设置传输事件循环次数 */
    for( int times = 0; times < 30000; ++times )
    {
        /* 等待数据到来 */
        g_event.wait_event();
        // filter depth image
        filterSpeckles(g_depth, -16, 50, 20);
        // convert 16 bit depth image to 8 bit
        g_depth.convertTo(depth, CV_8UC1);
        /* 显示深度图 */
        imshow("depth", depth);
        waitKey(1);
        /* 获得灰度图 */
        g_imleft.copyTo(image);
        if( !paused )
        {
            vector<Mat> ims(3);
            ims[0] = image;
            ims[1] = ims[2] = depth;
            merge(ims, imcolor);
            /* 如果鼠标框出了目标，则进行跟踪及效果显示 */
            if( trackObject )
            {
                int ch[] = {0,1};
                if( trackObject < 0 )
                {
                    Mat roi(imcolor, selection);
                    
                    calcHist(&roi, 1, &ch[0], Mat(), hist, 2, &hsize[0], &phranges[0]);
                    normalize(hist, hist, 0, 255, CV_MINMAX);
                    if(hist_of_object.empty())
                        hist_of_object = hist;
                    else
                        hist_of_object = (1-hist_update_ratio)*hist_of_object + hist_update_ratio*hist;
                    trackWindow = selection;
                    trackObject = 1;
                }
                calcBackProject(&imcolor, 1, ch, hist_of_object, backproj, phranges);
                RotatedRect trackBox = CamShift(backproj, trackWindow,
                                    TermCriteria( CV_TERMCRIT_EPS | CV_TERMCRIT_ITER, 10, 1 ));
                
                if (trackWindow.area() <= 1)
                {
                    int cols = backproj.cols, rows = backproj.rows, r = (MIN(cols, rows) + 5)/6;
                    trackWindow = Rect(trackWindow.x - r, trackWindow.y - r,
                                       trackWindow.x + r, trackWindow.y + r) &
                                  Rect(0, 0, cols, rows);
                }
                if( trackWindow.area() <= 1 )
                    break;
                ellipse( image, trackBox, Scalar(0,0,255), 3, CV_AA );
            }
            else if( trackObject < 0 )
            {
                paused = false;
            }
        }
        if( selectObject && selection.width > 0 && selection.height > 0 )
        {
            Mat roi(image, selection);
            bitwise_not(roi, roi);
        }
        imshow( winDemoName, image );
        vWriter<<image;
        char c = (char)waitKey(10);
        /* 按q键退出 */
        if( c == 27 || c=='q')
        {
            break;
        }
        switch(c)
        {
        case 'c':
            trackObject = 0;            
            break;
        case 'p':
        case ' ':
            paused = !paused;
            break;
        default:
            ;
        }
    }
    /* 停止数据传输 */
    err_code = stop_transfer();
    RELEASE_IF_ERR(err_code);
    /* 确保停止 */
    sleep(100000);
    /* 释放传输线程 */
    err_code = release_transfer();
    RETURN_IF_ERR(err_code);
    return 0;
}