# Perspective Correction
#
# This example shows off how to use the rotation_corr() to fix perspective
# issues related to how your CanMV Cam is mounted.
import time, os, gc, sys

from media.sensor import *
from media.display import *
from media.media import *

DETECT_WIDTH = ALIGN_UP(640, 16)
DETECT_HEIGHT = 480

# The image will be warped such that the following points become the new:
#
#   (0,   0)
#   (w-1, 0)
#   (w-1, h-1)
#   (0,   h-1)
#
# Try setting the points below to the corners of a quadrilateral
# (in clock-wise order) in the field-of-view. You can get points
# on the image by clicking and dragging on the frame buffer and
# recording the values shown in the histogram widget.

width= DETECT_WIDTH
height = DETECT_HEIGHT

TARGET_POINTS = [(0,   0),   # (x, y) CHANGE ME!
                 (width-1, 0),   # (x, y) CHANGE ME!
                 (width-1, height-1), # (x, y) CHANGE ME!
                 (0,   height-1)] # (x, y) CHANGE ME!

sensor = None

def camera_init():
    global sensor

    # construct a Sensor object with default configure
    sensor = Sensor(width=DETECT_WIDTH,height=DETECT_HEIGHT)
    # sensor reset
    sensor.reset()
    # set hmirror
    # sensor.set_hmirror(False)
    # sensor vflip
    # sensor.set_vflip(False)

    # set chn0 output size
    sensor.set_framesize(width=DETECT_WIDTH,height=DETECT_HEIGHT)
    # set chn0 output format
    sensor.set_pixformat(Sensor.RGB565)

    # use IDE as display output
    Display.init(Display.VIRT, width= DETECT_WIDTH, height = DETECT_HEIGHT,fps=100,to_ide = True)
    # init media manager
    MediaManager.init()
    # sensor start run
    sensor.run()

def camera_deinit():
    global sensor

    # sensor stop run
    sensor.stop()
    # deinit display
    Display.deinit()
    # sleep
    os.exitpoint(os.EXITPOINT_ENABLE_SLEEP)
    time.sleep_ms(100)
    # release media buffer
    MediaManager.deinit()

def capture_picture():
    fps = time.clock()
    while True:
        fps.tick()
        try:
            os.exitpoint()
            global sensor
            img = sensor.snapshot()

            img.rotation_corr(corners = TARGET_POINTS)
            # draw result to screen
            Display.show_image(img)
            img = None
            gc.collect()
            print(fps.fps())
        except KeyboardInterrupt as e:
            print("user stop: ", e)
            break
        except BaseException as e:
            print(f"Exception {e}")
            break

def main():
    os.exitpoint(os.EXITPOINT_ENABLE)
    camera_is_init = False
    try:
        print("camera init")
        camera_init()
        camera_is_init = True
        print("camera capture")
        capture_picture()
    except Exception as e:
        print(f"Exception {e}")
    finally:
        if camera_is_init:
            print("camera deinit")
            camera_deinit()

if __name__ == "__main__":
    main()
