# Median Filter Example
#
# This example shows off median filtering. Median filtering replaces every pixel
# with the median value of it's NxN neighborhood. Median filtering is good for
# removing noise in the image while preserving edges.
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

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=60,to_ide = True)


    # 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


def capture_picture():
    fps = time.clock()
    while True:
        fps.tick()
        try:
            os.exitpoint()
            global sensor
            img = sensor.snapshot()
            # The first argument to the median filter is the kernel size, it can be
            # either 0, 1, or 2 for a 1x1, 3x3, or 5x5 kernel respectively. The second
            # argument "percentile" is the percentile number to choose from the NxN
            # neighborhood. 0.5 is the median, 0.25 is the lower quartile, and 0.75
            # would be the upper quartile.
            img.median(1, percentile=0.5)
            # 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:
            import sys
            sys.print_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:
        import sys
        sys.print_exception(e)
    finally:
        if camera_is_init:
            print("camera deinit")
            camera_deinit()

if __name__ == "__main__":
    main()
