# ============================================================
# MicroPython 图像高斯滤波测试代码（cv_lite 扩展模块）
# RGB888 Gaussian Blur Filter Test using cv_lite extension
# ============================================================

import time, os, sys, gc
from machine import Pin
from media.sensor import *   # 摄像头接口 / Camera interface
from media.display import *  # 显示接口 / Display interface
from media.media import *    # 媒体资源管理器 / Media manager
import _thread
import cv_lite               # cv_lite扩展模块 / cv_lite extension (includes gaussian_blur API)
import ulab.numpy as np      # ulab 数组模块 / NumPy-like ndarray for MicroPython

# -------------------------------
# 图像尺寸设置 / Image resolution
# -------------------------------
image_shape = [480, 640]  # 高 x 宽 / Height x Width

# -------------------------------
# 初始化摄像头 / Initialize camera
# -------------------------------
sensor = Sensor(id=2, width=1280, height=720,fps=90)
sensor.reset()
sensor.set_framesize(width=image_shape[1], height=image_shape[0])
sensor.set_pixformat(Sensor.RGB888)  # 设置像素格式为 RGB888 / Set pixel format to RGB888

# --------------------------------------
# 初始化显示模块（IDE 虚拟显示模式）
# Initialize display (IDE virtual mode)
# --------------------------------------
Display.init(Display.VIRT, width=image_shape[1], height=image_shape[0], to_ide=True, quality=100)

# -------------------------------
# 初始化媒体资源管理器 / Init media manager
# -------------------------------

sensor.run()

# -------------------------------
# 启动帧率计时器 / Start FPS timer
# -------------------------------
clock = time.clock()

# -------------------------------
# 高斯滤波核大小 / Gaussian blur kernel size
# 必须为奇数，例如 3 / 5 / 7 / Must be odd: 3, 5, 7, etc.
# -------------------------------
kernel_size = 3

# -------------------------------
# 主循环 / Main loop
# -------------------------------
while True:
    clock.tick()  # 开始计时 / Start timing

    # 拍摄一帧图像 / Capture a frame
    img = sensor.snapshot()
    img_np = img.to_numpy_ref()  # 获取 RGB888 图像引用 / Get RGB888 ndarray (HWC)

    # 应用高斯模糊滤波 / Apply gaussian blur using cv_lite
    denoised_np = cv_lite.rgb888_gaussian_blur_fast(
        image_shape,
        img_np,
        kernel_size
    )

    # 构造图像用于显示 / Wrap processed image for display
    img_out = image.Image(image_shape[1], image_shape[0], image.RGB888,
                          alloc=image.ALLOC_REF, data=denoised_np)

    # 显示图像 / Display the blurred image
    Display.show_image(img_out)

    # 清理内存并打印帧率 / Collect garbage and show FPS
    gc.collect()
    print("gaussian blur fps:", clock.fps())

# -------------------------------
# 程序退出与资源释放 / Cleanup on exit
# -------------------------------
sensor.stop()
Display.deinit()
os.exitpoint(os.EXITPOINT_ENABLE_SLEEP)
time.sleep_ms(100)

