# import the necessary packages
from __future__ import print_function
from PiVideoStream import PiVideoStream
from imutils.video import FPS
from picamera.array import PiRGBArray
from picamera import PiCamera
import numpy as np
import argparse
import imutils
import time
import cv2

# construct the argument parse and parse the arguments
ap = argparse.ArgumentParser()
ap.add_argument("-n", "--num-frames", type=int, default=100,
	help="# of frames to loop over for FPS test")
ap.add_argument("-d", "--display", type=int, default=-1,
	help="Whether or not frames should be displayed")
args = vars(ap.parse_args())

# created a *threaded *video stream, allow the camera sensor to warmup,
# and start the FPS counter
print("[INFO] sampling THREADED frames from `picamera` module...")
vs = PiVideoStream(resolution=(640,480), framerate=30).start()
time.sleep(2.0)
fps = FPS().start()

# Setup SimpleBlobDetector parameters.
params = cv2.SimpleBlobDetector_Params()
 
# Change thresholds
params.minThreshold = 10;
params.maxThreshold = 200;
 
# Filter by Area.
params.filterByArea = True
params.minArea = 200
 
# Filter by Circularity
params.filterByCircularity = True
params.minCircularity = 0.5
 
# Filter by Convexity
params.filterByConvexity = False
params.minConvexity = 0.87
 
# Filter by Inertia
params.filterByInertia = False
params.minInertiaRatio = 0.01
 
# Create a detector with the parameters
ver = (cv2.__version__).split('.')
if int(ver[0]) < 3 :
    detector = cv2.SimpleBlobDetector(params)
else : 
    detector = cv2.SimpleBlobDetector_create(params) 

# loop over some frames...this time using the threaded stream
while fps._numFrames < args["num_frames"]:
	# grab the frame from the threaded video stream
	frame = vs.read()

	# Detect blobs.
	keypoints = detector.detect(frame)

	# Draw detected blobs as red circles.
	# cv2.DRAW_MATCHES_FLAGS_DRAW_RICH_KEYPOINTS ensures the size of the circle corresponds to the size of blob
	im_with_keypoints = cv2.drawKeypoints(frame, keypoints, np.array([]), (0,0,255), cv2.DRAW_MATCHES_FLAGS_DRAW_RICH_KEYPOINTS)
	 
	# Show keypoints
	cv2.imshow("Keypoints", im_with_keypoints)
	cv2.waitKey(1)

	# check to see if the frame should be displayed to our screen
	if args["display"] > 0:
		if frame  != None:	
			cv2.imshow("Frame", frame)
			key = cv2.waitKey(10) & 0xFF

   	# update the FPS counter
	fps.update()

# stop the timer and display FPS information
fps.stop()
vs.stop()
print("[INFO] elasped time: {:.2f}".format(fps.elapsed()))
print("[INFO] approx. FPS: {:.2f}".format(fps.fps()))
print("[INFO] Camera : elasped time: {:.2f}".format(vs.getfps().elapsed()))
print("[INFO] Camera: approx. FPS: {:.2f}".format(vs.getfps().fps()))

# do a bit of cleanup
cv2.destroyAllWindows()