# 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()

# Initiate FAST object with default values
fast = cv2.FastFeatureDetector_create()
fast.setNonmaxSuppression(True)

# 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()
	temp = frame

	# find and draw the keypoints
	kp = fast.detect(frame,None)
	img2 = cv2.drawKeypoints(frame, kp, outImage=temp, color=(255,0,0))

	# Print all default params
	print ("Threshold: " + str(fast.getThreshold()))
	print ("nonmaxSuppression: " + str(fast.getNonmaxSuppression()))
	print ("neighborhood: " + str(fast.getType()))
	print ("Total Keypoints with nonmaxSuppression: " + str(len(kp)))

	# check to see if the frame should be displayed to our screen
	cv2.imshow("Frame", img2)
	key = cv2.waitKey(1) & 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()