#!/usr/bin/env python

from __future__ import print_function
import cv2, os, sys, time
import numpy as np
from argparse import ArgumentParser
from picamera.array import PiRGBArray
from picamera import PiCamera


p = ArgumentParser("")
p.add_argument("--video", type=int, default=0, help="video, default: 0")
p.add_argument("--output", default=None, help="path to save movie, default: None (show live)")
p.add_argument("--width", type=int, default=640, help="pre-detect resize width")
p.add_argument("--height", type=int, default=480, help="pre-detect resize height")
p.add_argument("--fourcc", default="XVID", help="MJPG,mp4v,XVID")
p.add_argument("--framerate", type=float, default=25, help="output frame rate")
p.add_argument("--show", default=False, action="store_true")
p.add_argument("--frames", type=int, default=100)
args = p.parse_args()

fourcc = None
cam = cv2.VideoCapture(args.video)
cam.set(cv2.cv.CV_CAP_PROP_FRAME_WIDTH, args.width)
cam.set(cv2.cv.CV_CAP_PROP_FRAME_HEIGHT, args.height)

if args.output:
    try:
        fourcc = cv2.cv.CV_FOURCC(*args.fourcc)
    except AttributeError:
        fourcc = cv2.VideoWriter_fourcc(*args.fourcc)
    out = cv2.VideoWriter()
    out.open(args.output, fourcc, args.framerate, (args.width, args.height))
else:
    out = None

print ("Starting camera", file=sys.stderr)
cam = PiCamera()
framesize = (160, 128)
cam.resolution = framesize
cam.framerate = 32
rawCapture = PiRGBArray(cam, size=framesize)
# allow the camera to warmup
time.sleep(0.25)

count = 0
try:
    # while True:
    #     ret, frame = cam.read()
    for frame in cam.capture_continuous(rawCapture, format="bgr", use_video_port=True):
       # print "GRAB FRAME"
        frame = frame.array

        gray = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
        ret, t= cv2.threshold(gray, 127, 255, cv2.THRESH_BINARY)
        frame = cv2.cvtColor(t, cv2.COLOR_GRAY2BGR)
        # flow = cv2.calcOpticalFlowFarneback(prevgray, gray, 0.5, 3, 15, 3, 5, 1.2, 0)
        # prevgray = gray

        # clear the stream in preparation for the next frame (important for picamera!)
        rawCapture.truncate(0)
        
        if out != None:
            out.write(frame)
            count += 1
        if args.show:
            cv2.imshow('display', frame)
            if cv2.waitKey(5) & 0xFF == ord('q'):
                break
        if args.frames != None:
            if (count >= args.frames):
                break

except KeyboardInterrupt:
    pass

print ("\nCleaning up... Wrote", count, "frames")
if out:
    out.release()
if args.show:
    cv2.destroyAllWindows()