# import the necessary packages
from picamera.array import PiRGBArray
from picamera import PiCamera
import time
import cv2
from PIL import Image
import RPi.GPIO as GPIO
from scipy.linalg import norm

# initialize the camera and grab a reference to the raw camera capture
camera = PiCamera()
camera.resolution = (320, 240)
camera.framerate = 25
rawCapture = PiRGBArray(camera, size=(320, 240))
#camera.resolution = (640, 480)
#camera.framerate = 60
#rawCapture = PiRGBArray(camera, size=(640, 480))
 
# allow the camera to warmup
time.sleep(0.1)
print "EXIT program: q"

brslik=1
start = 1
klik = 0
led0 = 23
GPIO.setwarnings(False)
GPIO.setmode(GPIO.BCM)
GPIO.setup(led0,GPIO.OUT)
# capture frames from the camera
for frame in camera.capture_continuous(rawCapture, format="bgr", use_video_port=True):
	image = frame.array
	if start > 0:
            start = 0
            imageta = cv2.cvtColor(image,cv2.COLOR_BGR2GRAY)
            bkp_imaget = cv2.threshold(imageta, 127, 255, cv2.THRESH_BINARY)[1]
        kompas = 1
        if kompas == 1:
            imageta = cv2.cvtColor(image,cv2.COLOR_BGR2GRAY)
            imaget = cv2.threshold(imageta, 180, 255, cv2.THRESH_BINARY)[1] # 127 half 
            diff = imaget - bkp_imaget
            z_norm = norm(diff.ravel(),0)
            print z_norm
            if z_norm > 1000: # -------------------------- pixels difference - sensitivity
                GPIO.output(led0,GPIO.HIGH)
            else:
                GPIO.output(led0,GPIO.LOW)

            bkp_imaget = imaget.copy()
	# show the frame
	cv2.imshow("Frame", image)
	cv2.imshow("Frame2", imaget)

	# clear the stream in preparation for the next frame
	rawCapture.truncate(0)
	# if the `q` key was pressed, break from the loop
	key = cv2.waitKey(1) & 0xFF
	if key == ord("q"):
		break