# Untitled - By: SAU - 周二 2月 28 2023

import sensor, image, time,math,gc

sensor.reset()
sensor.set_pixformat(sensor.GRAYSCALE)
sensor.set_framesize(sensor.QQVGA)
sensor.skip_frames(10)
clock = time.clock()


while(True):
    clock.tick()
    img = sensor.snapshot()
    img.gaussian(1)
    grad = [[0  for i in range(img.height())] for j in range(img.width())]
    for i in range(1, img.width()- 1):
        for j in range(1, img.height() - 1):
            grad_x = 2*img.get_pixel(i+1,j) + img.get_pixel(i+1,j-1) + img.get_pixel(i+1,j+1) - 2*img.get_pixel(i-1,j) - img.get_pixel(i-1,j-1) - img.get_pixel(i-1,j+1)
            grad_y = 2*img.get_pixel(i,j+1) + img.get_pixel(i-1,j+1) + img.get_pixel(i+1,j+1) - 2*img.get_pixel(i,j-1) - img.get_pixel(i-1,j-1) - img.get_pixel(i+1,j-1)
            grad_x = math.floor(grad_x / 4)
            grad_y = math.floor(grad_y / 4)
            #合梯度
            grad[i][j] = math.floor(math.sqrt(grad_x * grad_x + grad_y * grad_y))
            img.set_pixel(i,j,(math.floor(math.sqrt(grad_x * grad_x + grad_y * grad_y))))
    print(clock.fps())