# Path: Settings/Exceptions.py
# class DroneVisionError(Exception):
# 	def __init__(self, error_key=None):
# 		'''CONSTRUCTOR'''
# 
# 		self.__error_messages = {	'no_blobs_error_msg'								: 'No blobs detected!', \
# 									'blob_distance_is_not_calibrated_error_msg'			: 'Blob distance is not calibrated!', \
# 									'feature_descriptor_not_available_error_msg'		: 'Feature descriptor not avaiable - Use block matching!', \
# 									'find_line_limits_unexpected_angle'					: 'Unexpected angle: provide vertical or horizontal hough lines only',  \
# 									'error_msg_no_heading_angle_detected' 				: 'No heading angles detected', \
# 									'error_msg_no_backup_heading_available'				: 'No edge heading detected, and no backup heading available.', \
# 									'find_line_limits_no_hor_or_vert_found' 			: 'Only vertical or horizontal lines found - need both horizontal and vertical lines to process.', \
# 									'detect_boundary_edge_not_found_all_edge_lines'		: 'Could not compute all edges lines - need all boundary edge lines to process', \
# 									'no_3D_point_matches'								: 'Could not compute 3D points - no matching points.', \
# 									'could_not_get_point_list_from_slave'				: 'Timeout thread - could not get right point list from slave within timeout!', \
# 									'triangulation_error_msg'							: 'Triangulation failed!', \
# 									'3D_point_filtration_failed'						: 'Filtration of 3D points failed!'}
# 
# 		self.msg = None
# 		if error_key != None:
# 			self.msg = self.__error_messages[error_key]
# 
# 	def __str__(self):
# 		return repr(self.msg)
# 
# 	def GetErrorMessage(self, error_key):
# 		'''
# 		 @brief Return all possible error messages
# 		'''
# 		return self.__error_messages[error_key]
# 
# Path: src/DroneVision/DroneVision_src/imgProcessing/frameTools/frameTools.py
# def GetShape(frame):
# 	'''
# 	 @brief Get shape of frame, regardless of depth dimension.
# 
# 	 @param frame 
# 	 
# 	 return (height, width)
# 	'''
# 	return frame.shape[:2]
# 
# def CheckColor(frame):
# 	'''
# 	 @brief Check wether the frame is of grayscale or color.
# 	 	converts the frame to color if necessary.
# 
# 	 @param frame
# 	 
# 	 @return color frame.
# 	'''
# 	shape = frame.shape
# 	if len(shape) == 2:
# 		cl_frame = ToColor(frame)
# 	else:
# 		cl_frame = frame
# 	return cl_frame


import cv2
import numpy as np
from Settings.Exceptions import DroneVisionError
from src.DroneVision.DroneVision_src.imgProcessing.frameTools.frameTools import GetShape, CheckColor
			corners_frame[int(round(keypoints[i].pt[1])), int(round(keypoints[i].pt[0]))] = keypoints[i].size
	else: # Find corners in given frame.
		corners_frame = np.float32(frame)

	corners_frame = cv2.cornerHarris(corners_frame, kernel_size, k_sobel_size, k)

	#result is eroded for marking the corners
	corners_frame = cv2.erode(corners_frame, np.ones((3,3), dtype=np.uint8))

	# Threshold for an optimal value, it may vary depending on the image.
	kp_positions 	= np.flip(np.argwhere(corners_frame > thresh*corners_frame.max()), 1)
	n_kps 			= len(kp_positions)
	corners 		= [cv2.KeyPoint()]*n_kps
	for i in range(n_kps):
		corners[i].pt 		= tuple(kp_positions[i])
		corners[i].size 	= corners_frame[kp_positions[i,1], kp_positions[i,0]]
		corners[i].response = corners_frame[kp_positions[i,1], kp_positions[i,0]]
	return corners

def DrawCorners(frame, corners, size_delimiter_param=1.0, color=(255,0,0)):
	'''
	 @brief Draw corners

	 @param frame
	 @param corners (list of keypoint corners)
	 @param size_delimiter_param (default=1.0)
	 @param color (default=(255,0,0))

	 @return frame (color)
	'''

# Path: Settings/Exceptions.py
# class DroneVisionError(Exception):
# 	def __init__(self, error_key=None):
# 		'''CONSTRUCTOR'''
# 
# 		self.__error_messages = {	'no_blobs_error_msg'								: 'No blobs detected!', \
# 									'blob_distance_is_not_calibrated_error_msg'			: 'Blob distance is not calibrated!', \
# 									'feature_descriptor_not_available_error_msg'		: 'Feature descriptor not avaiable - Use block matching!', \
# 									'find_line_limits_unexpected_angle'					: 'Unexpected angle: provide vertical or horizontal hough lines only',  \
# 									'error_msg_no_heading_angle_detected' 				: 'No heading angles detected', \
# 									'error_msg_no_backup_heading_available'				: 'No edge heading detected, and no backup heading available.', \
# 									'find_line_limits_no_hor_or_vert_found' 			: 'Only vertical or horizontal lines found - need both horizontal and vertical lines to process.', \
# 									'detect_boundary_edge_not_found_all_edge_lines'		: 'Could not compute all edges lines - need all boundary edge lines to process', \
# 									'no_3D_point_matches'								: 'Could not compute 3D points - no matching points.', \
# 									'could_not_get_point_list_from_slave'				: 'Timeout thread - could not get right point list from slave within timeout!', \
# 									'triangulation_error_msg'							: 'Triangulation failed!', \
# 									'3D_point_filtration_failed'						: 'Filtration of 3D points failed!'}
# 
# 		self.msg = None
# 		if error_key != None:
# 			self.msg = self.__error_messages[error_key]
# 
# 	def __str__(self):
# 		return repr(self.msg)
# 
# 	def GetErrorMessage(self, error_key):
# 		'''
# 		 @brief Return all possible error messages
# 		'''
# 		return self.__error_messages[error_key]
# 
# Path: src/DroneVision/DroneVision_src/imgProcessing/frameTools/frameTools.py
# def GetShape(frame):
# 	'''
# 	 @brief Get shape of frame, regardless of depth dimension.
# 
# 	 @param frame 
# 	 
# 	 return (height, width)
# 	'''
# 	return frame.shape[:2]
# 
# def CheckColor(frame):
# 	'''
# 	 @brief Check wether the frame is of grayscale or color.
# 	 	converts the frame to color if necessary.
# 
# 	 @param frame
# 	 
# 	 @return color frame.
# 	'''
# 	shape = frame.shape
# 	if len(shape) == 2:
# 		cl_frame = ToColor(frame)
# 	else:
# 		cl_frame = frame
# 	return cl_frame


# Path: src/DroneVision/DroneVision_src/imgProcessing/featureDetection/generalDetectors/detectCorners.py
import cv2
import numpy as np
from Settings.Exceptions import DroneVisionError
from src.DroneVision.DroneVision_src.imgProcessing.frameTools.frameTools import GetShape, CheckColor

			corners_frame[int(round(keypoints[i].pt[1])), int(round(keypoints[i].pt[0]))] = keypoints[i].size
	else: # Find corners in given frame.
		corners_frame = np.float32(frame)

	corners_frame = cv2.cornerHarris(corners_frame, kernel_size, k_sobel_size, k)

	#result is eroded for marking the corners
	corners_frame = cv2.erode(corners_frame, np.ones((3,3), dtype=np.uint8))

	# Threshold for an optimal value, it may vary depending on the image.
	kp_positions 	= np.flip(np.argwhere(corners_frame > thresh*corners_frame.max()), 1)
	n_kps 			= len(kp_positions)
	corners 		= [cv2.KeyPoint()]*n_kps
	for i in range(n_kps):
		corners[i].pt 		= tuple(kp_positions[i])
		corners[i].size 	= corners_frame[kp_positions[i,1], kp_positions[i,0]]
		corners[i].response = corners_frame[kp_positions[i,1], kp_positions[i,0]]
	return corners

def DrawCorners(frame, corners, size_delimiter_param=1.0, color=(255,0,0)):
	'''
	 @brief Draw corners

	 @param frame
	 @param corners (list of keypoint corners)
	 @param size_delimiter_param (default=1.0)
	 @param color (default=(255,0,0))

	 @return frame (color)
	'''

	frame = CheckColor(frame)