# 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, math
import numpy as np
from Settings.Exceptions import DroneVisionError
from src.DroneVision.DroneVision_src.imgProcessing.frameTools.frameTools import GetShape, CheckColor
			if max_line:
				if edge_theta > np.pi and edge_theta < np.pi*2: # Max line is in wrong quadrant
					correct = False
			else:
				if not(edge_theta >= np.pi and edge_theta <= np.pi*2): # Min line is in wrong quadrant
					correct = False
		else: # Vertical line
			if max_line:
				if edge_theta > np.pi/2 and edge_theta < np.pi*(3/2.0): # Max line is in wrong quadrant
					correct = False
			else:
				if not(edge_theta >= np.pi/2 and edge_theta <= np.pi*(3/2.0)): # Min line is in wrong quadrant
					correct = False
		return correct

	def DrawHeading(self, frame, heading, color=(255,255,0), line_thick=2, draw_arrow=True):
		'''
		 @brief Draw heading on frame.
		 	Heading is measured from image center.

		 @param frame 
		 @param heading (rho, theta)
		 @param color (default=(255,255,0) (YELLOW))
		 @param line_thick (default=5)
		 @param draw line as arrow

		 @return frame (color)
		'''
		rho, theta = heading[:2]
		if not(rho == None or theta == None):

# 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/Heading/EdgeHeading.py
import cv2, math
import numpy as np
from Settings.Exceptions import DroneVisionError
from src.DroneVision.DroneVision_src.imgProcessing.frameTools.frameTools import GetShape, CheckColor

			if max_line:
				if edge_theta > np.pi and edge_theta < np.pi*2: # Max line is in wrong quadrant
					correct = False
			else:
				if not(edge_theta >= np.pi and edge_theta <= np.pi*2): # Min line is in wrong quadrant
					correct = False
		else: # Vertical line
			if max_line:
				if edge_theta > np.pi/2 and edge_theta < np.pi*(3/2.0): # Max line is in wrong quadrant
					correct = False
			else:
				if not(edge_theta >= np.pi/2 and edge_theta <= np.pi*(3/2.0)): # Min line is in wrong quadrant
					correct = False
		return correct

	def DrawHeading(self, frame, heading, color=(255,255,0), line_thick=2, draw_arrow=True):
		'''
		 @brief Draw heading on frame.
		 	Heading is measured from image center.

		 @param frame 
		 @param heading (rho, theta)
		 @param color (default=(255,255,0) (YELLOW))
		 @param line_thick (default=5)
		 @param draw line as arrow

		 @return frame (color)
		'''
		rho, theta = heading[:2]
		if not(rho == None or theta == None):

			frame = CheckColor(frame)