# 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
			else: # Choose the edge that is closest to the previously detected edge
				min_delta_rho = np.abs(possible_edge_headings[closest_edge_heading_index][0] - ref_edge_heading[0])
				for i in range(len(possible_edge_headings)):
					temp_min_delta_rho = np.abs(possible_edge_headings[i][0] - ref_edge_heading[0])
					if temp_min_delta_rho < min_delta_rho:
						min_delta_rho = temp_min_delta_rho
						closest_edge_heading_index = i
			edge_heading = possible_edge_headings[closest_edge_heading_index]
		return edge_heading #(rho, theta, max/min)
			
	def ProcessBoundaryHoughLine(self, frame, boundary_hough_line, bound_thres=10, draw=False, color=(255,255,0)):
		'''
		 @brief Process boundary hough line.
		 	Check if the hough line indicates the blade edge, 
		 	and compute the heading angle according to the edge.

		 @param frame (original undistorted frame)
		 @param boundary_hough_line (Touple as (rho, theta))
		 @param bound_thres (Threshold in pixels for the line to be detected as a blade edge)
		 @param draw (default=False)
		 @param color (draw color if draw=True (default=(255,255,0)))

		 if draw:
		 	@return edge_line, rho, theta, frame (color frame with circles of hough line center points)
		 else:
			 @return edge_line, rho, theta
			 	(edge_line = True/False in regard to if the line is following a blade edge
			 	rho  = distance to edge (normalized)
			 	theta = heading angle along the detected edge (normalized.)
		'''

# 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

			else: # Choose the edge that is closest to the previously detected edge
				min_delta_rho = np.abs(possible_edge_headings[closest_edge_heading_index][0] - ref_edge_heading[0])
				for i in range(len(possible_edge_headings)):
					temp_min_delta_rho = np.abs(possible_edge_headings[i][0] - ref_edge_heading[0])
					if temp_min_delta_rho < min_delta_rho:
						min_delta_rho = temp_min_delta_rho
						closest_edge_heading_index = i
			edge_heading = possible_edge_headings[closest_edge_heading_index]
		return edge_heading #(rho, theta, max/min)
			
	def ProcessBoundaryHoughLine(self, frame, boundary_hough_line, bound_thres=10, draw=False, color=(255,255,0)):
		'''
		 @brief Process boundary hough line.
		 	Check if the hough line indicates the blade edge, 
		 	and compute the heading angle according to the edge.

		 @param frame (original undistorted frame)
		 @param boundary_hough_line (Touple as (rho, theta))
		 @param bound_thres (Threshold in pixels for the line to be detected as a blade edge)
		 @param draw (default=False)
		 @param color (draw color if draw=True (default=(255,255,0)))

		 if draw:
		 	@return edge_line, rho, theta, frame (color frame with circles of hough line center points)
		 else:
			 @return edge_line, rho, theta
			 	(edge_line = True/False in regard to if the line is following a blade edge
			 	rho  = distance to edge (normalized)
			 	theta = heading angle along the detected edge (normalized.)
		'''

		width, height 	= GetShape(frame)