calibration_parameters.py

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from __future__ import annotations
 
import ctypes
from typing import Any, cast
 
import numpy as np
 
from ids_peak_icv import lib_loader
from ids_peak_icv.backend.datatypes import peak_icv_calibration_parameters
from ids_peak_icv.backend.utils import execute_and_map_return_codes
from ids_peak_icv.exceptions import NotPossibleException, CorruptedException, MismatchException
from ids_peak_icv.calibration.intrinsic_parameters import IntrinsicParameters
from ids_peak_icv.calibration.extrinsic_parameters import ExtrinsicParameters
 
 
class CalibrationParameters:
    """!
    @brief
    Represents the calibration parameters, which include intrinsic and extrinsic
    parameters.
 
    @ingroup ids_peak_icv_python_calibration
    @since ids_peak_icv 1.1
    """
 
    def __init__(self, *args: Any, **kwargs: Any) -> None:
        """!
        @brief
        In order to create CalibrationParameters, please refer to the classmethods.
 
        @since ids_peak_icv 1.1
        """
        try:
            if "_parameters" in kwargs:
                parameters = kwargs["_parameters"]
                self._intrinsic_parameters = IntrinsicParameters(_parameters=parameters.intrinsic_parameters)
                self._extrinsic_parameters = ExtrinsicParameters(_parameters=parameters.extrinsic_parameters)
            elif "_extrinsic_parameters" in kwargs and "_intrinsic_parameters" in kwargs:
                self._intrinsic_parameters = kwargs["_intrinsic_parameters"]
                self._extrinsic_parameters = kwargs["_extrinsic_parameters"]
            else:
                raise KeyError
        except KeyError:
            raise NotPossibleException(
                f"{self.__class__.__name__} shall not be initialized directly. Use class methods."
            )
 
    @classmethod
    def create_from_file(cls, file_path: str) -> CalibrationParameters:
        """!
        @brief
        Creates an instance of CalibrationParameters from a file.
 
        @param file_path: An existing file path to a JSON file containing the calibration parameters.
 
        @exception IOException: If the given file_path does not exist, or the permissions are not sufficient
        to read it.
        @exception CorruptedException: If the file content is corrupted.
 
        @return A new instance of CalibrationParameters
 
        @since ids_peak_icv 1.1
        """
        c_file_path = file_path.encode('utf-8')
        parameters = peak_icv_calibration_parameters()
 
        execute_and_map_return_codes(
            lib_loader.dll().peak_icv_CalibrationParameters_CreateFromFile,
            ctypes.pointer(parameters), ctypes.sizeof(parameters),
            ctypes.c_char_p(c_file_path)
        )
 
        return CalibrationParameters(_parameters=parameters)
 
    @classmethod
    def create_from_parameters(cls, intrinsic_parameters: IntrinsicParameters,
                               extrinsic_parameters: ExtrinsicParameters) -> CalibrationParameters:
        """!
        @brief
        Creates an instance of CalibrationParameters using intrinsic and extrinsic parameters.
 
        @param intrinsic_parameters: The intrinsic camera parameters.
        @param extrinsic_parameters: The extrinsic camera parameters.
 
        @return A new instance of CalibrationParameters
 
        @since ids_peak_icv 1.1
        """
        return CalibrationParameters(
            _intrinsic_parameters=intrinsic_parameters,
            _extrinsic_parameters=extrinsic_parameters
        )
 
    @classmethod
    def create_from_binary(cls, binary: np.ndarray) -> CalibrationParameters:
        """!
        @brief
        Creates an instance of CalibrationParameters from binary data.
 
        @param binary: A NumPy array containing the binary representation of calibration parameters.
 
        @return A new instance of CalibrationParameters
 
        @exception CorruptedException: If the binary calibration parameters are corrupted.
 
        @since ids_peak_icv 1.1
        """
        if binary.dtype != np.uint8:
            raise MismatchException("Data type of the numpy array must be uint8")
 
        is_valid = ctypes.c_bool(False)
        size = len(binary)
 
        execute_and_map_return_codes(
            lib_loader.dll().peak_icv_ValidateBinary,
            binary.ctypes.data_as(ctypes.POINTER(ctypes.c_uint8)), size,
            ctypes.pointer(is_valid)
        )
 
        if not is_valid.value:
            raise CorruptedException("The given binary data is invalid")
 
        calibration_parameters = peak_icv_calibration_parameters()
        execute_and_map_return_codes(
            lib_loader.dll().peak_icv_CalibrationParameters_CreateFromBinary,
            binary.ctypes.data_as(ctypes.POINTER(ctypes.c_uint8)), size,
            ctypes.pointer(calibration_parameters), ctypes.sizeof(calibration_parameters)
        )
 
        return CalibrationParameters(_parameters=calibration_parameters)
 
    def to_binary(self) -> np.ndarray:
        """!
        @brief
        Converts the CalibrationParameters instance to a binary representation.
 
        @return A NumPy array containing the binary data.
 
        @since ids_peak_icv 1.1
        """
 
        calibration_parameters = peak_icv_calibration_parameters(
            intrinsic_parameters=self._intrinsic_parameters._parameters,
            extrinsic_parameters=self._extrinsic_parameters._parameters
        )
 
        binary_size = ctypes.c_size_t()
        execute_and_map_return_codes(
            lib_loader.dll().peak_icv_CalibrationParameters_ToBinaryGetSizeInBytes,
            ctypes.sizeof(calibration_parameters), ctypes.pointer(binary_size)
        )
        data = np.zeros(binary_size.value, dtype=np.uint8)
 
        execute_and_map_return_codes(
            lib_loader.dll().peak_icv_CalibrationParameters_ToBinary,
            calibration_parameters, ctypes.sizeof(calibration_parameters),
            data.ctypes.data_as(ctypes.POINTER(ctypes.c_uint8)), binary_size
        )
 
        return data
 
    @property
    def intrinsic_parameters(self) -> IntrinsicParameters:
        """!
        @brief
        Retrieves the intrinsic parameters of the calibration.
 
        @return The intrinsic camera parameters.
 
        @since ids_peak_icv 1.1
        """
        return self._intrinsic_parameters
 
    @property
    def extrinsic_parameters(self) -> ExtrinsicParameters:
        """!
        @brief
        Retrieves the extrinsic parameters of the calibration.
 
        @return The extrinsic camera parameters.
 
        @since ids_peak_icv 1.1
        """
        return self._extrinsic_parameters
 
    @extrinsic_parameters.setter
    def extrinsic_parameters(self, extrinsic_parameters: ExtrinsicParameters) -> None:
        """!
        @brief
        Sets the extrinsic parameters of the calibration.
 
        @param extrinsic_parameters: The extrinsic camera parameters.
 
        @since ids_peak_icv 1.2
        """
        self._extrinsic_parameters = extrinsic_parameters
 
    def save(self, file_path: str) -> None:
        """!
        @brief
        Saves the calibration parameters to a file.
 
        @param file_path: The path where the parameters should be saved.
 
        @exception IOException: If the file cannot be saved or permissions are insufficient.
 
        @since ids_peak_icv 1.1
        """
        c_file_path = file_path.encode('utf-8')
 
        parameters = peak_icv_calibration_parameters(
            intrinsic_parameters=self._intrinsic_parameters._parameters,
            extrinsic_parameters=self._extrinsic_parameters._parameters
        )
 
        execute_and_map_return_codes(
            lib_loader.dll().peak_icv_CalibrationParameters_SaveToFile,
            parameters, ctypes.sizeof(parameters),
            ctypes.c_char_p(c_file_path)
        )
 
    def __eq__(self, other: object) -> bool:
        """!
        @brief
        Compares two CalibrationParameters instances for equality.
 
        @param other: Another instance to compare.
 
        @return True if both instances are equal, False otherwise.
 
        @since ids_peak_icv 1.1
        """
 
        if not isinstance(other, CalibrationParameters):
            return False
 
        return (self.intrinsic_parametersintrinsic_parameters == other.intrinsic_parameters and
                self.extrinsic_parametersextrinsic_parametersextrinsic_parameters == other.extrinsic_parameters)