undistorted_image.py

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from typing import Union
 
from ids_peak_ipl import ids_peak_ipl
 
from ids_peak_icv import lib_loader
from ids_peak_icv.backend.utils import execute_and_map_return_codes
from ids_peak_icv.datatypes.image import Image, _check_and_get_icv_image
from ids_peak_icv.calibration.intrinsic_parameters import IntrinsicParameters
 
 
class UndistortedImage(Image):
    """!
    @brief
    Represents an image that has undergone undistortion.
 
    The `UndistortedImage` class is derived from `Image` and
    encapsulates the result of an undistortion process.
    It includes updated intrinsic parameters computed during the undistortion.
    These parameters are essential for further processing such as point cloud generation.
 
    @ingroup ids_peak_icv_python_types
    @since ids_peak_icv 1.1
    """
 
    def __init__(self, image: Union[Image, ids_peak_ipl.Image],
                 intrinsic_parameters: IntrinsicParameters) -> None:
        """!
        @brief
        Creates an instance of UndistortedImage using an image and intrinsic parameters
 
        @param image: Depth map with radial coordinates.
        @param intrinsic_parameters: Intrinsic parameters derived from a camera calibration.
 
        @since ids_peak_icv 1.1
        """
        _image = _check_and_get_icv_image(image)
 
        super().__init__(_handle=_image._handle)
 
        execute_and_map_return_codes(lib_loader.dll().peak_icv_Image_IncreaseUseCount,
                                     _image._handle)
 
        self.intrinsic_parameters = intrinsic_parameters