# -----------------------------------------------------------------------
# Copyright 2026 Martin Wieser
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
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# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
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# -----------------------------------------------------------------------
"""Base types and interfaces for image models."""
from __future__ import annotations
from abc import abstractmethod
from enum import Enum
from pyproj import CRS
from weitsicht.geometry.coo_geojson import get_geojson
from weitsicht.mapping.base_class import MappingBase
from weitsicht.transform.coordinates_transformer import CoordinateTransformer
from weitsicht.utils import (
ArrayNx2,
ArrayNx3,
MappingResult,
ProjectionResult,
Vector3D,
)
__all__ = ["ImageType", "ImageBase"]
class ImageType(Enum):
"""Enum of supported image model types.
The ``fullname`` attribute is used for serialization (e.g. in ``param_dict``)
and must match what factory functions expect (e.g. ``get_image_from_dict``).
Add new image model types here.
"""
fullname: str
Unknown = 0, "unknown"
Perspective = 1, "perspective"
Orthophoto = 2, "ortho"
def __new__(cls, value, name):
member = object.__new__(cls)
member._value_ = value
member.fullname = name
return member
def __int__(self):
return self.value
[docs]
class ImageBase:
"""Base class for image models.
This base class defines a common API for projecting 3D coordinates into image
pixel coordinates and mapping image pixels to 3D coordinates (via an optional
:class:`~weitsicht.mapping.base_class.MappingBase`).
Coordinate system conventions:
- Image pixel CRS: x points right, y points down (origin at top-left pixel edge).
- World CRS: any cartesian CRS; for mapping it is usually best to use a projected CRS.
Subclasses must implement:
- `from_dict`
- `type`
- `param_dict`
- `is_geo_referenced`
- `center`
- `position_to_crs`
- `project`
- `map_center_point`
- `map_footprint`
- `map_points`
"""
[docs]
def __init__(
self,
width: float | int,
height: float | int,
mapper: MappingBase | None = None,
crs: CRS | None = None,
):
"""Initialize the image base class.
:param width: Image width in pixels.
:type width: float | int
:param height: Image height in pixels.
:type height: float | int
:param mapper: Mapping instance, defaults to ``None``.
:type mapper: MappingBase | None
:param crs: World CRS of the image, defaults to ``None``.
:type crs: CRS | None
"""
self._crs: CRS | None = crs
self.mapper = mapper
self._width: int = int(width)
self._height: int = int(height)
self._position = None
@property
def mapper(self) -> MappingBase | None:
# get mapper
return self._mapper
@mapper.setter
def mapper(self, mapper: MappingBase | None):
self._mapper = mapper
[docs]
@classmethod
@abstractmethod
def from_dict(cls, param_dict: dict, mapper: MappingBase | None = None) -> ImageBase:
"""Create an image model from a parameter dictionary.
Implementations should accept the dictionary returned by :attr:`param_dict`.
:param param_dict: Dictionary with image parameters.
:type param_dict: dict
:param mapper: Mapping instance, defaults to ``None``.
:type mapper: MappingBase | None
:return: Image model instance.
:rtype: ImageBase
:raises KeyError: If required keys are missing.
:raises ValueError: If configuration values are invalid.
:raises TypeError: If configuration values have incompatible types.
"""
pass
@property
@abstractmethod
def type(self) -> ImageType:
"""Return the image model type.
:return: Image type.
:rtype: ImageType
"""
pass
@property
@abstractmethod
def param_dict(self) -> dict:
"""Return image parameters as a dictionary.
The returned dictionary must be compatible with :meth:`from_dict`.
:return: Image parameters.
:rtype: dict
"""
pass
@property
@abstractmethod
def is_geo_referenced(self) -> bool:
"""Return whether the image is geo-referenced.
:return: ``True`` if geo-referenced (and mapping/projection can be computed), otherwise ``False``.
:rtype: bool
"""
pass
@property
@abstractmethod
def center(self) -> tuple[float, float]:
"""Return the center of the image in pixel coordinates.
Implementations may define the center differently (e.g. the principal point
for perspective cameras).
:return: Center point (x, y) in pixel coordinates.
:rtype: tuple[float, float]
"""
pass
[docs]
@abstractmethod
def position_to_crs(self, crs_t: CRS) -> Vector3D | None:
"""Return the image reference position in the target CRS.
:param crs_t: Target CRS.
:type crs_t: CRS
:return: Position in ``crs_t`` or ``None`` if unavailable.
:rtype: Vector3D | None
:raises CoordinateTransformationError: If coordinate transformation fails.
"""
pass
[docs]
@abstractmethod
def project(
self, coordinates: ArrayNx3, crs_s: CRS | None = None, transformer: CoordinateTransformer | None = None
) -> ProjectionResult:
"""Project 3D coordinates into image pixel coordinates.
:param coordinates: 3D coordinates to project.
:type coordinates: ArrayNx3
:param crs_s: CRS of the input coordinates, defaults to ``None``.
:type crs_s: CRS | None
:param transformer: Optional coordinate transformer, defaults to ``None``.
:type transformer: CoordinateTransformer | None
:return: Result of the projection.
:rtype: ProjectionResult
:raises CoordinateTransformationError: If coordinate transformation fails.
"""
pass
[docs]
@abstractmethod
def map_center_point(
self, mapper: MappingBase | None = None, transformer: CoordinateTransformer | None = None
) -> MappingResult:
"""Map the image center pixel to 3D coordinates.
For perspective images this is typically the principal point.
:param mapper: Mapper to use, defaults to ``None`` (uses :attr:`mapper`).
:type mapper: MappingBase | None
:param transformer: Optional coordinate transformer, defaults to ``None``.
:type transformer: CoordinateTransformer | None
:return: Mapping result.
:rtype: MappingResult
:raises CoordinateTransformationError: If coordinate transformation fails.
"""
pass
[docs]
@abstractmethod
def map_points(
self,
points_image: ArrayNx2 | ArrayNx3 | list[list[float]] | list[list[int]] | list[float] | list[int],
mapper: MappingBase | None = None,
transformer: CoordinateTransformer | None = None,
) -> MappingResult:
"""Map image pixel coordinates to 3D coordinates.
:param points_image: Pixel coordinates.
:type points_image: ArrayNx2 | ArrayNx3 | list[list[float]] | list[list[int]] | list[float] | list[int]
:param mapper: Mapper to use, defaults to ``None`` (uses :attr:`mapper`).
:type mapper: MappingBase | None
:param transformer: Optional coordinate transformer, defaults to ``None``.
:type transformer: CoordinateTransformer | None
:return: Mapping result.
:rtype: MappingResult
:raises CoordinateTransformationError: If coordinate transformation fails.
"""
pass
# Standard properties
@property
def position_wgs84(self) -> tuple[float, float, float] | None:
"""Return the position in WGS84 (EPSG:4979) of the image or None if not possible.
The position_to_crs method is defined by the class implementation.
:return: Position in WGS84 (x, y, z) or ``None``.
:rtype: tuple[float, float, float] | None
"""
coordinates = self.position_to_crs(CRS.from_epsg(4979))
if coordinates is not None:
pos_wgs84 = coordinates
return float(pos_wgs84[0]), float(pos_wgs84[1]), float(pos_wgs84[2])
return None
@property
def position_wgs84_geojson(self) -> dict | None:
"""Return the image position in WGS84 (EPSG:4979) as a GeoJSON point.
:return: GeoJSON ``Point`` mapping or ``None`` if the position is unavailable.
:rtype: dict | None
"""
coordinates = self.position_to_crs(CRS.from_epsg(4979))
if coordinates is not None:
return get_geojson(coordinates, "Point")
return None
@property
def crs(self) -> CRS | None:
"""Return the image world CRS.
:return: CRS of the image or ``None`` if unknown.
:rtype: CRS | None
"""
return self._crs
# TODO should we actually perform a transformation?
# Then we would need orientation matrix to be transformed accordingly
@crs.setter
def crs(self, crs: CRS):
"""Set images CRS from pyproj CRS object
:param crs: CRS of the image.
:type crs: CRS
"""
self._crs = crs
@property
def crs_wkt(self) -> str | None:
"""Return images CRS as wkt string"""
if self._crs is not None:
return self._crs.to_wkt()
return None
@property
def crs_proj4(self) -> str | None:
"""Return images CRS as proj4 string"""
if self._crs is not None:
return self._crs.to_proj4()
return None
@property
def width(self) -> int:
"""Return width of image (column number)"""
return self._width
@property
def height(self) -> int:
"""Return height of image (row number)"""
return self._height
@property
def shape(self) -> tuple[int, int]:
"""Return shape of image as tuple(width, height)"""
return self._width, self._height
