306 lines
14 KiB
C++
306 lines
14 KiB
C++
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/****************************************************************************
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*
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* (c) 2009-2020 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
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*
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* QGroundControl is licensed according to the terms in the file
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* COPYING.md in the root of the source code directory.
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*
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****************************************************************************/
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#include "CameraCalc.h"
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#include "JsonHelper.h"
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#include "Vehicle.h"
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#include "CameraMetaData.h"
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#include <QQmlEngine>
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const char* CameraCalc::cameraNameName = "CameraName";
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const char* CameraCalc::valueSetIsDistanceName = "ValueSetIsDistance";
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const char* CameraCalc::distanceToSurfaceName = "DistanceToSurface";
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const char* CameraCalc::distanceToSurfaceRelativeName = "DistanceToSurfaceRelative";
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const char* CameraCalc::imageDensityName = "ImageDensity";
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const char* CameraCalc::frontalOverlapName = "FrontalOverlap";
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const char* CameraCalc::sideOverlapName = "SideOverlap";
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const char* CameraCalc::adjustedFootprintFrontalName = "AdjustedFootprintFrontal";
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const char* CameraCalc::adjustedFootprintSideName = "AdjustedFootprintSide";
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const char* CameraCalc::_jsonCameraSpecTypeKey = "CameraSpecType";
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CameraCalc::CameraCalc(Vehicle* vehicle, const QString& settingsGroup, QObject* parent)
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: CameraSpec (settingsGroup, parent)
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, _vehicle (vehicle)
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, _dirty (false)
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, _disableRecalc (false)
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, _distanceToSurfaceRelative (true)
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, _metaDataMap (FactMetaData::createMapFromJsonFile(QStringLiteral(":/json/CameraCalc.FactMetaData.json"), this))
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, _cameraNameFact (settingsGroup, _metaDataMap[cameraNameName])
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, _valueSetIsDistanceFact (settingsGroup, _metaDataMap[valueSetIsDistanceName])
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, _distanceToSurfaceFact (settingsGroup, _metaDataMap[distanceToSurfaceName])
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, _imageDensityFact (settingsGroup, _metaDataMap[imageDensityName])
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, _frontalOverlapFact (settingsGroup, _metaDataMap[frontalOverlapName])
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, _sideOverlapFact (settingsGroup, _metaDataMap[sideOverlapName])
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, _adjustedFootprintSideFact (settingsGroup, _metaDataMap[adjustedFootprintSideName])
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, _adjustedFootprintFrontalFact (settingsGroup, _metaDataMap[adjustedFootprintFrontalName])
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, _imageFootprintSide (0)
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, _imageFootprintFrontal (0)
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, _knownCameraList (_vehicle->staticCameraList())
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{
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QQmlEngine::setObjectOwnership(this, QQmlEngine::CppOwnership);
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connect(&_valueSetIsDistanceFact, &Fact::valueChanged, this, &CameraCalc::_setDirty);
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connect(&_distanceToSurfaceFact, &Fact::valueChanged, this, &CameraCalc::_setDirty);
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connect(&_imageDensityFact, &Fact::valueChanged, this, &CameraCalc::_setDirty);
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connect(&_frontalOverlapFact, &Fact::valueChanged, this, &CameraCalc::_setDirty);
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connect(&_sideOverlapFact, &Fact::valueChanged, this, &CameraCalc::_setDirty);
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connect(&_adjustedFootprintSideFact, &Fact::valueChanged, this, &CameraCalc::_setDirty);
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connect(&_adjustedFootprintFrontalFact, &Fact::valueChanged, this, &CameraCalc::_setDirty);
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connect(&_cameraNameFact, &Fact::valueChanged, this, &CameraCalc::_setDirty);
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connect(this, &CameraCalc::distanceToSurfaceRelativeChanged, this, &CameraCalc::_setDirty);
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connect(&_cameraNameFact, &Fact::valueChanged, this, &CameraCalc::_cameraNameChanged);
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connect(&_cameraNameFact, &Fact::valueChanged, this, &CameraCalc::isManualCameraChanged);
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connect(&_cameraNameFact, &Fact::valueChanged, this, &CameraCalc::isCustomCameraChanged);
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connect(&_distanceToSurfaceFact, &Fact::rawValueChanged, this, &CameraCalc::_recalcTriggerDistance);
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connect(&_imageDensityFact, &Fact::rawValueChanged, this, &CameraCalc::_recalcTriggerDistance);
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connect(&_frontalOverlapFact, &Fact::rawValueChanged, this, &CameraCalc::_recalcTriggerDistance);
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connect(&_sideOverlapFact, &Fact::rawValueChanged, this, &CameraCalc::_recalcTriggerDistance);
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connect(sensorWidth(), &Fact::rawValueChanged, this, &CameraCalc::_recalcTriggerDistance);
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connect(sensorHeight(), &Fact::rawValueChanged, this, &CameraCalc::_recalcTriggerDistance);
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connect(imageWidth(), &Fact::rawValueChanged, this, &CameraCalc::_recalcTriggerDistance);
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connect(imageHeight(), &Fact::rawValueChanged, this, &CameraCalc::_recalcTriggerDistance);
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connect(focalLength(), &Fact::rawValueChanged, this, &CameraCalc::_recalcTriggerDistance);
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connect(landscape(), &Fact::rawValueChanged, this, &CameraCalc::_recalcTriggerDistance);
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_cameraNameChanged();
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setDirty(false);
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}
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void CameraCalc::setDirty(bool dirty)
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{
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if (_dirty != dirty) {
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_dirty = dirty;
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emit dirtyChanged(_dirty);
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}
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}
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void CameraCalc::_cameraNameChanged(void)
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{
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if (_disableRecalc) {
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return;
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}
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QString cameraName = _cameraNameFact.rawValue().toString();
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// Validate known camera name
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bool foundKnownCamera = false;
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CameraMetaData* cameraMetaData = nullptr;
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if (!isManualCamera() && !isCustomCamera()) {
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for (int cameraIndex=0; cameraIndex<_knownCameraList.count(); cameraIndex++) {
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cameraMetaData = _knownCameraList[cameraIndex].value<CameraMetaData*>();
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if (cameraName == cameraMetaData->name()) {
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foundKnownCamera = true;
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break;
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}
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}
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if (!foundKnownCamera) {
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// This will cause another camera changed signal which will recurse back to this routine
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_cameraNameFact.setRawValue(customCameraName());
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return;
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}
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}
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_disableRecalc = true;
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if (foundKnownCamera) {
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sensorWidth()->setRawValue (cameraMetaData->sensorWidth());
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sensorHeight()->setRawValue (cameraMetaData->sensorHeight());
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imageWidth()->setRawValue (cameraMetaData->imageWidth());
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imageHeight()->setRawValue (cameraMetaData->imageHeight());
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focalLength()->setRawValue (cameraMetaData->focalLength());
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landscape()->setRawValue (cameraMetaData->landscape());
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fixedOrientation()->setRawValue (cameraMetaData->fixedOrientation());
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minTriggerInterval()->setRawValue (cameraMetaData->minTriggerInterval());
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} else {
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if (isManualCamera() || isCustomCamera()) {
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// These values are unknown for these types
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fixedOrientation()->setRawValue(false);
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minTriggerInterval()->setRawValue(0);
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if (isManualCamera() && !valueSetIsDistance()->rawValue().toBool()) {
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valueSetIsDistance()->setRawValue(true);
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}
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} else {
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qWarning() << "Internal Error: Not known camera, but now manual or custom either";
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}
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}
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_disableRecalc = false;
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_recalcTriggerDistance();
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_adjustDistanceToSurfaceRelative();
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}
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void CameraCalc::_recalcTriggerDistance(void)
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{
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if (_disableRecalc || isManualCamera()) {
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return;
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}
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_disableRecalc = true;
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double focalLength = this->focalLength()->rawValue().toDouble();
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double sensorWidth = this->sensorWidth()->rawValue().toDouble();
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double sensorHeight = this->sensorHeight()->rawValue().toDouble();
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double imageWidth = this->imageWidth()->rawValue().toDouble();
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double imageHeight = this->imageHeight()->rawValue().toDouble();
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double imageDensity = _imageDensityFact.rawValue().toDouble();
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if (focalLength <= 0 || sensorWidth <= 0 || sensorHeight <= 0 || imageWidth <= 0 || imageHeight <= 0 || imageDensity <= 0) {
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return;
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}
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if (_valueSetIsDistanceFact.rawValue().toBool()) {
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_imageDensityFact.setRawValue((_distanceToSurfaceFact.rawValue().toDouble() * sensorWidth * 100.0) / (imageWidth * focalLength));
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} else {
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_distanceToSurfaceFact.setRawValue((imageWidth * _imageDensityFact.rawValue().toDouble() * focalLength) / (sensorWidth * 100.0));
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}
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imageDensity = _imageDensityFact.rawValue().toDouble();
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if (landscape()->rawValue().toBool()) {
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_imageFootprintSide = (imageWidth * imageDensity) / 100.0;
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_imageFootprintFrontal = (imageHeight * imageDensity) / 100.0;
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} else {
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_imageFootprintSide = (imageHeight * imageDensity) / 100.0;
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_imageFootprintFrontal = (imageWidth * imageDensity) / 100.0;
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}
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_adjustedFootprintSideFact.setRawValue (_imageFootprintSide * ((100.0 - _sideOverlapFact.rawValue().toDouble()) / 100.0));
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_adjustedFootprintFrontalFact.setRawValue (_imageFootprintFrontal * ((100.0 - _frontalOverlapFact.rawValue().toDouble()) / 100.0));
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emit imageFootprintSideChanged (_imageFootprintSide);
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emit imageFootprintFrontalChanged (_imageFootprintFrontal);
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_disableRecalc = false;
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}
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void CameraCalc::save(QJsonObject& json) const
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{
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json[JsonHelper::jsonVersionKey] = 1;
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json[adjustedFootprintSideName] = _adjustedFootprintSideFact.rawValue().toDouble();
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json[adjustedFootprintFrontalName] = _adjustedFootprintFrontalFact.rawValue().toDouble();
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json[distanceToSurfaceName] = _distanceToSurfaceFact.rawValue().toDouble();
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json[distanceToSurfaceRelativeName] = _distanceToSurfaceRelative;
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json[cameraNameName] = _cameraNameFact.rawValue().toString();
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if (!isManualCamera()) {
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CameraSpec::save(json);
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json[valueSetIsDistanceName] = _valueSetIsDistanceFact.rawValue().toBool();
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json[imageDensityName] = _imageDensityFact.rawValue().toDouble();
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json[frontalOverlapName] = _frontalOverlapFact.rawValue().toDouble();
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json[sideOverlapName] = _sideOverlapFact.rawValue().toDouble();
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}
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}
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bool CameraCalc::load(const QJsonObject& json, QString& errorString)
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{
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QJsonObject v1Json = json;
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if (!json.contains(JsonHelper::jsonVersionKey)) {
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// Version 0 file. Differences from Version 1 for conversion:
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// JsonHelper::jsonVersionKey not stored
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// _jsonCameraSpecTypeKey stores CameraSpecType
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// _jsonCameraNameKey only set if CameraSpecKnown
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int cameraSpec = v1Json[_jsonCameraSpecTypeKey].toInt(CameraSpecNone);
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if (cameraSpec == CameraSpecCustom) {
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v1Json[cameraNameName] = customCameraName();
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} else if (cameraSpec == CameraSpecNone) {
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v1Json[cameraNameName] = manualCameraName();
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}
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v1Json.remove(_jsonCameraSpecTypeKey);
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v1Json[JsonHelper::jsonVersionKey] = 1;
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}
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int version = v1Json[JsonHelper::jsonVersionKey].toInt();
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if (version != 1) {
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errorString = tr("CameraCalc section version %1 not supported").arg(version);
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return false;
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}
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QList<JsonHelper::KeyValidateInfo> keyInfoList1 = {
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{ cameraNameName, QJsonValue::String, true },
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{ adjustedFootprintSideName, QJsonValue::Double, true },
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{ adjustedFootprintFrontalName, QJsonValue::Double, true },
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{ distanceToSurfaceName, QJsonValue::Double, true },
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{ distanceToSurfaceRelativeName, QJsonValue::Bool, true },
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};
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if (!JsonHelper::validateKeys(v1Json, keyInfoList1, errorString)) {
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return false;
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}
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_disableRecalc = true;
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_distanceToSurfaceRelative = v1Json[distanceToSurfaceRelativeName].toBool();
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_cameraNameFact.setRawValue (v1Json[cameraNameName].toString());
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_adjustedFootprintSideFact.setRawValue (v1Json[adjustedFootprintSideName].toDouble());
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_adjustedFootprintFrontalFact.setRawValue (v1Json[adjustedFootprintFrontalName].toDouble());
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_distanceToSurfaceFact.setRawValue (v1Json[distanceToSurfaceName].toDouble());
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if (!isManualCamera()) {
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QList<JsonHelper::KeyValidateInfo> keyInfoList2 = {
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{ valueSetIsDistanceName, QJsonValue::Bool, true },
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{ imageDensityName, QJsonValue::Double, true },
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{ frontalOverlapName, QJsonValue::Double, true },
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{ sideOverlapName, QJsonValue::Double, true },
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};
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if (!JsonHelper::validateKeys(v1Json, keyInfoList2, errorString)) {
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_disableRecalc = false;
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return false;
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}
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_valueSetIsDistanceFact.setRawValue (v1Json[valueSetIsDistanceName].toBool());
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_frontalOverlapFact.setRawValue (v1Json[frontalOverlapName].toDouble());
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_sideOverlapFact.setRawValue (v1Json[sideOverlapName].toDouble());
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_imageDensityFact.setRawValue (v1Json[imageDensityName].toDouble());
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if (!CameraSpec::load(v1Json, errorString)) {
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_disableRecalc = false;
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return false;
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}
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}
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_disableRecalc = false;
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return true;
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}
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QString CameraCalc::customCameraName(void)
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{
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return tr("Custom Camera");
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}
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QString CameraCalc::manualCameraName(void)
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{
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return tr("Manual (no camera specs)");
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}
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void CameraCalc::_adjustDistanceToSurfaceRelative(void)
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{
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if (!isManualCamera()) {
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setDistanceToSurfaceRelative(true);
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}
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}
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void CameraCalc::setDistanceToSurfaceRelative(bool distanceToSurfaceRelative)
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{
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if (distanceToSurfaceRelative != _distanceToSurfaceRelative) {
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_distanceToSurfaceRelative = distanceToSurfaceRelative;
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emit distanceToSurfaceRelativeChanged(distanceToSurfaceRelative);
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}
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}
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void CameraCalc::_setDirty(void)
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{
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setDirty(true);
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}
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