CameraCalc.h

/****************************************************************************
 *
 *   (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
 *
 * QGroundControl is licensed according to the terms in the file
 * COPYING.md in the root of the source code directory.
 *
 ****************************************************************************/

#pragma once

#include "CameraSpec.h"

class Vehicle;

class CameraCalc : public CameraSpec
{
    Q_OBJECT

public:
    CameraCalc(Vehicle* vehicle, QObject* parent = NULL);

    Q_ENUMS(CameraSpecType)

    Q_PROPERTY(CameraSpecType   cameraSpecType              READ cameraSpecType     WRITE setCameraSpecType     NOTIFY cameraSpecTypeChanged)
    Q_PROPERTY(QString          knownCameraName             READ knownCameraName    WRITE setKnownCameraName    NOTIFY knownCameraNameChanged)
    Q_PROPERTY(Fact*            valueSetIsDistance          READ valueSetIsDistance         CONSTANT)                       ///< true: distance specified, resolution calculated
    Q_PROPERTY(Fact*            distanceToSurface           READ distanceToSurface          CONSTANT)                       ///< Distance to surface for image foot print calculation
    Q_PROPERTY(Fact*            imageDensity                READ imageDensity               CONSTANT)                       ///< Image density on surface (cm/px)
    Q_PROPERTY(Fact*            frontalOverlap              READ frontalOverlap             CONSTANT)
    Q_PROPERTY(Fact*            sideOverlap                 READ sideOverlap                CONSTANT)
    Q_PROPERTY(Fact*            adjustedFootprintSide       READ adjustedFootprintSide      CONSTANT)                       ///< Side footprint adjusted down for overlap
    Q_PROPERTY(Fact*            adjustedFootprintFrontal    READ adjustedFootprintFrontal   CONSTANT)                       ///< Frontal footprint adjusted down for overlap

    // The following values are calculated from the camera properties
    Q_PROPERTY(double imageFootprintSide              READ imageFootprintSide               NOTIFY imageFootprintSideChanged)                 ///< Size of image size side in meters
    Q_PROPERTY(double imageFootprintFrontal           READ imageFootprintFrontal            NOTIFY imageFootprintFrontalChanged)              ///< Size of image size frontal in meters

    enum CameraSpecType {
        CameraSpecNone,
        CameraSpecCustom,
        CameraSpecKnown
    };

    CameraSpecType cameraSpecType(void) const { return _cameraSpecType; }
    QString knownCameraName(void) const { return _knownCameraName; }
    void setCameraSpecType(CameraSpecType cameraSpecType);
    void setKnownCameraName(QString knownCameraName);

    Fact* valueSetIsDistance        (void) { return &_valueSetIsDistanceFact; }
    Fact* distanceToSurface         (void) { return &_distanceToSurfaceFact; }
    Fact* imageDensity              (void) { return &_imageDensityFact; }
    Fact* frontalOverlap            (void) { return &_frontalOverlapFact; }
    Fact* sideOverlap               (void) { return &_sideOverlapFact; }
    Fact* adjustedFootprintSide     (void) { return &_adjustedFootprintSideFact; }
    Fact* adjustedFootprintFrontal  (void) { return &_adjustedFootprintFrontalFact; }

    double imageFootprintSide             (void) const { return _imageFootprintSide; }
    double imageFootprintFrontal          (void) const { return _imageFootprintFrontal; }

    bool dirty      (void) const { return _dirty; }
    void setDirty   (bool dirty);

    void save(QJsonObject& json) const;
    bool load(const QJsonObject& json, QString& errorString);

signals:
    void cameraSpecTypeChanged          (CameraSpecType cameraSpecType);
    void knownCameraNameChanged         (QString knownCameraName);
    void dirtyChanged                   (bool dirty);
    void imageFootprintSideChanged      (double imageFootprintSide);
    void imageFootprintFrontalChanged   (double imageFootprintFrontal);

private slots:
    void _knownCameraNameChanged(QString knownCameraName);
    void _recalcTriggerDistance(void);

private:
    Vehicle*        _vehicle;
    bool            _dirty;
    CameraSpecType  _cameraSpecType;
    QString         _knownCameraName;
    bool            _disableRecalc;

    QMap<QString, FactMetaData*> _metaDataMap;

    Fact _valueSetIsDistanceFact;
    Fact _distanceToSurfaceFact;
    Fact _imageDensityFact;
    Fact _frontalOverlapFact;
    Fact _sideOverlapFact;
    Fact _adjustedFootprintSideFact;
    Fact _adjustedFootprintFrontalFact;

    double _imageFootprintSide;
    double _imageFootprintFrontal;

    QVariantList _knownCameraList;

    static const char* _valueSetIsDistanceName;
    static const char* _distanceToSurfaceName;
    static const char* _imageDensityName;
    static const char* _frontalOverlapName;
    static const char* _sideOverlapName;
    static const char* _adjustedFootprintSideName;
    static const char* _adjustedFootprintFrontalName;
    static const char* _jsonCameraSpecTypeKey;
    static const char* _jsonKnownCameraNameKey;
};