KFBallTracker.hpp

/*
 *  LiveFit
 *  Copyright (C) 2016 The University of Georgia
 *
 *  This program is free software; you can redistribute it and/or modify
 *  it under the terms of the GNU General Public License as published by
 *  the Free Software Foundation; either version 2 of the License, or
 *  (at your option) any later version.
 *
 *  This program is distributed in the hope that it will be useful,
 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 *  GNU General Public License for more details.
 *
 *  You should have received a copy of the GNU General Public License along
 *  with this program; if not, write to the Free Software Foundation, Inc.,
 *  51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
 */

#ifndef KFBALLTRACKER_HPP
#define KFBALLTRACKER_HPP

#include "BallTrackingFilter.hpp"
#include "ColorSpace.hpp"
#include "KFPrediction.hpp"
#include "KalmanFilterPlus.hpp"
#include "PersonTrackingFilter.hpp"
#include "TrackingBall.hpp"

#include <QObject>
#include <QPolygonF>
#include <QVector>

#include <opencv2/core.hpp>
#include <opencv2/video/tracking.hpp>

#define SETT_DEF_BLOB_BLUR 3.0
#define SETT_DEF_BLOB_THRESH 4.0
#define SETT_DEF_BLOB_MINRAD 2.0
#define SETT_DEF_BLOB_MAXRAD 20.0
#define SETT_DEF_BLOB_GRAV 470.0

class KFBallTracker : public QObject
{
  Q_OBJECT

  int mBlobRad;
  int mLatency;

  BallTrackingFilter mBallFilter;
  PersonTrackingFilter mPersonFilter;

  QVector<cv::Mat> mFrameHistory;
  cv::Mat mOldDiff;

  double mBlurSize;
  double mThreshVal;

  double mMinRadius;
  double mMaxRadius;

  QPolygonF mClipShape;
  bool mClipTrack = false;

public:
  explicit KFBallTracker(QObject *parent = 0);

  QMap<double, TrackingBall> processNextFrame(cv::Mat &frame, int t);

  void updateTimeState(double t);
  double kalmanDistance(cv::Mat measurement);

  void setBlurSize(double blurSize) { mBlurSize = blurSize; }
  void setThreshVal(double thresh) { mThreshVal = thresh; }

  void setMinRadius(double radius) { mMinRadius = radius; }
  void setMaxRadius(double radius) { mMaxRadius = radius; }

  void setXYCovariance(double sigma);

  void setGravConstant(double g) { mBallFilter.setGravConstant(g); }

signals:
  void ballSpotted(TrackingBall);
  void ballPredicted(KFPrediction);
  void ballLost();
  void personSpotted(QRect);

  void threshReady(const cv::Mat &, enum ColorSpace);
  void contourReady(const cv::Mat &, enum ColorSpace);
  void blurReady(const cv::Mat &, enum ColorSpace);

public slots:
  void setClipShape(QPolygonF shape);
  void toggleClip(bool clip);

protected:
  QList<cv::Rect> findPeople(cv::Mat &frame);
  QMap<double, TrackingBall> findBalls(cv::Mat &frame, QList<cv::Rect> ignores);
  QMap<double, TrackingBall> findMovementThresh(cv::Mat threshDiff, QList<cv::Rect> ignores);

  void updateTrackFailure();
  void updateTrackSuccess(TrackingBall ball);

  bool ballIsLost();
  bool ballFound();

  void updateFrameState(cv::Mat *frame);
  double scoreContour(TrackingBall ball, cv::Mat &threshDiff);
};

#endif // KFBALLTRACKER_HPP