TrackingStream.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 TRACKINGSTREAM_HPP
#define TRACKINGSTREAM_HPP

#include "ColorSpace.hpp"
#include "DisplayFrameType.hpp"
#include "KFBallTracker.hpp"
#include "KFPrediction.hpp"

#include <QBasicTimer>
#include <QImage>

#include <opencv2/videoio.hpp>

// Default settings pertaining to the TrackingStream. Ensure that
// settings in the .ui file default to these!
#define SETT_DEF_DISPLAYTYPE 0
#define SETT_DEF_XYCOVAR 1.0
#define SETT_DEF_FOV 56
#define SETT_DEF_PROJW 50
#define SETT_DEF_PROJH 50
#define SETT_DEF_BALLZ 0

class TrackingStream : public QObject
{
  Q_OBJECT

  QBasicTimer mTimer; 
  QScopedPointer<cv::VideoCapture> mVideoHandle;

  int mFov;
  QSize mVideoSize;

  QSize mProjSize;
  double mBallZ;

  cv::Mat mProjCornersCamera;

  std::vector<cv::Point2f> mCorners;

  std::vector<cv::Point2f> mBallPlane;

  cv::Mat mCameraMatrix;

  cv::Mat mRMatrix;

  cv::Mat mTVector;

  cv::Mat mFrame;

  DisplayFrameType mEmitFrameType;

  bool mStarted = false; 
  bool mProjReady = false; 
  bool mStreamPaused = false; 
  int mFps; 
  KFBallTracker mTracker;
  bool mDisplayVideo = true; 
  QPolygonF mProjScreen; 
  bool mClipTrack = false; 
signals:
  // Signals for emitting frames for display
  void frameReady(const cv::Mat &, enum ColorSpace=TS_BGR);

  // Signals which emit information about tracking
  void ballSpotted(TrackingBall ball);
  void ballPredicted(KFPrediction pred);
  void ballProjSpotted(TrackingBall ball);
  void ballProjPredicted(KFPrediction pred);
  void ballLost();

  void started();

public slots:
  // Slots to start or stop this tracking stream
  void start(int cam = 0);
  void start(QString fname);
  void stop();
  void pauseStream();

  // Slots for responding to projector settings
  void changeProjectorCorners(std::vector<cv::Point2f> corners);

  void changeClipTrack(bool checked);

  void predictionBall(KFPrediction pred);


  void setFov(int fov);
  void changeProjWidth(int width);
  void changeProjHeight(int height);
  void changeBallZ(double z);

  // Slots for responding to tracker UI param settings
  void changeBlurSize(double blurSize);
  void changeThreshVal(double thresh);
  void changeMinRadius(double radius);
  void changeMaxRadius(double radius);
  void changeGravConstant(double g);
  void changeXYCovariance(double sigma);

  // Slots for receiving frames to (possibly) send along to converter
  void processThresh(const cv::Mat &, enum ColorSpace=TS_GRAY);
  void processBlur(const cv::Mat &, enum ColorSpace=TS_BGR);
  void processContour(const cv::Mat &, enum ColorSpace=TS_GRAY);
  void processVideoFrame(const cv::Mat& mat, ColorSpace=TS_BGR);

  void changeDisplayFrameType(QString s);
public:
  TrackingStream(QObject *parent = 0);
  ~TrackingStream();

  void startProcess();

  cv::Point2f imageToProjector(cv::Point2f imP, double z=0);

  QPointF imageToProjector(QPointF imP, double z=0);

  cv::Point2f projectorToImage(cv::Point3d prP);

  void updateProjectorCoordinates(std::vector<cv::Point2f> corners);

  void setProjSize(const QSize& projSize);

  void refreshCameraMatrix();
  void refreshProjectorMatrices();

  bool cameraValid(int idx);
private:
  void timerEvent(QTimerEvent *);
};

#endif // TRACKINGSTREAM_HPP