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#include "graphicsscene.h"
// qt
#include <QGraphicsEllipseItem>
#include <QGraphicsLineItem>
#include <QGraphicsPolygonItem>
namespace orphex
{
namespace constants
{
const QLineF laserPlane{QPointF{-1000, 0}, QPointF{1000, 0}};
}
} // namespace orphex
GraphicsScene::GraphicsScene(QObject* parent)
: QGraphicsScene{parent}
{
setSceneRect(QRectF{QPointF{-1000, -1000}, QPointF{1000, 1000}});
m_lenseItem = addEllipse(
QRectF{QPointF{-1, -15}, QPointF{1, 15}},
QPen{Qt::yellow, 0}
);
m_lenseItem->setTransformOriginPoint(m_lenseItem->boundingRect().center());
m_sensorItem = new QGraphicsLineItem(QLineF{}, m_lenseItem);
m_sensorItem->setPen(QPen{Qt::red, 0});
m_lineOfActionItem = new QGraphicsLineItem{
QLineF{QPointF{0, -50}, QPointF{0, 50}},
m_lenseItem
};
m_lineOfActionItem->setPen(QPen{Qt::gray, 0});
m_opticalAxisItem = new QGraphicsLineItem{
QLineF{QPointF{-1000, 0}, QPointF{1000, 0}},
m_lenseItem
};
m_opticalAxisItem->setPen(QPen{Qt::gray, 0});
using namespace orphex::constants;
m_laserPlaneItem = addLine(laserPlane, QPen{Qt::black, 0});
m_laserPlaneItem->stackBefore(m_lenseItem);
m_reverseLaserPlaneItem = new QGraphicsLineItem(QLineF{}, m_lenseItem);
m_reverseLaserPlaneItem->setPen(QPen{Qt::magenta, 2});
m_reverseLaserPlaneItem->setVisible(false);
m_desiredLaserPlaneItem = new QGraphicsLineItem(QLineF{}, m_lenseItem);
m_desiredLaserPlaneItem->setPen(QPen{Qt::yellow, 0.1});
m_desiredLaserPlaneItem->setOpacity(0.5);
m_desiredImagePlaneItem = new QGraphicsLineItem(QLineF{}, m_lenseItem);
m_desiredImagePlaneItem->setPen(QPen{Qt::yellow, 0.15});
m_desiredImagePlaneItem->stackBefore(m_sensorItem);
m_desiredRangeAreaItem = new QGraphicsPolygonItem{m_lenseItem};
m_desiredRangeAreaItem->setPen(
QPen{m_desiredLaserPlaneItem->pen().color(), 0}
);
m_desiredRangeAreaItem->setBrush(
QBrush{m_desiredLaserPlaneItem->pen().color()}
);
m_desiredRangeAreaItem->setOpacity(0.1);
m_actualRangeItem = new QGraphicsLineItem(QLineF{}, m_lenseItem);
m_actualRangeItem->setPen(QPen{Qt::red, 0.1});
m_actualRangeItem->setOpacity(0.5);
m_actualRangeAreaItem = new QGraphicsPolygonItem{m_lenseItem};
m_actualRangeAreaItem->setPen(QPen{m_sensorItem->pen().color(), 0});
m_actualRangeAreaItem->setBrush(QBrush{m_sensorItem->pen().color()});
m_actualRangeAreaItem->setOpacity(0.1);
}
void GraphicsScene::update(OpticalDesign* design)
{
if (!design)
{
qCritical() << Q_FUNC_INFO << "design is nullptr";
return;
}
using namespace orphex::constants;
const auto F = design->get_focalDistanceMm();
const auto H = design->get_lenseYPosMm();
const auto w = design->get_sensorPixelsWidth();
const auto h = design->get_sensorPixelsHeight();
const auto wMm = design->get_sensorWidthMm();
const auto hMm = design->get_sensorHeightMm();
const auto oAngle = design->get_opticalAxisAngleDegrees();
m_lenseItem->setRotation(m_lenseItem->rotation());
m_lenseItem->setRotation(-oAngle);
m_lenseItem->setPos(QPointF{0, -H});
const auto objectToImage = [F](const QPointF& objectPoint) -> QPointF {
// please note that object X is negative
const auto imagePointX = 1. / (1. / F - 1. / -objectPoint.x());
const auto magnification = imagePointX / objectPoint.x();
const auto imagePointY = magnification * objectPoint.y();
return QPointF{imagePointX, imagePointY};
};
const auto imageToObject = [F](const QPointF& imagePoint) -> QPointF {
const auto objectPointX = 1. / (1. / imagePoint.x() - 1. / F);
const auto magnification = imagePoint.x() / objectPointX;
const auto objectPointY = imagePoint.y() / magnification;
return QPointF{objectPointX, objectPointY};
};
// calculate sensor plane
const auto& oai = m_opticalAxisItem;
const auto& oail = m_opticalAxisItem->line();
const QLineF opticalAxisScene{
oai->mapToScene(oail.p1()),
oai->mapToScene(oail.p2())
};
QPointF intersection{};
const auto type =
m_laserPlaneItem->line().intersects(opticalAxisScene, &intersection);
if (type == QLineF::NoIntersection)
{
qCritical() << "no intersection between laser plane and optical axis";
return;
}
if (!qFuzzyCompare(intersection.y(), 0.))
{
qCritical() << "laser plane/optical axis intersection point y != 0";
return;
}
// take 2 points - to the left and to the right from intersection point;
const auto leftP = intersection / 4;
// const auto rightP = intersection + leftP;
const auto rightP = intersection * 1.5;
// create desired line on laser plane
m_desiredLaserPlaneItem->setLine(
{m_lenseItem->mapFromScene(QPointF{-design->get_zBaseMm(), 0}),
m_lenseItem->mapFromScene(
QPointF{-(design->get_zBaseMm() + design->get_zRangeMm()), 0}
)}
);
// calculate image plane
const auto debugL = m_desiredLaserPlaneItem->line();
const QLineF debugImageL{
objectToImage(debugL.p1()),
objectToImage(debugL.p2())
};
m_desiredImagePlaneItem->setLine(debugImageL);
// create sensor line on image plane
QPointF sensorCenterPos{};
if (m_opticalAxisItem->line().intersects(
m_desiredImagePlaneItem->line(),
&sensorCenterPos
) == QLineF::NoIntersection)
{
qCritical() << "no intersection between sensor plane and optical axis";
return;
}
const auto sensorHalfHeight = design->get_sensorHeightMm() / 2.;
QLineF sensorLine{QPointF{0, 0}, QPointF{0, sensorHalfHeight}};
sensorLine.translate(sensorCenterPos);
sensorLine.setAngle(m_desiredImagePlaneItem->line().angle());
sensorLine.setP1(sensorCenterPos + (sensorCenterPos - sensorLine.p2()));
// at this momet sensor is centered and rotated. apply vertical offset
const auto offsetRatio =
design->get_sensorVerticalOffsetMm() / sensorLine.length();
const auto offset = sensorLine.pointAt(1 + offsetRatio) - sensorLine.p2();
sensorLine.setPoints(sensorLine.p1() + offset, sensorLine.p2() + offset);
m_sensorItem->setLine(sensorLine);
// find laser plane range which corresponds to sensor position
m_actualRangeItem->setLine({
imageToObject(m_sensorItem->line().p1()),
imageToObject(m_sensorItem->line().p2()),
});
// not that object area has negative coords
design->set_actualZBaseMm(
-m_actualRangeItem->mapToScene(m_actualRangeItem->line().p1()).x()
);
design->set_actualZRangeMm(m_actualRangeItem->line().length());
// convert debug image plane to laser plane just to verify they are the same
// TODO: check with code and log errors?
const QLineF reverseLaserPlaneLine{
imageToObject(m_desiredImagePlaneItem->line().p1()),
imageToObject(m_desiredImagePlaneItem->line().p2())
};
m_reverseLaserPlaneItem->setLine(reverseLaserPlaneLine);
// fill desired range area
m_desiredRangeAreaItem->setPolygon(
QPolygonF{
{m_desiredImagePlaneItem->line().p1(),
m_desiredImagePlaneItem->line().p2(),
m_desiredLaserPlaneItem->line().p2(),
m_desiredLaserPlaneItem->line().p1()}
}
);
// fill actual range area
m_actualRangeAreaItem->setPolygon(
QPolygonF{
{m_sensorItem->line().p1(),
m_sensorItem->line().p2(),
m_actualRangeItem->line().p2(),
m_actualRangeItem->line().p1()}
}
);
design->set_sensorLenseAngleDegrees(
m_desiredImagePlaneItem->line().angleTo(m_lineOfActionItem->line())
);
// TODO: take back focal length into account
}
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