path: root/src/graphicsscene.cpp

#include "graphicsscene.h"

// qt
#include <QGraphicsEllipseItem>
#include <QGraphicsLineItem>
#include <QGraphicsPolygonItem>
#include <QGraphicsTextItem>
#include <QGraphicsView>

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::green, 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);

    m_sensorLenseIntersectionItem = new QGraphicsEllipseItem{
        QRectF{QPointF{-1, -1}, QPointF{1, 1}},
        m_lenseItem
    };
    m_sensorLenseIntersectionItem->setPen(QPen{Qt::red, 0.1});

    const auto sensorLenseTextItem = new QGraphicsTextItem{
        tr("Scheimpflug: sensor/lense"),
        m_sensorLenseIntersectionItem
    };

    sensorLenseTextItem->setPos(QPointF{-6, -8});
    auto font = sensorLenseTextItem->font();
    font.setPixelSize(2);
    sensorLenseTextItem->setFont(font);
    sensorLenseTextItem->setDefaultTextColor(
        m_sensorLenseIntersectionItem->pen().color()
    );

    m_lenseLaserIntersectionItem = new QGraphicsEllipseItem{
        QRectF{QPointF{-1, -1}, QPointF{1, 1}},
        m_lenseItem
    };
    m_lenseLaserIntersectionItem->setPen(QPen{Qt::blue, 0});

    const auto lenseLaserTextItem = new QGraphicsTextItem{
        tr("Scheimpflug: lense/laser"),
        m_lenseLaserIntersectionItem
    };

    lenseLaserTextItem->setPos(QPointF{-6, -2});
    lenseLaserTextItem->setFont(font);
    lenseLaserTextItem->setDefaultTextColor(
        m_lenseLaserIntersectionItem->pen().color()
    );
}

void GraphicsScene::update(OpticalDesign* design)
{
    qDebug() << "update";
    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

    // check Scheimpflug principle
    // TODO: draw lines?
    QPointF sensorLenseIntersection{};

    if (m_sensorItem->line().intersects(
            m_lineOfActionItem->line(),
            &sensorLenseIntersection
        ) == QLineF::NoIntersection)
    {
        qWarning() << "no intersection between sensor plane and lense plane";
        return;
    }

    m_sensorLenseIntersectionItem->setPos(sensorLenseIntersection);

    QPointF lenseLaserIntersection{};

    if (m_lineOfActionItem->line().intersects(
            m_actualRangeItem->line(),
            &lenseLaserIntersection
        ) == QLineF::NoIntersection)
    {
        qWarning() << "no intersection between laser plane and lense plane";
        return;
    }

    m_lenseLaserIntersectionItem->setPos(lenseLaserIntersection);

    if (!qFuzzyCompare(sensorLenseIntersection, lenseLaserIntersection))
    {
        qWarning() << "The Scheimpflug principle is not observed:" << Qt::endl
                   << "sensor/lense intersection:" << sensorLenseIntersection
                   << Qt::endl
                   << "lense/laser intersection:" << lenseLaserIntersection;
    }

    // TODO: move to settings
    // doesn't work (doesn't zoom)
    constexpr bool autoScale{false};

    if (autoScale)
    {
        // region of interest
        QRectF ROI{};

        ROI |= m_actualRangeAreaItem->boundingRect();
        ROI |= m_desiredRangeAreaItem->boundingRect();
        ROI |= m_lenseItem->boundingRect();
        ROI |= m_sensorItem->boundingRect();
        ROI |= m_sensorLenseIntersectionItem->boundingRect();
        ROI |= m_lenseLaserIntersectionItem->boundingRect();

        for (const auto& view : views())
        {
            // TODO: move to settings
            constexpr double margin{5.};
            view->setSceneRect(ROI);
        }
    }

    // calculate distance between sensor and lense on optical axis
    QPointF sensorAxisIntersection{};

    if (m_sensorItem->line().intersects(
            m_opticalAxisItem->line(),
            &sensorAxisIntersection
        ) == QLineF::NoIntersection)
    {
        qCritical() << "no intersection between sensor and optical axis";
        return;
    }

    design->set_lenseSensorDistanceMm(
        QLineF{QPointF{0, 0}, sensorAxisIntersection}.length()
    );

    // calculate depth of field
    QPointF axisLaserIntersection{};

    if (m_opticalAxisItem->line().intersects(
            m_actualRangeItem->line(),
            &axisLaserIntersection
        ) == QLineF::NoIntersection)
    {
        qCritical() << "no intersection between laser and optical axis";
        return;
    }

    // const auto zM = std::min(
    //                     design->get_sensorPixelsHeight(),
    //                     design->get_sensorPixelsWidth()
    //                 ) /
    //                 1000. / 1000.;

    // try z based on sensor cell size
    // const auto zMm = std::min(
    //                      design->get_sensorCellHeightUm(),
    //                      design->get_sensorCellHeightUm()
    //                  ) /
    //                  1000.;
    // try z based on 1/16 sensor cell size (calibration step)
    const auto zMm = std::min(
                         design->get_sensorCellHeightUm(),
                         design->get_sensorCellWidthUm()
                     ) /
                     1000. / 16.;

    // try z based on E. Goldovsky method - 0.2% of sensor height
    // const auto zMm = design->get_sensorHeightMm() * 0.2 / 100.;
    // const auto RM =
    //     QLineF{QPointF{0., 0.}, axisLaserIntersection}.length() * 1000.;
    const auto RMidMm = QLineF{QPointF{0., 0.}, axisLaserIntersection}.length();
    // const auto RFrontMm = QLineF{QPointF{0., 0.},
    // axisLaserIntersection}.length(); const auto fM =
    // design->get_backFocalDistanceMm() * 1000.;

    // Gordijchuk & Pell, 1979, say to use focal distance.
    // Wikipedia, based on the same book, says to use back focal distance. WTF?
    // const auto fMm = design->get_backFocalDistanceMm();
    const auto fMm = design->get_focalDistanceMm();

    const auto K = static_cast<int>(design->get_lenseAperture()) / 10.;

    using FromSharpDistMm = double;
    using BackSharpDistMm = double;
    using DofResult = std::tuple<FromSharpDistMm, BackSharpDistMm>;
    const auto calculateDof = [zMm, fMm, K](const auto RMm) -> DofResult {
        const auto ff = fMm * fMm;
        const auto Rff = RMm * ff;
        const auto Kfz = K * fMm * zMm;
        const auto KRz = K * RMm * zMm;

        const auto R1Mm = Rff / (ff - Kfz + KRz);
        const auto R2Mm = Rff / (ff + Kfz - KRz);

        return {R1Mm, R2Mm};
    };

    const auto ff = fMm * fMm;
    const auto Rff = RMidMm * ff;
    const auto Kfz = K * fMm * zMm;
    const auto KRz = K * RMidMm * zMm;

    // const auto R1M = Rff / (ff - Kfz + KRz);
    // const auto R2M = Rff / (ff + Kfz - KRz);

    // const auto R1Mm = Rff / (ff - Kfz + KRz);
    // const auto R2Mm = Rff / (ff + Kfz - KRz);

    const auto [R1Mm, R2Mm] = calculateDof(RMidMm);

    qDebug() << "AAAAA: update" << R1Mm << R2Mm
             << design->get_sensorCellHeightUm();

    design->set_frontSharpDistanceMm(R1Mm);
    design->set_backSharpDistanceMm(R2Mm);
    design->set_depthOfFieldMm((R2Mm - R1Mm));
}