hardware-api/include/model/scenarioGenerator/dto/software/ScanConversionConfig.h

#ifndef SCANCONVERSIONCONFIG_H
#define SCANCONVERSIONCONFIG_H

#include <QObject>

#include "math.h"

#include "model/scenarioGenerator/dto/software/Pixel.h"

struct ScenGenScanConversionConfig_t
{
private:
	float frameMaxXScan;
	float frameMinXScan;
	float frameMaxZScan;
	float frameMinZScan;

	void calcPixelParamConvex()
	{
		frameMaxXScan = probeRadius * sinf(bMaxScanAz) + bMaxScanAx * sinf(
			bMaxScanAz / fieldOfView * angle);

		frameMinXScan = probeRadius * sinf(bMinScanAz) + bMaxScanAx * sinf(
			bMinScanAz / fieldOfView * angle);

		auto maxAbsScanAz = qMax(abs(bMinScanAz), abs(bMaxScanAz));
		float minAbsScanAz;

		if(bMaxScanAz > 0 && bMinScanAz < 0)
		{
			minAbsScanAz = 0;
		}
		else
		{
			minAbsScanAz = qMin(abs(bMinScanAz), abs(bMaxScanAz));
		}

		frameMaxZScan = probeRadius * cosf(minAbsScanAz) + bMaxScanAx * cosf(
			minAbsScanAz / fieldOfView * angle);

		frameMinZScan = probeRadius * cosf(maxAbsScanAz) + bMinScanAx * cosf(
			maxAbsScanAz / fieldOfView * angle);
	}

	void calcPixelParamVirtualConvex()
	{
		float minAbsScanAz;
		if(bMaxScanAz > 0 && bMinScanAz < 0)
		{
			minAbsScanAz = 0;
		}
		else
		{
			minAbsScanAz = qMin(abs(bMinScanAz), abs(bMaxScanAz));
		}

		auto maxAbsScanAz = qMax(abs(bMinScanAz), abs(bMaxScanAz));
		frameMaxZScan = bMaxScanAx * cos(minAbsScanAz / fieldOfView * 2 * vcMaxTheta);

		frameMinZScan = bMinScanAx * cos(maxAbsScanAz / fieldOfView * 2 * vcMaxTheta);

		frameMaxXScan = virtualOriginalZ * tanf(bMaxScanAz) + bMaxScanAx * sinf(
			bMaxScanAz / fieldOfView * 2 * vcMaxTheta);

		frameMinXScan = virtualOriginalZ * tanf(bMinScanAz) + bMaxScanAx * sinf(
			bMinScanAz / fieldOfView * 2 * vcMaxTheta);
	}

	void calcPixelParamLinear()
	{
		frameMaxXScan = bMaxScanAz;
		frameMinXScan = bMinScanAz;
		frameMaxZScan = bMaxScanAx;
		frameMinZScan = bMinScanAx;
	}

	void calculateMeshGrid(quint32 xPixelnumber, quint32 zPixelNumber, bool hdZoom)
	{
		auto pixelXStep = (frameMaxXScan - frameMinXScan) / (xPixelnumber - 1);
		auto pixelZStep = (frameMaxZScan - frameMinZScan) / (zPixelNumber - 1);

		float pixelStep;

		pixelStep = pixelZStep;

		auto finalPixelXNo = qMin<quint32>(floor((frameMaxXScan - frameMinXScan) / pixelStep) + 1,
										   xPixelnumber);
		auto finalPixelZNo = qMin<quint32>(floor((frameMaxZScan - frameMinZScan) / pixelStep) + 1,
										   zPixelNumber);

		pixel.minPixelXPos = (frameMinXScan + frameMaxXScan) / 2.0f - pixelStep *
							 (finalPixelXNo - 1) /
							 2.0f;
		pixel.minPixelZPos = (frameMinZScan + frameMaxZScan) / 2.0f - pixelStep *
							 (finalPixelZNo - 1) /
							 2.0f;
		pixel.pixelXStep = pixelStep;
		pixel.pixelZStep = pixelStep;
		pixel.pixelXNo = finalPixelXNo;
		pixel.pixelZNo = finalPixelZNo;
	}

public:
	bool linear;
	float probeRadius;
	float fieldOfView;
	float probeFieldOfView;
	float virtualOriginalZ;
	float bMinScanAx;
	float bMinScanAz;
	float bMaxScanAx;
	float bMaxScanAz;
	float minScanAx;
	float minScanAz;
	float maxScanAx;
	float steering;
	quint32 rxLineNo;
	quint32 rxFocusPointNo;
	float rxLineDaz;
	float rxPointDax;
	bool virtualConvex;
	float vcMaxTheta;
	float angle;
	Pixel_t pixel;

	void calcPixelParams(quint32 xPixelnumber, quint32 zPixelNumber, bool hdZoom)
	{
		if(linear)
		{
			if(virtualConvex)
			{
				calcPixelParamVirtualConvex();
			}
			else
			{
				calcPixelParamLinear();
			}
		}
		else
		{
			calcPixelParamConvex();
		}

		calculateMeshGrid(xPixelnumber, zPixelNumber, hdZoom);
	}
};

#endif //SCANCONVERSIONCONFIG_H