petrack.cpp

            mTrackerReal->calculate(
                this,
                mTracker,
                mImageItem,
                mControlWidget->getColorPlot(),
                mMissingFrames,
                getImageBorderSize(),
                mControlWidget->isTrackMissingFramesChecked(),
                mStereoWidget->stereoUseForExport->isChecked(),
                mControlWidget->getTrackAlternateHeight(),
                mControlWidget->getCameraAltitude(),
                mStereoWidget->stereoUseCalibrationCenter->isChecked(),
                mControlWidget->isExportElimTpChecked(),
                mControlWidget->isExportElimTrjChecked(),
                mControlWidget->isExportSmoothChecked(),
                mControlWidget->isExportViewDirChecked(),
                mControlWidget->isExportAngleOfViewChecked(),
                mControlWidget->isExportMarkerIDChecked(),
                autoCorrectOnlyExport);

            SPDLOG_INFO("export tracking data to {} ({} person(s))...", dest, mPersonStorage.nbPersons());
            QTextStream outDat(&fileDat);
            mTrackerReal->exportDat(
                outDat, mControlWidget->getTrackAlternateHeight(), mStereoWidget->stereoUseForExport->isChecked());
            fileDat.flush();
            fileDat.close();

            if(QFile::exists(dest))
            {
                QFile::remove(dest);
            }

            if(!fileDat.copy(dest))
            {
                PCritical(
                    this,
                    tr("PeTrack"),
                    tr("Could not export tracking data.\n"
                       "Please try again!"));
            }
            else
            {
                statusBar()->showMessage(tr("Saved tracking data to %1.").arg(dest), 5000);
            }

            SPDLOG_INFO("finished");
        }
        else if(dest.right(5) == ".trav")
        {
            // recalcHeight true, wenn personenhoehe ueber trackpoints neu berechnet werden soll (z.b. um
            // waehrend play mehrfachberuecksichtigung von punkten auszuschliessen, aenderungen in altitude neu
            // in berechnung einfliessen zu lassen)
            if(mControlWidget->isTrackRecalcHeightChecked())
            {
                mPersonStorage.recalcHeight(mControlWidget->getCameraAltitude());
            }

            mTrackerReal->calculate(
                this,
                mTracker,
                mImageItem,
                mControlWidget->getColorPlot(),
                mMissingFrames,
                getImageBorderSize(),
                mControlWidget->isTrackMissingFramesChecked(),
                mStereoWidget->stereoUseForExport->isChecked(),
                mControlWidget->getTrackAlternateHeight(),
                mControlWidget->getCameraAltitude(),
                mStereoWidget->stereoUseCalibrationCenter->isChecked(),
                mControlWidget->isExportElimTpChecked(),
                mControlWidget->isExportElimTrjChecked(),
                mControlWidget->isExportSmoothChecked(),
                mControlWidget->isExportViewDirChecked(),
                mControlWidget->isExportAngleOfViewChecked(),
                mControlWidget->isExportMarkerIDChecked(),
                autoCorrectOnlyExport);

            QTemporaryFile fileXml;
            if(!fileXml.open()) //! fileXml.open(QIODevice::WriteOnly | QIODevice::Text))
            {
                PCritical(this, tr("PeTrack"), tr("Cannot open %1:\n%2.").arg(dest).arg(fileXml.errorString()));
                return;
            }
            SPDLOG_INFO("export tracking data to {} ({} person(s))...", dest, mPersonStorage.nbPersons());
            // already done: mTrackerReal->calculate(mTracker, mImageItem, mControlWidget->getColorPlot(),
            // getImageBorderSize(), mControlWidget->trackMissingFrames->checkState());
            QTextStream outXml(&fileXml);
            outXml << "<?xml version=\"1.0\" encoding=\"UTF-8\"?>" << Qt::endl;
            outXml << "<trajectoriesDataset>" << Qt::endl;
            outXml << "    <header version=\"1.0\">" << Qt::endl;
            outXml << "        <roomCaption>PeTrack: " << mAnimation->getFileBase() << "</roomCaption>" << Qt::endl;
            outXml << "        <roomID>0</roomID>" << Qt::endl;
            outXml << "        <agents>" << mPersonStorage.nbPersons() << "</agents>" << Qt::endl;
            outXml << "        <frameRate>" << mAnimation->getFPS() << "</frameRate> <!--per second-->" << Qt::endl;
            // outXml << "        <timeStep>" << 1000./mAnimation->getFPS() << "</timeStep>   <!--
            // millisecond-->"
            // << endl; inverse von
            outXml << "        <timeFirstFrame sec=\"" << mAnimation->getFirstFrameSec() << "\" microsec=\""
                   << mAnimation->getFirstFrameMicroSec() << "\"/> <!-- " << mAnimation->getTimeString(0) << " -->"
                   << Qt::endl;
            outXml << "    </header>" << Qt::endl << Qt::endl;

            mTrackerReal->exportXml(
                outXml, mControlWidget->getTrackAlternateHeight(), mStereoWidget->stereoUseForExport->isChecked());

            outXml << "</trajectoriesDataset>" << Qt::endl;
            fileXml.flush();
            fileXml.close();

            if(QFile::exists(dest))
            {
                QFile::remove(dest);
            }

            if(!fileXml.copy(dest))
            {
                PCritical(
                    this,
                    tr("PeTrack"),
                    tr("Could not export tracking data.\n"
                       "Please try again!"));
            }
            else
            {
                statusBar()->showMessage(tr("Saved tracking data to %1.").arg(dest), 5000);
            }

            SPDLOG_INFO("finished");
        }
        else
        { // wenn keine Dateiendung, dann wird trc und txt herausgeschrieben
            exportTracker(dest + ".trc");
            exportTracker(dest + ".txt");
        }
        mLastTrackerExport = dest;
    }
    catch(const std::runtime_error &error)
    {
        PCritical(this, "Failed to export trajectories", error.what());
    }
}

// fuer anschliessende groessenberechnung
void Petrack::playAll()
{
    int memPos  = mPlayerWidget->getPos();
    int progVal = 0;

    QProgressDialog progress("Playing whole sequence...", "Abort playing", 0, mAnimation->getNumFrames(), this);
    progress.setWindowModality(Qt::WindowModal); // blocks main window

    // vorwaertslaufen ab aktueller Stelle und trackOnlineCalc zum tracken nutzen
    do
    {
        progress.setValue(++progVal); // mPlayerWidget->getPos()
        qApp->processEvents();
        if(progress.wasCanceled())
        {
            break;
        }
    } while(mPlayerWidget->frameForward());

    mPlayerWidget->skipToFrame(memPos);
}

/**
 * @brief Activates tracking and reco; calcs through the video (in both ways)
 *
 * This method activates tracking and reco and plays the whole video (from current
 * frame on) till the end. Then, if mAutoBackTrack is set, it jumps back to the
 * largest first frame, i.e. the last time a new person was added/recognized, and
 * tracks backwards till the beginning of the video.
 *
 * The old settings for tracking and reco will be restored. No interaction with the
 * main window is possible for the time of tracking.
 */
void Petrack::trackAll()
{
    int  memPos        = mPlayerWidget->getPos();
    int  progVal       = 0;
    bool memCheckState = mControlWidget->isOnlineTrackingChecked();
    bool memRecoState  = mControlWidget->isPerformRecognitionChecked();

    mControlWidget->setOnlineTrackingChecked(true);
    mControlWidget->setPerformRecognitionChecked(true);

    QProgressDialog progress(
        "Tracking pedestrians through all frames...",
        "Abort tracking",
        0,
        2 * mAnimation->getNumFrames() - memPos,
        this);
    progress.setWindowModality(Qt::WindowModal); // blocks main window

    // vorwaertslaufen ab aktueller Stelle und trackOnlineCalc zum tracken nutzen
    do
    {
        progress.setValue(++progVal); // mPlayerWidget->getPos()
        qApp->processEvents();
        if(progress.wasCanceled())
        {
            break;
        }
    } while(mPlayerWidget->frameForward());

    if(mAutoBackTrack)
    {
        // zuruecksprinegn an die stelle, wo der letzte trackPath nicht vollstaendig
        // etwas spaeter, da erste punkte in reco path meist nur ellipse ohne markererkennung
        mControlWidget->setOnlineTrackingChecked(false);
        mPlayerWidget->skipToFrame(mPersonStorage.largestFirstFrame() + 5);
        mControlWidget->setOnlineTrackingChecked(true);
        // progVal = 2*mAnimation->getNumFrames()-memPos-mPlayerWidget->getPos();
        progVal += mAnimation->getNumFrames() - mPlayerWidget->getPos();
        progress.setValue(progVal); // mPlayerWidget->getPos()

        // recognition abstellen, bis an die stelle, wo trackAll begann
        // UEBERPRUEFEN, OB TRACKPATH NICHT RECOGNITION PUNKTE UEBERSCHREIBT!!!!!!!!!!
        // repeate und repaetQual koennte temporaer umgestellt werden
        mControlWidget->setPerformRecognitionChecked(false);

        // rueckwaertslaufen
        do
        {
            if(progVal + 1 < 2 * mAnimation->getNumFrames() - memPos)
            {
                progress.setValue(++progVal); // mPlayerWidget->getPos()
            }
            qApp->processEvents();
            if(progress.wasCanceled())
            {
                break;
            }
            if(mPlayerWidget->getPos() == memPos + 1)
            {
                mControlWidget->setPerformRecognitionChecked(true);
            }
        } while(mPlayerWidget->frameBackward());

        // bei abbruch koennen es auch mPlayerWidget->getPos() frames sein, die bisher geschrieben wurden
        progress.setValue(2 * mAnimation->getNumFrames() - memPos);
    }

    if(mAutoTrackOptimizeColor)
    {
        mPersonStorage.optimizeColor();
    }

    mControlWidget->setPerformRecognitionChecked(memRecoState);
    mControlWidget->setOnlineTrackingChecked(false);
    mPlayerWidget->skipToFrame(memPos);
    mControlWidget->setOnlineTrackingChecked(memCheckState);
}

// default: (QPointF *pos=NULL, int pers=-1, int frame=-1);
int Petrack::winSize(QPointF *pos, int pers, int frame, int level)
{
    // default of mControlWidget->trackRegionScale->value() is 16, so that
    // a factor of 1.6 of the headsize is used
    if(level == -1)
    {
        level = mControlWidget->getTrackRegionLevels();
    }
    return (int) ((getHeadSize(pos, pers, frame) / pow(2., level)) * (mControlWidget->getTrackRegionScale() / 10.));
}

void Petrack::updateImage(bool imageChanged) // default = false (only true for new animation frame)
{
    mCodeMarkerItem->resetSavedMarkers();

    static int  lastRecoFrame            = -10000;
    static bool borderChangedForTracking = false;

    // need semaphore to guarrantee that updateImage only called once
    // updateValue of control automatically calls updateImage!!!
    static QSemaphore semaphore(1);
    if(!mImg.empty() && mImage && semaphore.tryAcquire())
    {
        int frameNum = mAnimation->getCurrentFrameNum();

        setStatusTime();

        updateShowFPS();

        mImgFiltered = mImg;

        // have to store because evaluation sets the filter parameter to unchanged
        bool brightContrastChanged = mBrightContrastFilter.changed();
        bool swapChanged           = mSwapFilter.changed();
        bool borderChanged         = mBorderFilter.changed();
        bool calibChanged          = mCalibFilter->changed();

        // speicherverwaltung wird komplett von filtern ueberneommen

        // Filter anwenden, Reihenfolge wichtig - Rechenintensive moeglichst frueh
        // fkt so nur mit kopierenden filtern

        if(imageChanged || swapChanged)
        {
            mImgFiltered = mSwapFilter.apply(mImgFiltered);
        }
        else
        {
            mImgFiltered = mSwapFilter.getLastResult();
        }

        if(imageChanged || swapChanged || brightContrastChanged)
        {
            mImgFiltered = mBrightContrastFilter.apply(mImgFiltered);
        }
        else
        {
            mImgFiltered = mBrightContrastFilter.getLastResult();
        }

        if(imageChanged || swapChanged || brightContrastChanged || borderChanged)
        {
            mImgFiltered = mBorderFilter.apply(mImgFiltered); // mIplImg
        }
        else
        {
            mImgFiltered = mBorderFilter.getLastResult();
        }

        if(borderChanged)
        {
            updateControlImage(mImgFiltered);
        }

#ifndef STEREO_DISABLED
        if(imageChanged || swapChanged || brightContrastChanged || borderChanged || calibChanged)
        {
            if(mStereoContext)
                mStereoContext->init(mImgFiltered);
        }
#endif

        if(imageChanged || swapChanged || brightContrastChanged || borderChanged || calibChanged)
        {
            mImgFiltered = mCalibFilter->apply(mImgFiltered);
        }
        else
        {
            mImgFiltered = mCalibFilter->getLastResult();
        }

        if(brightContrastChanged || swapChanged || borderChanged || calibChanged)
        {
            // abfrage hinzugenommen, damit beim laden von .pet bg-file angegeben werden kann fuer mehrere versuche und
            // beim nachladen von versuch nicht bg geloescht wird
            if(mBackgroundFilter.getFilename() != "")
            {
                SPDLOG_WARN("no background reset, because of explicit loaded background image!");
            }
            else
            {
                mBackgroundFilter
                    .reset(); // alle gesammelten hintergrundinfos werden verworfen und bg.changed auf true gesetzt
            }
        }

        if(imageChanged || mBackgroundFilter.changed())
        {
            mImgFiltered = mBackgroundFilter.apply(mImgFiltered);
        }
        else
        {
            mImgFiltered = mBackgroundFilter.getLastResult();
        }

        // delete track list, if intrinsic param have changed
        if(calibChanged && mPersonStorage.nbPersons() > 0) // mCalibFilter.getEnabled() &&
        {
            // Evtl. nicht Tracker loeschen sondern entsprechend der neuen Calibration verschieben?!?!?
            mPersonStorage.clear();
            mTracker->reset();
            if(!isLoading())
            {
                SPDLOG_WARN("deleted all tracking pathes because intrinsic parameters have changed.");
            }
        }
        else
        {
#ifndef STEREO_DISABLED
            // calculate position in 3D space and height of person for "old" trackPoints, if checked "even"
            if(mStereoContext && mStereoWidget->stereoUseForHeightEver->isChecked() &&
               mStereoWidget->stereoUseForHeight->isChecked())
            {
                // buildt disparity picture if it should be used for height detection
                mStereoContext->getDisparity();

                mPersonStorage.calcPosition(frameNum);
            }
#endif
        }
        if(borderChanged)
        {
            borderChangedForTracking = true;
        }
        // tracking vor recognition, da dann neu gefundene punkte mit getrackten bereits ueberprueft werden koennen
        if((trackChanged() || imageChanged) && (mControlWidget->isOnlineTrackingChecked())) // borderChanged ???
        {
            // Rect for tracking area
            QRect roi(
                myRound(mTrackingRoiItem->rect().x() + getImageBorderSize()),
                myRound(mTrackingRoiItem->rect().y() + getImageBorderSize()),
                myRound(mTrackingRoiItem->rect().width()),
                myRound(mTrackingRoiItem->rect().height()));

            if(borderChangedForTracking)
            {
                cv::Size size;
                size.width  = mImgFiltered.cols;
                size.height = mImgFiltered.rows;
                mTracker->resize(size);

                mTrackingRoiItem->restoreSize();
            }
#ifndef STEREO_DISABLED
            // buildt disparity picture if it should be used for height detection
            if(mStereoContext && mStereoWidget->stereoUseForHeight->isChecked())
                mStereoContext->getDisparity();
#endif

            cv::Rect rect;
            getRoi(mImgFiltered, roi, rect);
            // Ignore all tracking points outside of rect

            // if (mPrevIplImgFiltered) // wenn ein vorheriges bild vorliegt
            //  mPrevIplImgFiltered == NULL zeigt an, dass neue bildfolge && mPrevFrame == -1 ebenso
            //  winSize(), wurde mal uebergeben
            int anz = mTracker->track(
                mImgFiltered,
                rect,
                frameNum,
                mControlWidget->isTrackRepeatChecked(),
                mControlWidget->getTrackRepeatQual(),
                getImageBorderSize(),
                mReco.getRecoMethod(),
                mControlWidget->getTrackRegionLevels(),
                getPedestriansToTrack());

            mControlWidget->setTrackNumberNow(QString("%1").arg(anz));
            mTrackChanged            = false;
            borderChangedForTracking = false;
        }
        else
        {
            mControlWidget->setTrackNumberNow(QString("0"));
        }
        // hier muesste fuer ameisen etc allgemeinABC.getPosList(...)

        if(((((lastRecoFrame + mControlWidget->getRecoStep()) <= frameNum) ||
             ((lastRecoFrame - mControlWidget->getRecoStep()) >= frameNum)) &&
            imageChanged) ||
           mAnimation->isCameraLiveStream() || swapChanged || brightContrastChanged || borderChanged || calibChanged ||
           recognitionChanged())
        {
#ifndef STEREO_DISABLED
            // buildt disparity picture if it should be used for height detection or recognition
            if(mStereoContext &&
               (mStereoWidget->stereoUseForHeight->isChecked() || mStereoWidget->stereoUseForReco->isChecked()))
                mStereoContext->getDisparity(); // wird nicht neu berechnet, wenn vor tracking schon berechnet wurde
#endif
            if(borderChanged)
            {
                mRecognitionRoiItem->restoreSize();
            }

            if(mControlWidget->isPerformRecognitionChecked())
            {
                QRect rect(
                    myRound(mRecognitionRoiItem->rect().x() + getImageBorderSize()),
                    myRound(mRecognitionRoiItem->rect().y() + getImageBorderSize()),
                    myRound(mRecognitionRoiItem->rect().width()),
                    myRound(mRecognitionRoiItem->rect().height()));
                QList<TrackPoint> persList;
                auto              recoMethod = mReco.getRecoMethod();

                if((recoMethod == reco::RecognitionMethod::Casern) || (recoMethod == reco::RecognitionMethod::Hermes) ||
                   (recoMethod == reco::RecognitionMethod::Color) || (recoMethod == reco::RecognitionMethod::Japan) ||
                   (recoMethod == reco::RecognitionMethod::MultiColor) ||
                   (recoMethod == reco::RecognitionMethod::Code)) // else
                {
                    persList = mReco.getMarkerPos(
                        mImgFiltered,
                        rect,
                        mControlWidget,
                        getImageBorderSize(),
                        getBackgroundFilter(),
                        mControlWidget->getIntrinsicCameraParams());
                }
#ifndef STEREO_DISABLED
                if(mStereoContext && mStereoWidget->stereoUseForReco->isChecked())
                {
                    PersonList pl;
                    pl.calcPersonPos(mImgFiltered, rect, &persList, mStereoContext, getBackgroundFilter(), markerLess);
                }
#endif

                mPersonStorage.addPoints(persList, frameNum, mReco.getRecoMethod());

                // folgendes lieber im Anschluss, ggf beim exportieren oder statt test direkt del:
                if(mStereoContext && mStereoWidget->stereoUseForReco->isChecked())
                {
                    mPersonStorage.purge(frameNum); // bereinigen wenn weniger als 0.2 recognition und nur getrackt
                }

                mControlWidget->setRecoNumberNow(QString("%1").arg(persList.size()));
                mRecognitionChanged = false;

                if(false) // hier muss Abfage hin ob kasernen marker genutzt wird
                {
                    mControlWidget->getColorPlot()
                        ->replot(); // oder nur wenn tab offen oder wenn sich mtracker geaendert hat???
                }
            }
            else
            {
                mControlWidget->setRecoNumberNow(QString("0"));
            }
            lastRecoFrame = frameNum;
        }
        else
        {
            mControlWidget->setRecoNumberNow(QString("0"));
        }

        mControlWidget->setTrackNumberAll(
            QString("%1").arg(mPersonStorage.nbPersons())); // kann sich durch reco und tracker aendern
        mControlWidget->setTrackShowOnlyNrMaximum(
            static_cast<int>(MAX(mPersonStorage.nbPersons(), 1))); // kann sich durch reco und tracker aendern
        mControlWidget->setTrackNumberVisible(
            QString("%1").arg(mPersonStorage.visible(frameNum))); // kann sich durch reco und tracker aendern

        // in anzuzeigendes Bild kopieren
        // erst hier wird die bildgroesse von mimage an filteredimg mit border angepasst
        copyToQImage(*mImage, mImgFiltered);

        if(borderChanged)
        {
            mImageItem->setImage(mImage);
        }
        else
        {
            getScene()->views().first()->viewport()->repaint();
            qApp->processEvents();
            // update pixel color (because image pixel moves)
            setStatusColor();
        }

#ifdef QWT
        mControlWidget->getAnalysePlot()->setActFrame(frameNum);
        if(mControlWidget->isAnaMarkActChecked())
        {
            mControlWidget->getAnalysePlot()->replot();
        }
#endif

        semaphore.release();
    }
}

void Petrack::updateImage(const cv::Mat &img)
{
    mImg = img;
    updateImage(true);
}


void Petrack::updateSequence()
{
    QImage *oldImage = mImage;

    QSize size = mAnimation->getSize();
    if(size != QSize{0, 0})
    {
        size.setWidth(size.width() + 2 * getImageBorderSize()); // border is inside the mImage!
        size.setHeight(size.height() + 2 * getImageBorderSize());
    }
    mImage = new QImage(size, QImage::Format_RGB888);


    if(size == QSize{0, 0})
    {
        // separate handling because border should currently be ignored
        // will be applied when a sequence is loaded in
        mRecognitionRoiItem->setRect(0, 0, 0, 0);
        mTrackingRoiItem->setRect(0, 0, 0, 0);
    }
    else
    {
        const bool imageSizeChanged = oldImage && (oldImage->rect() != mImage->rect());
        // set roi for recognition if image size changes or roi is zero
        if((mRecognitionRoiItem->rect().width() == 0) || imageSizeChanged)
        {
            mRecognitionRoiItem->setRect(
                -getImageBorderSize(), -getImageBorderSize(), mImage->width(), mImage->height());
        }

        if((mTrackingRoiItem->rect().width() == 0) || imageSizeChanged)
        {
            mTrackingRoiItem->setRect(-getImageBorderSize(), -getImageBorderSize(), mImage->width(), mImage->height());
        }
    }

    cv::Size size2;
    size2.width  = mTrackingRoiItem->rect().width();
    size2.height = mTrackingRoiItem->rect().height();
    mTracker->init(size2);

    mPlayerWidget->setAnim(mAnimation);
    mPlayerWidget->skipToFrame(0);
    mImageItem->setImage(mImage); // wird in updateImage gemacht
    delete oldImage;
    mSaveSeqVidAct->setEnabled(true);
    mSaveSeqVidViewAct->setEnabled(true);
    mSaveSeqImgAct->setEnabled(true);
    mSaveSeqViewAct->setEnabled(true);
    mSaveImageAct->setEnabled(true);
    mSaveViewAct->setEnabled(true);
    mPrintAct->setEnabled(true);
    mResetSettingsAct->setEnabled(true);
}


/**
 * @brief Gets cm per pixel. Only recalculates when calculating head size.
 * @return cm per pixel
 */
double Petrack::getCmPerPixel() const
{
    return mCmPerPixel;
}

/**
 * @brief Sets the size of the circle of the average head circumference in pixel.
 *
 * Assumption for default calculation: <br>
 * 21cm avg head length <br>
 * default height of person according to mapDefaultHeigt <br>
 *
 * Default case recalculates mCmPerPixel
 *
 * If headsize get recalulated also mCmPerPixel will be calculated!
 * @see Petrack::getCmPerPixel
 * @param hS new headsize, if hS==-1 mHeadSize will be calculated instead of set
 */
void Petrack::setHeadSize(double hS)
{
    if(hS == -1)
    {
        mCmPerPixel = getImageItem()->getCmPerPixel();
        // debout << mCmPerPixel <<endl;
        mHeadSize = (HEAD_SIZE * mControlWidget->getCameraAltitude() /
                     (mControlWidget->getCameraAltitude() - mControlWidget->getDefaultHeight())) /
                    mCmPerPixel;
    }
    else
    {
        mHeadSize = hS;
    }
}
// gibt Kopfgroesse zurueck
// default: (QPointF *pos=NULL, int pers=-1, int frame=-1)
double Petrack::getHeadSize(QPointF *pos, int pers, int frame)
{
    double z, h;

    if((pers >= 0) && (pers < static_cast<int>(mPersonStorage.nbPersons())) &&
       mPersonStorage.at(pers).trackPointExist(frame))
    {
        if(mControlWidget->getCalibCoordDimension() == 0)
        {
            int         diff;
            cv::Point3f p3d = getExtrCalibration()->get3DPoint(
                cv::Point2f(
                    mPersonStorage.at(pers).trackPointAt(frame).x(), mPersonStorage.at(pers).trackPointAt(frame).y()),
                mControlWidget->getDefaultHeight());

            cv::Point2f p3d_x1 =
                getExtrCalibration()->getImagePoint(cv::Point3f(p3d.x + HEAD_SIZE * 0.5, p3d.y, p3d.z));
            cv::Point2f p3d_x2 =
                getExtrCalibration()->getImagePoint(cv::Point3f(p3d.x - HEAD_SIZE * 0.5, p3d.y, p3d.z));
            cv::Point2f p3d_y1 =
                getExtrCalibration()->getImagePoint(cv::Point3f(p3d.x, p3d.y + HEAD_SIZE * 0.5, p3d.z));
            cv::Point2f p3d_y2 =
                getExtrCalibration()->getImagePoint(cv::Point3f(p3d.x, p3d.y - HEAD_SIZE * 0.5, p3d.z));

            diff = (int) std::max(
                sqrt(pow(p3d_x2.x - p3d_x1.x, 2) + pow(p3d_x2.y - p3d_x1.y, 2)),
                sqrt(pow(p3d_y2.x - p3d_y1.x, 2) + pow(p3d_y2.y - p3d_y1.y, 2)));
            return diff; // < 8 ? 8 : diff;
        }
        else
        {
            z = mPersonStorage.at(pers).trackPointAt(frame).sp().z();
            h = mPersonStorage.at(pers).height();
            if(z > 0)
            {
                return (HEAD_SIZE * mControlWidget->getCameraAltitude() / z) / getImageItem()->getCmPerPixel();
            }
            else if(h > MIN_HEIGHT)
            {
                return (HEAD_SIZE * mControlWidget->getCameraAltitude() / (mControlWidget->getCameraAltitude() - h)) /
                       getImageItem()->getCmPerPixel();
            }
            else
            {
                return mHeadSize;
            }
        }
    }

    if(pos != nullptr)
    {
        return mHeadSize; // muss noch aus density map gelesen werden!!!
    }
    else //(pos == NULL) && (pers == -1)
    {
        return mHeadSize;
    }
}

void Petrack::setProFileName(const QString &fileName)
{
    // don't change project Name to an autosave
    if(mAutosave.isAutosave(fileName) || fileName == mProFileName)
    {
        return;
    }

    // Change project => delete old autosave
    mAutosave.deleteAutosave();
    // NOTE: Use only the global variant in future?
    // global one in helper.h because it is needed to use getFileList and shouldn't depend on Petrack
    proFileName  = fileName;
    mProFileName = fileName;
    updateWindowTitle();
}

/**
 * @brief Return the user's selection of pedestrians/trajectories
 *
 * Only people selected via "show only people" (single person) or "show only
 * people list"(multiple persons) are going to be selected.
 *
 * @return All user selected pedestrian (empty for all pedestrians)
 */
QSet<size_t> Petrack::getPedestrianUserSelection()
{
    if(mControlWidget->isTrackShowOnlyChecked())
    {
        QSet<size_t> onlyVisible;
        // subtraction needed as in UI ID start at 1 and internally at 0
        onlyVisible.insert(mControlWidget->getTrackShowOnlyNr() - 1);
        return onlyVisible;
    }
    if(mControlWidget->isTrackShowOnlyListChecked())
    {
        auto enteredIDs = util::splitStringToInt(mControlWidget->trackShowOnlyNrList()->text());
        if(enteredIDs.has_value())
        {
            QSet<size_t> selectedIDs;
            for(auto id : enteredIDs.value())
            {
                // subtraction needed as in UI ID start at 1 and internally at 0
                selectedIDs.insert(id - 1);
            }
            mControlWidget->trackShowOnlyNrList()->setStyleSheet("");
            return selectedIDs;
        }
        else
        {
            mControlWidget->trackShowOnlyNrList()->setStyleSheet("border: 1px solid red");
        }
    }
    return QSet<size_t>();
}

/**
 * @brief Splits the given text to get a set of integers.
 *
 * The given text will be split on ',' and then each element will be checked if it is a range. Ranges are marked with
 * '-' as divider. Only positive integer values are allowed.
 *
 * Examples:
 * '1,5,6' -> (1, 5, 6)
 * '1-5' -> (1, 2, 3, 4, 5)
 *
 * @param input given text
 * @return Set of int in the given text
 */
std::optional<QSet<int>> util::splitStringToInt(const QString &input)
{
    QSet<int> ids;

    for(const auto &id : input.split(",", Qt::SkipEmptyParts))
    {
        bool ok        = false;
        int  enteredID = id.toInt(&ok);
        if(ok && enteredID >= 0) // parse single values
        {
            ids.insert(enteredID);
        }
        else // error or IDs range (e.g. 1-3, 6-10, etc.)
        {
            if(id.startsWith("-"))
            {
                ok = false;
            }
            auto range = id.split("-");
            int  first = range[0].toInt(&ok);
            ok         = ok && range.size() == 2 && !range[1].isEmpty();
            if(ok)
            {
                int last = range[1].toInt(&ok);
                if(ok)
                {
                    if(first > last)
                    {
                        std::swap(first, last);
                    }

                    for(int i = first; i <= last; i++)
                    {
                        ids.insert(i);
                    }
                }
            }
        }
        if(!ok)
        {
            return std::nullopt;
        }
    }
    return ids;
}

/**
 * @brief Checks which pedestrians/trajectories are selected for evaluation.
 *
 * If "only for selected" is checked, then only selected people (@see
 * Petrack::getPedestrianUserSelection()) are going to be tracked, all people
 * otherwise.
 *
 * @return all trajectories which should be evaluated; empty when all should be evaluated
 */
QSet<size_t> Petrack::getPedestriansToTrack()
{
    if(mControlWidget->isTrackOnlySelectedChecked())
    {
        return getPedestrianUserSelection();
    }

    return QSet<size_t>();
}

void Petrack::addManualTrackPointOnlyVisible(const QPointF &pos)
{
    int pers = addOrMoveManualTrackPoint(pos) + 1;
    if(pers == 0)
    {
        pers = static_cast<int>(mPersonStorage.nbPersons()) + 1;
    }
    mControlWidget->setTrackShowOnlyNr(pers);
    mControlWidget->setTrackShowOnly(Qt::Checked);
}

void Petrack::updateControlWidget()
{
    mControlWidget->setTrackNumberAll(QString("%1").arg(mPersonStorage.nbPersons()));
    mControlWidget->setTrackShowOnlyNrMaximum(static_cast<int>(MAX(mPersonStorage.nbPersons(), 1)));
    mControlWidget->setTrackNumberVisible(QString("%1").arg(mPersonStorage.visible(mAnimation->getCurrentFrameNum())));
}

void Petrack::splitTrackPerson(QPointF pos)
{
    mPersonStorage.splitPersonAt((Vec2F) pos, mAnimation->getCurrentFrameNum(), getPedestrianUserSelection());
    updateControlWidget();
}

/**
 * @brief Lets the user add or move a TrackPoint manually
 *
 * There is an check inside addPoint which inhibits adding a point,
 * if only selected trajectories are visualized, since one wouldn't
 * see the newly added TrackPoint.
 *
 * @param pos pixel position of mouse on image
 * @return index of person whose point was moved; -1 if failed or new trajectory is started
 */
int Petrack::addOrMoveManualTrackPoint(const QPointF &pos)
{
    int        pers = -1;
    TrackPoint tP(Vec2F{pos}, 110); // 110 is higher than 100 (max. quality) and gets clamped to 100 after insertion
    // allows replacemet of every point (check for better quality always passes)
    mPersonStorage.addPoint(
        tP, mAnimation->getCurrentFrameNum(), getPedestrianUserSelection(), mReco.getRecoMethod(), &pers);
    updateControlWidget();
    return pers;
}

// direction zeigt an, ob bis zum aktuellen (-1), ab dem aktuellen (1) oder ganzer trackpath (0)
// loeschen von Trackpoints einer Trajektorie
void Petrack::deleteTrackPoint(QPointF pos, int direction) // const QPoint &pos
{
    mPersonStorage.delPoint((Vec2F) pos, direction, mAnimation->getCurrentFrameNum(), getPedestrianUserSelection());
    updateControlWidget();
}
void Petrack::editTrackPersonComment(QPointF pos)
{
    mPersonStorage.editTrackPersonComment((Vec2F) pos, mAnimation->getCurrentFrameNum(), getPedestrianUserSelection());
    updateControlWidget();
}
void Petrack::setTrackPersonHeight(QPointF pos)
{
    mPersonStorage.setTrackPersonHeight((Vec2F) pos, mAnimation->getCurrentFrameNum(), getPedestrianUserSelection());
    updateControlWidget();
}
void Petrack::resetTrackPersonHeight(QPointF pos)
{
    mPersonStorage.resetTrackPersonHeight((Vec2F) pos, mAnimation->getCurrentFrameNum(), getPedestrianUserSelection());
    updateControlWidget();
}

/**
 * @brief Delete the following, previous or whole trajectory of **all** trajectories
 * @param direction previous, following or whole
 */
void Petrack::deleteTrackPointAll(PersonStorage::Direction direction) // const QPoint &pos
{
    mPersonStorage.delPointAll(direction, mAnimation->getCurrentFrameNum());
    updateControlWidget();
}

void Petrack::deleteTrackPointROI()
{
    mPersonStorage.delPointROI();
    updateControlWidget();
    mScene->update();
}

void Petrack::deleteTrackPointInsideROI()
{
    getPersonStorage().delPointInsideROI();
    updateControlWidget();
    mScene->update();
}

void Petrack::moveTrackPoint(QPointF pos)
{
    mManualTrackPointMover.moveTrackPoint(pos, mPersonStorage);
    mScene->update();
}

void Petrack::selectPersonForMoveTrackPoint(QPointF pos)
{
    FrameRange range;
    range.before  = mControlWidget->getTrackShowBefore();
    range.after   = mControlWidget->getTrackShowAfter();
    range.current = mPlayerWidget->getPos();
    auto successfullySelected =
        mManualTrackPointMover.selectTrackPoint(pos, mPersonStorage, getPedestrianUserSelection(), range);

    if(successfullySelected)
    {
        setCursor(QCursor{Qt::CursorShape::DragMoveCursor});
    }
}

void Petrack::releaseTrackPoint()
{
    mManualTrackPointMover.setTrackPoint();
    mAutosave.trackPersonModified();
    setCursor(QCursor{});
}

void Petrack::scrollShowOnly(int delta)
{
    if(delta < 0)
    {
        mControlWidget->setTrackShowOnlyNr(mControlWidget->getTrackShowOnlyNr() - 1);
    }
    else
    {
        mControlWidget->setTrackShowOnlyNr(mControlWidget->getTrackShowOnlyNr() + 1);
    }
}

void Petrack::updateSourceInOutFrames()
{
    mPlayerWidget->setFrameInNum(mAnimation->getSourceInFrameNum());
    mPlayerWidget->setFrameOutNum(mAnimation->getSourceOutFrameNum());
}

// delta gibt menge an Umdrehungen und richtung an
void Petrack::skipToFrameWheel(int delta)
{
    mPlayerWidget->skipToFrame(mPlayerWidget->getPos() + delta);