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254 lines
8.1 KiB
254 lines
8.1 KiB
2 years ago
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using EC.Helper.CameraSDK;
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using MathNet.Numerics.LinearAlgebra;
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using MathNet.Numerics.LinearAlgebra.Double;
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using System.Collections.Concurrent;
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using System.Drawing;
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namespace Cis.Application.Core.Component.MarkSeacher;
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public abstract class MarkSearcherBase
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{
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#region Attr
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/// <summary>
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/// 当前相机计算参数
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/// </summary>
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protected CameraCalcParams CameraCalcParams { get; set; }
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/// <summary>
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/// 相机当前位置的世界坐标转化为相机坐标矩阵
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/// </summary>
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protected Matrix<double> World2CameraMatrix { get; set; }
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/// <summary>
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/// {cameraId, MarkLabelCalcParams}
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/// </summary>
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private ConcurrentDictionary<long, MarkLabelCalcParams> MarkLabelCalcParamsDict { get; set; } = new();
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#endregion Attr
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public MarkSearcherBase(CameraCalcParams cameraCalcParams)
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{
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CameraCalcParams = cameraCalcParams;
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CalcSensor();
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World2CameraMatrix = ConvertWorldToCamera(cameraCalcParams);
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}
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#region Calc
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/// <summary>
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/// 判断相机是否进行了转动,转动了则需要重新计算世界坐标到相机坐标的转换矩阵
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/// </summary>
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/// <param name="newInfo"></param>
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/// <returns></returns>
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protected bool IsCameraRotate(PtzInfo newInfo)
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{
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bool ret = CameraCalcParams.PtzInfo.Pan != newInfo.Pan ||
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CameraCalcParams.PtzInfo.Tilt != newInfo.Tilt ||
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CameraCalcParams.PtzInfo.Zoom != newInfo.Zoom;
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return ret;
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}
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/// <summary>
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/// 此方法计算在球机zoom值最小的情况下成像矩阵中的 f 本质为获取像元大小
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/// 尝试方案1:通过计算的方式来获取
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/// 尝试方案2:通过张正友相机标定的方法来生成成像矩阵中的 f
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/// </summary>
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protected void CalcSensor()
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{
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CameraCalcParams.FocusX /= CameraCalcParams.VideoWidth;
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CameraCalcParams.FocusY /= CameraCalcParams.VideoHeight;
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}
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/// <summary>
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/// 获取将世界坐标系中的点转化为相机坐标系中的点的转换矩阵
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/// </summary>
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/// <param name="cameraCalcParams"></param>
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/// <returns></returns>
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protected Matrix<double> ConvertWorldToCamera(CameraCalcParams cameraCalcParams)
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{
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double panAngle = ConvertPanPosToAngle(cameraCalcParams.PtzInfo.Pan);
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double tiltAngle = ConvertTiltPosToAngle(cameraCalcParams.PtzInfo.Tilt);
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PointF pointF = GetFOfMatrixByZoomPos(cameraCalcParams.PtzInfo.Zoom);
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double sinPan = Math.Sin(panAngle);
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double cosPan = Math.Cos(panAngle);
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double sinTilt = Math.Sin(tiltAngle);
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double cosTilt = Math.Cos(tiltAngle);
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Matrix<double> fMatrix = new DenseMatrix(3, 3, new double[]
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{
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pointF.X, 0, 0,
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0, pointF.Y, 0,
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0, 0, 1,
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});
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Matrix<double> rotateTiltMatrix = new DenseMatrix(3, 3, new double[]
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{
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1, 0, 0,
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0, cosTilt, sinTilt,
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0, -sinTilt, cosTilt,
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});
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Matrix<double> rotatePanMatrix = new DenseMatrix(3, 3, new double[]
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{
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cosPan, 0, sinPan,
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0, 1, 0,
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-sinPan, 0, cosPan,
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});
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Matrix<double> resultMatrix = fMatrix.Multiply(rotateTiltMatrix).Multiply(rotatePanMatrix);
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return resultMatrix;
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}
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/// <summary>
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/// 获取将相机坐标系中的点转化为世界坐标系中的点的转换矩阵
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/// </summary>
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/// <param name="labelCalcParams"></param>
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/// <returns></returns>
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protected Matrix<double> ConvertCameraToWorld(MarkLabelCalcParams labelCalcParams)
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{
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double panAngle = ConvertPanPosToAngle(labelCalcParams.PtzInfo.Pan);
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double tiltAngle = ConvertTiltPosToAngle(labelCalcParams.PtzInfo.Tilt);
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PointF pointF = GetFOfMatrixByZoomPos(labelCalcParams.PtzInfo.Zoom);
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double sinPan = Math.Sin(panAngle);
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double cosPan = Math.Cos(panAngle);
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double sinTilt = Math.Sin(tiltAngle);
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double cosTilt = Math.Cos(tiltAngle);
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Matrix<double> rotatePanMatrix = new DenseMatrix(3, 3, new double[]
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{
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cosPan, 0, -sinPan,
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0, 1, 0,
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sinPan, 0, cosPan,
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});
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Matrix<double> rotateTiltMatrix = new DenseMatrix(3, 3, new double[]
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{
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1, 0, 0,
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0, cosTilt, -sinTilt,
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0, sinTilt, cosTilt,
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});
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Matrix<double> fMatrix = new DenseMatrix(3, 3, new double[]
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{
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(1 / pointF.X), 0, 0,
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0, (1 / pointF.Y), 0,
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0, 0, 1,
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});
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Matrix<double> resultMatrix = rotatePanMatrix.Multiply(rotateTiltMatrix).Multiply(fMatrix);
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return resultMatrix;
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}
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/// <summary>
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/// 计算标签位置过程
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/// </summary>
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/// <returns></returns>
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public List<MarkLabelCalcResult> Search()
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{
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List<MarkLabelCalcResult> resultList = new();
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if (World2CameraMatrix == null || MarkLabelCalcParamsDict.IsEmpty)
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return resultList;
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foreach (MarkLabelCalcParams item in MarkLabelCalcParamsDict.Values)
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{
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Matrix<double> labelC2WMatrix = ConvertCameraToWorld(item);
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Matrix<double> labelPointMatrix = new DenseMatrix(3, 1, new double[]
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{
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(item.CanvasLeftRatio-0.5)*item.VideoWidth / CameraCalcParams.VideoWidth,
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(item.CanvasTopRatio-0.5)*item.VideoHeight / CameraCalcParams.VideoHeight,
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1
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});
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Matrix<double> lResult = labelC2WMatrix.Multiply(labelPointMatrix);
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Matrix<double> pResult = World2CameraMatrix.Multiply(lResult);
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double x = pResult[0, 0] / pResult[2, 0] + 0.5;
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double y = pResult[1, 0] / pResult[2, 0] + 0.5;
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MarkLabelCalcResult labelCalcResult;
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if (x > 0.99 || x < 0.01 || y > 0.99 || y < 0.01 || pResult[2, 0] < 0)
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labelCalcResult = MarkLabelCalcResult.New(item.Id, false);
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else
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labelCalcResult = MarkLabelCalcResult.New(item.Id, true, x, y);
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resultList.Add(labelCalcResult);
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}
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return resultList;
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}
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public async Task<List<MarkLabelCalcResult>> SearchAsync()
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{
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return await Task.Run(Search);
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}
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#endregion Calc
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#region Util
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/// <summary>
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/// 将Pan值转化为角度
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/// </summary>
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/// <returns></returns>
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protected abstract double ConvertPanPosToAngle(double panPos);
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/// <summary>
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/// 将Tilt转化为角度
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/// </summary>
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/// <returns></returns>
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protected abstract double ConvertTiltPosToAngle(double tiltPos, double tiltMinPos = 0);
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/// <summary>
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/// 根据当前zoom值获取相机矩阵参数
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/// </summary>
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/// <param name="zoomPos"></param>
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/// <returns></returns>
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protected abstract PointF GetFOfMatrixByZoomPos(double zoomPos);
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#endregion Util
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#region Base Method
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/// <summary>
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/// 更新相机计算参数
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/// </summary>
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/// <param name="ptzInfo"></param>
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public void UpdateCameraCalcParams(PtzInfo ptzInfo)
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{
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if (IsCameraRotate(ptzInfo))
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{
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CameraCalcParams.PtzInfo = ptzInfo;
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World2CameraMatrix = ConvertWorldToCamera(CameraCalcParams);
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}
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}
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/// <summary>
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/// 添加标签计算参数
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/// </summary>
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/// <param name="labelCalcParams"></param>
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/// <returns></returns>
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public bool AddMarkLabelCalcParams(MarkLabelCalcParams labelCalcParams)
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{
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return MarkLabelCalcParamsDict.TryAdd(labelCalcParams.Id, labelCalcParams);
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}
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/// <summary>
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/// 删除标签计算参数
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/// </summary>
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/// <param name="markLabelId"></param>
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/// <returns></returns>
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public bool DeleteMarkLabelCalcParams(long markLabelId)
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{
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return MarkLabelCalcParamsDict.TryRemove(markLabelId, out _);
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}
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/// <summary>
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/// 是否存在标签计算参数
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/// </summary>
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/// <param name="markLabelId"></param>
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/// <returns></returns>
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public bool IsExistsMarkLabelCalcParams(long markLabelId)
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{
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return MarkLabelCalcParamsDict.ContainsKey(markLabelId);
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}
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#endregion Base Method
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}
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