|
|
|
using MathNet.Numerics.LinearAlgebra;
|
|
|
|
using MathNet.Numerics.LinearAlgebra.Double;
|
|
|
|
using System.Collections.Concurrent;
|
|
|
|
using System.Drawing;
|
|
|
|
|
|
|
|
namespace Cis.Application.Core;
|
|
|
|
|
|
|
|
public abstract class MarkSearcherBase
|
|
|
|
{
|
|
|
|
#region Attr
|
|
|
|
|
|
|
|
/// <summary>
|
|
|
|
/// 当前相机参数信息
|
|
|
|
/// </summary>
|
|
|
|
protected CameraCalcInfo _cameraCalcInfo { get; set; }
|
|
|
|
|
|
|
|
/// <summary>
|
|
|
|
/// _markLabelInfoList 锁对象,写锁
|
|
|
|
/// </summary>
|
|
|
|
private static object mliListLock { get; } = new();
|
|
|
|
|
|
|
|
/// <summary>
|
|
|
|
/// 需要计算的 markLabelInfo 列表
|
|
|
|
/// </summary>
|
|
|
|
protected ConcurrentDictionary<long, MarkLabelCalcInfo> _markLabelInfoDict { get; set; } = new();
|
|
|
|
|
|
|
|
//protected MatrixBuilder<double> MBuilder { get; set; } = Matrix<double>.Build;
|
|
|
|
|
|
|
|
/// <summary>
|
|
|
|
/// 世界坐标转化为相机坐标矩阵
|
|
|
|
/// </summary>
|
|
|
|
protected Matrix<double> World2CameraMatrix { get; set; }
|
|
|
|
|
|
|
|
#endregion Attr
|
|
|
|
|
|
|
|
public MarkSearcherBase(CameraCalcInfo cameraCalcInfo)
|
|
|
|
{
|
|
|
|
UpdateCameraCalcInfoRelated(cameraCalcInfo);
|
|
|
|
}
|
|
|
|
|
|
|
|
#region Calc
|
|
|
|
|
|
|
|
/// <summary>
|
|
|
|
/// 计算标签位置过程
|
|
|
|
/// </summary>
|
|
|
|
/// <returns></returns>
|
|
|
|
public List<MarkLabelCalcResult> Calc()
|
|
|
|
{
|
|
|
|
List<MarkLabelCalcResult> resultList = new();
|
|
|
|
|
|
|
|
if (World2CameraMatrix == null || _markLabelInfoDict.IsEmpty)
|
|
|
|
return resultList;
|
|
|
|
|
|
|
|
foreach (MarkLabelCalcInfo item in _markLabelInfoDict.Values)
|
|
|
|
{
|
|
|
|
Matrix<double> labelC2WMatrix = ConvertCameraToWorld(item);
|
|
|
|
Matrix<double> labelPointMatrix = new DenseMatrix(3, 1, new double[]
|
|
|
|
{
|
|
|
|
(item.CanvasLeftRatio * item.VideoWidth) / _cameraCalcInfo.VideoWidth - 0.5 ,
|
|
|
|
(item.CanvasTopRatio * item.VideoHeight) / _cameraCalcInfo.VideoHeight - 0.5 ,
|
|
|
|
1
|
|
|
|
});
|
|
|
|
Matrix<double> lResult = labelC2WMatrix.Multiply(labelPointMatrix);
|
|
|
|
Matrix<double> pResult = World2CameraMatrix.Multiply(lResult);
|
|
|
|
|
|
|
|
double x = pResult[0, 0] / pResult[2, 0] + 0.5;
|
|
|
|
double y = pResult[1, 0] / pResult[2, 0] + 0.5;
|
|
|
|
MarkLabelCalcResult labelCalcResult;
|
|
|
|
if (x > 0.99 || x < 0.01 || y > 0.99 || y < 0.01 || pResult[2, 0] < 0)
|
|
|
|
labelCalcResult = MarkLabelCalcResult.New(item.Id, false);
|
|
|
|
else
|
|
|
|
labelCalcResult = MarkLabelCalcResult.New(item.Id, true, x, y);
|
|
|
|
resultList.Add(labelCalcResult);
|
|
|
|
}
|
|
|
|
return resultList;
|
|
|
|
}
|
|
|
|
|
|
|
|
public async Task<List<MarkLabelCalcResult>> CalcAsync()
|
|
|
|
{
|
|
|
|
return await Task.Run(Calc);
|
|
|
|
}
|
|
|
|
|
|
|
|
/// <summary>
|
|
|
|
/// 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
|
|
|
|
/// </summary>
|
|
|
|
/// <param name="newInfo"></param>
|
|
|
|
/// <returns></returns>
|
|
|
|
protected bool IsCameraRotate(PtzInfo newInfo)
|
|
|
|
{
|
|
|
|
bool ret = _cameraCalcInfo.PtzInfo.Pan != newInfo.Pan ||
|
|
|
|
_cameraCalcInfo.PtzInfo.Tilt != newInfo.Tilt ||
|
|
|
|
_cameraCalcInfo.PtzInfo.Zoom != newInfo.Zoom;
|
|
|
|
return ret;
|
|
|
|
}
|
|
|
|
|
|
|
|
/// <summary>
|
|
|
|
/// 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
|
|
|
|
/// </summary>
|
|
|
|
/// <param name="cameraCalcInfo"></param>
|
|
|
|
/// <returns></returns>
|
|
|
|
protected Matrix<double> ConvertWorldToCamera(CameraCalcInfo cameraCalcInfo)
|
|
|
|
{
|
|
|
|
double panAngle = ConvertPanPosToAngle(cameraCalcInfo.PtzInfo.Pan);
|
|
|
|
double tiltAngle = ConvertTiltPosToAngle(cameraCalcInfo.PtzInfo.Tilt);
|
|
|
|
PointF pointF = GetFOfMatrixByZoomPos(cameraCalcInfo.PtzInfo.Zoom);
|
|
|
|
double sinPan = Math.Sin(panAngle);
|
|
|
|
double cosPan = Math.Cos(panAngle);
|
|
|
|
double sinTilt = Math.Sin(tiltAngle);
|
|
|
|
double cosTilt = Math.Cos(tiltAngle);
|
|
|
|
|
|
|
|
Matrix<double> fMatrix = new DenseMatrix(3, 3, new double[]
|
|
|
|
{
|
|
|
|
pointF.X, 0, 0 ,
|
|
|
|
0, pointF.Y, 0 ,
|
|
|
|
0, 0, 1 ,
|
|
|
|
});
|
|
|
|
|
|
|
|
Matrix<double> rotateTiltMatrix = new DenseMatrix(3, 3, new double[]
|
|
|
|
{
|
|
|
|
1, 0, 0 ,
|
|
|
|
0, cosTilt, sinTilt ,
|
|
|
|
0, -sinTilt, cosTilt ,
|
|
|
|
});
|
|
|
|
|
|
|
|
Matrix<double> midResult = fMatrix.Multiply(rotateTiltMatrix);
|
|
|
|
|
|
|
|
Matrix<double> rotatePanMatrix = new DenseMatrix(3, 3, new double[]
|
|
|
|
{
|
|
|
|
cosPan, 0, sinPan ,
|
|
|
|
0, 1, 0 ,
|
|
|
|
-sinPan, 0, cosPan ,
|
|
|
|
});
|
|
|
|
|
|
|
|
var last = midResult.Multiply(rotatePanMatrix);
|
|
|
|
return last;
|
|
|
|
}
|
|
|
|
|
|
|
|
/// <summary>
|
|
|
|
/// 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
|
|
|
|
/// </summary>
|
|
|
|
/// <param name="labelCalcInfo"></param>
|
|
|
|
/// <returns></returns>
|
|
|
|
protected Matrix<double> ConvertCameraToWorld(MarkLabelCalcInfo labelCalcInfo)
|
|
|
|
{
|
|
|
|
double panAngle = ConvertPanPosToAngle(labelCalcInfo.PtzInfo.Pan);
|
|
|
|
double tiltAngle = ConvertTiltPosToAngle(labelCalcInfo.PtzInfo.Tilt);
|
|
|
|
PointF pointF = GetFOfMatrixByZoomPos(labelCalcInfo.PtzInfo.Zoom);
|
|
|
|
double sinPan = Math.Sin(panAngle);
|
|
|
|
double cosPan = Math.Cos(panAngle);
|
|
|
|
double sinTilt = Math.Sin(tiltAngle);
|
|
|
|
double cosTilt = Math.Cos(tiltAngle);
|
|
|
|
|
|
|
|
Matrix<double> rotatePanMatrix = new DenseMatrix(3, 3, new double[]
|
|
|
|
{
|
|
|
|
cosPan, 0, -sinPan ,
|
|
|
|
0, 1, 0 ,
|
|
|
|
sinPan, 0, cosPan
|
|
|
|
});
|
|
|
|
|
|
|
|
Matrix<double> rotateTiltMatrix = new DenseMatrix(3, 3, new double[]
|
|
|
|
{
|
|
|
|
1, 0, 0 ,
|
|
|
|
0, cosTilt, -sinTilt ,
|
|
|
|
0, sinTilt, cosTilt
|
|
|
|
});
|
|
|
|
|
|
|
|
Matrix<double> midResult = rotatePanMatrix.Multiply(rotateTiltMatrix);
|
|
|
|
|
|
|
|
Matrix<double> fMatrix = new DenseMatrix(3, 3, new double[]
|
|
|
|
{
|
|
|
|
(1 / pointF.X), 0, 0 ,
|
|
|
|
0, (1 / pointF.Y), 0 ,
|
|
|
|
0, 0, 1
|
|
|
|
});
|
|
|
|
|
|
|
|
var last = midResult.Multiply(fMatrix);
|
|
|
|
return last;
|
|
|
|
}
|
|
|
|
|
|
|
|
/// <summary>
|
|
|
|
/// 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
|
|
|
|
/// 尝试方案1:通过计算的方式来获取
|
|
|
|
/// 尝试方案2:通过张友定相机标定的方法来生成成像矩阵中的 f
|
|
|
|
/// </summary>
|
|
|
|
protected virtual void CalcSensor()
|
|
|
|
{
|
|
|
|
}
|
|
|
|
|
|
|
|
#endregion Calc
|
|
|
|
|
|
|
|
#region Util
|
|
|
|
|
|
|
|
/// <summary>
|
|
|
|
/// 将Pan值转化为角度
|
|
|
|
/// </summary>
|
|
|
|
/// <returns></returns>
|
|
|
|
protected abstract double ConvertPanPosToAngle(double panPos);
|
|
|
|
|
|
|
|
/// <summary>
|
|
|
|
/// 将Tilt转化为角度
|
|
|
|
/// </summary>
|
|
|
|
/// <returns></returns>
|
|
|
|
protected abstract double ConvertTiltPosToAngle(double tiltPos, double tiltMinPos = 0);
|
|
|
|
|
|
|
|
/// <summary>
|
|
|
|
/// 根据当前zoom值获取相机矩阵参数
|
|
|
|
/// </summary>
|
|
|
|
/// <param name="zoomPos"></param>
|
|
|
|
/// <returns></returns>
|
|
|
|
protected abstract PointF GetFOfMatrixByZoomPos(double zoomPos);
|
|
|
|
|
|
|
|
#endregion Util
|
|
|
|
|
|
|
|
#region Operate Attr
|
|
|
|
|
|
|
|
protected void UpdateCameraCalcInfoRelated(CameraCalcInfo cameraCalcInfo)
|
|
|
|
{
|
|
|
|
_cameraCalcInfo = cameraCalcInfo;
|
|
|
|
CalcSensor();
|
|
|
|
World2CameraMatrix = ConvertWorldToCamera(cameraCalcInfo);
|
|
|
|
}
|
|
|
|
|
|
|
|
public void UpdateCameraCalcInfo(PtzInfo ptzInfo)
|
|
|
|
{
|
|
|
|
if (IsCameraRotate(ptzInfo))
|
|
|
|
{
|
|
|
|
_cameraCalcInfo.PtzInfo = ptzInfo;
|
|
|
|
World2CameraMatrix = ConvertWorldToCamera(_cameraCalcInfo);
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
public bool AddMarkLabelCalcInfo(MarkLabelCalcInfo info)
|
|
|
|
{
|
|
|
|
lock (mliListLock)
|
|
|
|
{
|
|
|
|
if (_markLabelInfoDict.ContainsKey(info.Id))
|
|
|
|
return false;
|
|
|
|
return _markLabelInfoDict.TryAdd(info.Id, info);
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
public bool DeleteMarkLabelCalcInfo(long id)
|
|
|
|
{
|
|
|
|
lock (mliListLock)
|
|
|
|
{
|
|
|
|
if (!_markLabelInfoDict.ContainsKey(id))
|
|
|
|
return true;
|
|
|
|
return _markLabelInfoDict.Remove(id);
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
public bool ExistsMarkLabelCalcInfo(long id)
|
|
|
|
{
|
|
|
|
if (_markLabelInfoDict.ContainsKey(id))
|
|
|
|
return true;
|
|
|
|
return false;
|
|
|
|
}
|
|
|
|
|
|
|
|
#endregion Operate Attr
|
|
|
|
}
|