feat: 完成计算部分

Cis.Application/Cis.Application.csproj

@@ -18,6 +18,10 @@
 		</Content>
 	</ItemGroup>
 
+	<ItemGroup>
+	  <PackageReference Include="MathNet.Numerics" Version="5.0.0" />
+	</ItemGroup>
+
 	<ItemGroup>
 		<ProjectReference Include="..\Cis.Core\Cis.Core.csproj" />
 	</ItemGroup>

Cis.Application/Cm/Entity/CmMarkLabel.cs

@@ -7,6 +7,18 @@
 [Tenant(CmInfo.DbName)]
 public class CmMarkLabel : EntityBase
 {
+	/// <summary>
+	/// 相机 Id
+	/// </summary>
+	[SugarColumn(ColumnDescription = "相机Id")]
+	public long CbCameraId { get; set; }
+
+	/// <summary>
+	/// 标记组 Id
+	/// </summary>
+	[SugarColumn(ColumnDescription = "标记组Id")]
+	public long CmMarkGroupId { get; set; }
+
 	/// <summary>
 	/// 名称
 	/// </summary>
@@ -14,39 +26,39 @@ public class CmMarkLabel : EntityBase
 	public string Name { get; set; }
 
 	/// <summary>
-	/// Pan 位置
+	/// Pan 坐标
 	/// </summary>
-	[SugarColumn(ColumnDescription = "Pan位置")]
+	[SugarColumn(ColumnDescription = "Pan坐标")]
 	public double PanPosition { get; set; }
 
 	/// <summary>
-	/// Tilt 位置
+	/// Tilt 坐标
 	/// </summary>
-	[SugarColumn(ColumnDescription = "Tilt位置")]
+	[SugarColumn(ColumnDescription = "Tilt坐标")]
 	public double TiltPosition { get; set; }
 
 	/// <summary>
-	/// Zoom 位置
+	/// Zoom 坐标
 	/// </summary>
-	[SugarColumn(ColumnDescription = "Zoom位置")]
+	[SugarColumn(ColumnDescription = "Zoom坐标")]
 	public double ZoomPosition { get; set; }
 
+	[SugarColumn(ColumnDescription = "画布宽度")]
+	public double CanvasWidth { get; set; }
+
+	[SugarColumn(ColumnDescription = "画布高度")]
+	public double CanvasHeight { get; set; }
+
+	[SugarColumn(ColumnDescription = "画布 left 距离")]
+	public double CanvasLeft { get; set; }
+
+	[SugarColumn(ColumnDescription = "画布 top 距离")]
+	public double CanvasTop { get; set; }
+
 	/// <summary>
 	/// 备注
 	/// </summary>
 	[SugarColumn(ColumnDescription = "备注", Length = 256)]
 	[MaxLength(256)]
 	public string Remark { get; set; }
-
-	/// <summary>
-	/// 相机 Id
-	/// </summary>
-	[SugarColumn(ColumnDescription = "相机Id")]
-	public long CbCameraId { get; set; }
-
-	/// <summary>
-	/// 标记组 Id
-	/// </summary>
-	[SugarColumn(ColumnDescription = "标记组Id")]
-	public long CmMarkGroupId { get; set; }
 }

Cis.Application/Core/Algo/HikMarkSeacher.cs

@@ -0,0 +1,77 @@
+using System.Drawing;
+
+namespace Cis.Application.Core;
+
+public class HikMarkSeacher : MarkSearcherBase
+{
+	public HikMarkSeacher(CameraCalcInfo cameraCalcInfo) : base(cameraCalcInfo)
+	{
+	}
+
+	#region Implement
+
+	protected override double ConvertPanPosToAngle(double panPos)
+	{
+		double ret = (0.1 * HexToDecMa(panPos)) / (180 * Math.PI);
+		ret = (ret >= 0) ? ret : (2 * Math.PI + ret);
+		return ret;
+	}
+
+	protected override double ConvertTiltPosToAngle(double tiltPos, double tiltMinPos = 0)
+	{
+		double ndiff;
+		if (tiltPos > tiltMinPos)
+			ndiff = HexToDecMa(tiltPos) - HexToDecMa(tiltMinPos);
+		else
+			ndiff = HexToDecMa(tiltPos) + HexToDecMa(13824) - HexToDecMa(tiltMinPos);
+		double ret = (0.1 * ndiff) / (180 * Math.PI);
+		return ret;
+	}
+
+	protected override PointF GetFOfMatrixByZoomPos(double zoomPos)
+	{
+		PointF pointF = new()
+		{
+			X = (float)GetFx(zoomPos),
+			Y = (float)GetFy(zoomPos)
+		};
+		return pointF;
+	}
+
+	protected override void CalcSensor()
+	{
+		CameraCalcInfo.MinFocusX = 1783.6 / CameraCalcInfo.ImageWidth;
+		CameraCalcInfo.MinFocusY = 1781.4 / CameraCalcInfo.ImageHeight;
+	}
+
+	#endregion Implement
+
+	#region Util
+
+	protected virtual double GetFx(double zoomPos)
+	{
+		CameraCalcInfo calcInfo = CameraCalcInfo;
+		return calcInfo.MinFocusX * GetZoomTag(zoomPos);
+	}
+
+	protected virtual double GetFy(double zoomPos)
+	{
+		CameraCalcInfo calcInfo = CameraCalcInfo;
+		return calcInfo.MinFocusY * GetZoomTag(zoomPos);
+	}
+
+	protected virtual double GetZoomTag(double zoomPos)
+	{
+		double ret = HexToDecMa(zoomPos) * 0.1;
+		ret = (ret - 1) * 0.65 + 1;
+		return ret;
+	}
+
+	protected double HexToDecMa(double wHex)
+	{
+		double ret = (wHex / 4096) * 1000 + ((wHex % 4096) / 256) * 100 + ((wHex % 256) / 16) * 10 + (wHex % 16);
+		return ret;
+	}
+
+	#endregion Util
+}

Cis.Application/Core/Algo/MarkSearcherBase.cs

@@ -1,6 +1,207 @@
-namespace Cis.Application.Core;
+using MathNet.Numerics.LinearAlgebra;
+using System.Drawing;
 
-public class MarkSearcherBase
+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; }
+
+	protected List<MarkLabelCalcInfo> MarkLabelInfoList { 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)
+	{
+		InitCameraCalcInfoRelated(cameraCalcInfo);
+	}
+
+	protected void InitCameraCalcInfoRelated(CameraCalcInfo cameraCalcInfo)
+	{
+		CameraCalcInfo = cameraCalcInfo;
+		CalcSensor();
+		World2CameraMatrix = ConvertWorldToCamera(cameraCalcInfo);
+	}
+
+	#region Calc
+
+	/// <summary>
+	///  计算标签位置过程
+	/// </summary>
+	/// <returns></returns>
+	public void Calc(CameraCalcInfo cameraCalcInfo)
+	{
+		//判断
+		if (IsCameraRotate(cameraCalcInfo))
+			InitCameraCalcInfoRelated(cameraCalcInfo);
+
+		if (World2CameraMatrix == null || MarkLabelInfoList.Count == 0)
+			return;
+
+		for (int index = 0; index < MarkLabelInfoList.Count; index++)
+		{
+			MarkLabelCalcInfo label = MarkLabelInfoList[index];
+			Matrix<double> labelC2WMatrix = ConvertCameraToWorld(label);
+			Matrix<double> labelPointMatrix = MBuilder.DenseOfArray(new double[,]
+			{
+				{ label.CanvasWidth / CameraCalcInfo.ImageWidth - 0.5 },
+				{ label.CanvasHeight / CameraCalcInfo.ImageHeight - 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 = new();
+			if (x > 0.99 || x < 0.01 || y > 0.99 || y < 0.01 || pResult[2, 0] < 0)
+			{
+				labelCalcResult.InFlag = false;
+			}
+			else
+			{
+				labelCalcResult.InFlag = true;
+				labelCalcResult.CanvasLeft = x * CameraCalcInfo.ImageWidth;
+				labelCalcResult.CanvasTop = y * CameraCalcInfo.ImageHeight;
+			}
+		}
+	}
+
+	/// <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(CameraCalcInfo newInfo)
 	{
+		return CameraCalcInfo == null ||
+			CameraCalcInfo.PtzInfo.Pan != newInfo.PtzInfo.Pan ||
+			CameraCalcInfo.PtzInfo.Tilt != newInfo.PtzInfo.Tilt ||
+			CameraCalcInfo.PtzInfo.Zoom != newInfo.PtzInfo.Zoom;
+	}
+
+	/// <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 = MBuilder.DenseOfArray(new double[,]
+		{
+			{ pointF.X, 0, 0 },
+			{ 0, pointF.Y, 0 },
+			{ 0, 0, 1 },
+		});
+
+		Matrix<double> rotateTiltMatrix = MBuilder.DenseOfArray(new double[,]
+		{
+			{ 1, 0, 0 },
+			{ 0, cosTilt, sinTilt },
+			{ 0, -sinTilt, cosTilt },
+		});
+
+		Matrix<double> midResult = fMatrix.Multiply(rotateTiltMatrix);
+
+		Matrix<double> rotatePanMatrix = MBuilder.DenseOfArray(new double[,]
+		{
+			{ cosPan, 0, sinPan },
+			{ 0, 1, 0 },
+			{ -sinPan, 0, cosPan },
+		});
+
+		return midResult.Multiply(rotatePanMatrix);
+	}
+
+	/// <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 = MBuilder.DenseOfArray(new double[,] {
+			{ cosPan, 0, -sinPan },
+			{ 0, 1, 0 },
+			{ sinPan, 0, cosPan }
+		});
+
+		Matrix<double> rotateTiltMatrix = MBuilder.DenseOfArray(new double[,] {
+			{ 1, 0, 0 },
+			{ 0, cosTilt, -sinTilt },
+			{ 0, sinTilt, cosTilt }
+		});
+
+		Matrix<double> midResult = rotatePanMatrix.Multiply(rotateTiltMatrix);
+
+		Matrix<double> fMatrix = MBuilder.DenseOfArray(new double[,] {
+			{ (1 / pointF.X), 0, 0 },
+			{ 0, (1 / pointF.Y), 0 },
+			{ 0, 0, 1 }
+		});
+
+		return midResult.Multiply(fMatrix);
+	}
+
+	/// <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
 }

Cis.Application/Core/Center/CameraDataCenter.cs

@@ -9,15 +9,15 @@ public class CameraDataCenter
 {
 	#region Attr
 
-	private Thread _thread { get; set; }
-	private List<TbPtzCamera> _tbPtzCameraList { get; set; }
-	private ConcurrentDictionary<string, CameraCalcInfo> _cameraPtzInfoDict { get; set; }
-
 	private readonly SqlSugarRepository<CbCamera> _cbCameraRep;
 	private readonly SqlSugarRepository<CmMarkLabel> _cmMarkLableRep;
 	private readonly SqlSugarRepository<TbPtzCamera> _tbPtzCameraRep;
 	private readonly PtzServerApi _ptzServerApi;
 
+	private Thread _thread { get; set; }
+	private List<TbPtzCamera> _tbPtzCameraList { get; set; }
+	private ConcurrentDictionary<string, CameraCalcInfo> _cameraPtzInfoDict { get; set; }
+
 	#endregion Attr
 
 	public CameraDataCenter()

Cis.Application/Core/Entity/CameraCalcInfo.cs

@@ -1,32 +1,104 @@
 namespace Cis.Application.Core;
 
 /// <summary>
-/// 相机 Ptz 信息
+/// 相机计算信息
 /// </summary>
 public class CameraCalcInfo
 {
+	/// <summary>
+	/// Ptz 信息
+	/// </summary>
+	public PtzInfo PtzInfo { get; set; }
+
 	/// <summary>
 	///  图像的宽度
 	/// </summary>
 	public int ImageWidth { get; set; } = 1920;
 
 	/// <summary>
-	///  图像的宽度
+	///  图像的高度
 	/// </summary>
 	public int ImageHeight { get; set; } = 1080;
 
 	/// <summary>
-	/// Pan
+	///  最小焦距
+	/// </summary>
+	public double MinFocusX { get; set; } = 0f;
+
+	public double MinFocusY { get; set; } = 0f;
+}
+
+/// <summary>
+/// Ptz 信息
+/// </summary>
+public class PtzInfo
+{
+	/// <summary>
+	/// Pan 坐标
 	/// </summary>
 	public double Pan { get; set; }
 
 	/// <summary>
-	/// Tilt
+	/// Tilt 坐标
 	/// </summary>
 	public double Tilt { get; set; }
 
 	/// <summary>
-	/// Zoom
+	/// Zoom 坐标
 	/// </summary>
 	public double Zoom { get; set; }
 }
+
+/// <summary>
+/// 标记标签计算信息
+/// </summary>
+public class MarkLabelCalcInfo
+{
+	/// <summary>
+	/// Ptz 信息
+	/// </summary>
+	public PtzInfo PtzInfo { get; set; }
+
+	/// <summary>
+	/// 画布宽度
+	/// </summary>
+	public double CanvasWidth { get; set; }
+
+	/// <summary>
+	/// 画布高度
+	/// </summary>
+	public double CanvasHeight { get; set; }
+
+	/// <summary>
+	/// 画布 left 距离
+	/// </summary>
+	public double CanvasLeft { get; set; }
+
+	/// <summary>
+	/// 画布 top 距离
+	/// </summary>
+	public double CanvasTop { get; set; }
+}
+
+/// <summary>
+/// 标记标签计算结果
+/// </summary>
+public class MarkLabelCalcResult
+{
+	/// <summary>
+	///  true 显示（在当前视频画面里面）
+	///  false 不显示（不在当前视频画面里面）
+	/// </summary>
+	public bool InFlag { get; set; }
+
+	/// <summary>
+	/// 画布 left 距离
+	/// </summary>
+	public double CanvasLeft { get; set; }
+
+	/// <summary>
+	/// 画布 top 距离
+	/// </summary>
+	public double CanvasTop { get; set; }
+
+}